rna_pose.c

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/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * Contributor(s): Blender Foundation (2008), Roland Hess, Joshua Leung
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#include <stdlib.h>
#include <string.h>

#include "RNA_define.h"
#include "RNA_enum_types.h"

#include "rna_internal.h"

#include "DNA_action_types.h"
#include "DNA_armature_types.h"
#include "DNA_constraint_types.h"
#include "DNA_object_types.h"
#include "DNA_scene_types.h"

#include "BLI_math.h"

#include "WM_types.h"



// XXX: this RNA enum define is currently duplicated for objects, since there is some text here which is not applicable
EnumPropertyItem posebone_rotmode_items[] = {
    {ROT_MODE_QUAT, "QUATERNION", 0, "Quaternion (WXYZ)", "No Gimbal Lock (default)"},
    {ROT_MODE_XYZ, "XYZ", 0, "XYZ Euler", "XYZ Rotation Order (prone to Gimbal Lock)"},
    {ROT_MODE_XZY, "XZY", 0, "XZY Euler", "XZY Rotation Order (prone to Gimbal Lock)"},
    {ROT_MODE_YXZ, "YXZ", 0, "YXZ Euler", "YXZ Rotation Order (prone to Gimbal Lock)"},
    {ROT_MODE_YZX, "YZX", 0, "YZX Euler", "YZX Rotation Order (prone to Gimbal Lock)"},
    {ROT_MODE_ZXY, "ZXY", 0, "ZXY Euler", "ZXY Rotation Order (prone to Gimbal Lock)"},
    {ROT_MODE_ZYX, "ZYX", 0, "ZYX Euler", "ZYX Rotation Order (prone to Gimbal Lock)"},
    {ROT_MODE_AXISANGLE, "AXIS_ANGLE", 0, "Axis Angle",
                         "Axis Angle (W+XYZ), defines a rotation around some axis defined by 3D-Vector"},
    {0, NULL, 0, NULL, NULL}};

#ifdef RNA_RUNTIME

#include "BIK_api.h"
#include "BKE_action.h"
#include "BKE_armature.h"

#include "DNA_userdef_types.h"

#include "MEM_guardedalloc.h"

#include "BLI_ghash.h"

#include "BKE_context.h"
#include "BKE_constraint.h"
#include "BKE_depsgraph.h"
#include "BKE_idprop.h"

#include "ED_object.h"
#include "ED_armature.h"

#include "MEM_guardedalloc.h"

#include "WM_api.h"

#include "RNA_access.h"

static void rna_Pose_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
{
    // XXX when to use this? ob->pose->flag |= (POSE_LOCKED|POSE_DO_UNLOCK);

    DAG_id_tag_update(ptr->id.data, OB_RECALC_DATA);
}

static void rna_Pose_IK_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
{
    // XXX when to use this? ob->pose->flag |= (POSE_LOCKED|POSE_DO_UNLOCK);
    Object *ob= ptr->id.data;

    DAG_id_tag_update(&ob->id, OB_RECALC_DATA);
    BIK_clear_data(ob->pose);
}

static char *rna_PoseBone_path(PointerRNA *ptr)
{
    return BLI_sprintfN("pose.bones[\"%s\"]", ((bPoseChannel*)ptr->data)->name);
}

static void rna_BoneGroup_color_set_set(PointerRNA *ptr, int value)
{
    bActionGroup *grp= ptr->data;
    
    /* if valid value, set the new enum value, then copy the relevant colors? */
    if ((value >= -1) && (value < 21))
        grp->customCol= value;
    else
        return;
    
    /* only do color copying if using a custom color (i.e. not default color)  */
    if (grp->customCol) {
        if (grp->customCol > 0) {
            /* copy theme colors on-to group's custom color in case user tries to edit color */
            bTheme *btheme= U.themes.first;
            ThemeWireColor *col_set= &btheme->tarm[(grp->customCol - 1)];
            
            memcpy(&grp->cs, col_set, sizeof(ThemeWireColor));
        }
        else {
            /* init custom colors with a generic multi-color rgb set, if not initialised already (for custom color set) */
            if (grp->cs.solid[0] == 0) {
                /* define for setting colors in theme below */
                #define SETCOL(col, r, g, b, a)  col[0]=r; col[1]=g; col[2]= b; col[3]= a;
                
                SETCOL(grp->cs.solid, 0xff, 0x00, 0x00, 255);
                SETCOL(grp->cs.select, 0x81, 0xe6, 0x14, 255);
                SETCOL(grp->cs.active, 0x18, 0xb6, 0xe0, 255);
                
                #undef SETCOL
            }
        }
    }
}

void rna_BoneGroup_name_set(PointerRNA *ptr, const char *value)
{
    Object *ob= ptr->id.data;
    bActionGroup *agrp= ptr->data;

    /* copy the new name into the name slot */
    BLI_strncpy_utf8(agrp->name, value, sizeof(agrp->name));

    BLI_uniquename(&ob->pose->agroups, agrp, "Group", '.', offsetof(bActionGroup, name), sizeof(agrp->name));
}

static IDProperty *rna_PoseBone_idprops(PointerRNA *ptr, int create)
{
    bPoseChannel *pchan= ptr->data;

    if(create && !pchan->prop) {
        IDPropertyTemplate val = {0};
        pchan->prop= IDP_New(IDP_GROUP, &val, "RNA_PoseBone group");
    }

    return pchan->prop;
}

static void rna_Pose_ik_solver_set(struct PointerRNA *ptr, int value)
{
    bPose *pose= (bPose*)ptr->data;

    if (pose->iksolver != value) {
        // the solver has changed, must clean any temporary structures
        BIK_clear_data(pose);
        if (pose->ikparam) {
            MEM_freeN(pose->ikparam);
            pose->ikparam = NULL;
        }
        pose->iksolver = value;
        init_pose_ikparam(pose);
    }
}

static void rna_Pose_ik_solver_update(Main *bmain, Scene *scene, PointerRNA *ptr)
{
    Object *ob= ptr->id.data;
    bPose *pose = ptr->data;

    pose->flag |= POSE_RECALC;  // checks & sorts pose channels
    DAG_scene_sort(bmain, scene);
    
    update_pose_constraint_flags(pose);
    
    object_test_constraints(ob);

    DAG_id_tag_update(&ob->id, OB_RECALC_DATA|OB_RECALC_OB);
}

/* rotation - axis-angle */
static void rna_PoseChannel_rotation_axis_angle_get(PointerRNA *ptr, float *value)
{
    bPoseChannel *pchan= ptr->data;
    
    /* for now, assume that rotation mode is axis-angle */
    value[0]= pchan->rotAngle;
    copy_v3_v3(&value[1], pchan->rotAxis);
}

/* rotation - axis-angle */
static void rna_PoseChannel_rotation_axis_angle_set(PointerRNA *ptr, const float *value)
{
    bPoseChannel *pchan= ptr->data;
    
    /* for now, assume that rotation mode is axis-angle */
    pchan->rotAngle= value[0];
    copy_v3_v3(pchan->rotAxis, (float *)&value[1]);
    
    // TODO: validate axis?
}

static void rna_PoseChannel_rotation_mode_set(PointerRNA *ptr, int value)
{
    bPoseChannel *pchan= ptr->data;
    
    /* use API Method for conversions... */
    BKE_rotMode_change_values(pchan->quat, pchan->eul, pchan->rotAxis, &pchan->rotAngle, pchan->rotmode, (short)value);
    
    /* finally, set the new rotation type */
    pchan->rotmode= value;
}

static void rna_PoseChannel_name_set(PointerRNA *ptr, const char *value)
{
    Object *ob= (Object*)ptr->id.data;
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    char oldname[sizeof(pchan->name)], newname[sizeof(pchan->name)];

    /* need to be on the stack */
    BLI_strncpy_utf8(newname, value, sizeof(pchan->name));
    BLI_strncpy(oldname, pchan->name, sizeof(pchan->name));

    ED_armature_bone_rename(ob->data, oldname, newname);
}

static int rna_PoseChannel_has_ik_get(PointerRNA *ptr)
{
    Object *ob= (Object*)ptr->id.data;
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;

    return ED_pose_channel_in_IK_chain(ob, pchan);
}

StructRNA *rna_IKParam_refine(PointerRNA *ptr)
{
    bIKParam *param = (bIKParam *)ptr->data;

    switch (param->iksolver) {
    case IKSOLVER_ITASC:
        return &RNA_Itasc;
    default:
        return &RNA_IKParam;
    }
}

PointerRNA rna_Pose_ikparam_get(struct PointerRNA *ptr)
{
    bPose *pose= (bPose*)ptr->data;
    return rna_pointer_inherit_refine(ptr, &RNA_IKParam, pose->ikparam);
}

static StructRNA *rna_Pose_ikparam_typef(PointerRNA *ptr)
{
    bPose *pose= (bPose*)ptr->data;

    switch (pose->iksolver) {
    case IKSOLVER_ITASC:
        return &RNA_Itasc;
    default:
        return &RNA_IKParam;
    }
}

static void rna_Itasc_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
{
    Object *ob = ptr->id.data;
    bItasc *itasc = ptr->data;

    /* verify values */
    if (itasc->precision < 0.0001f)
        itasc->precision = 0.0001f;
    if (itasc->minstep < 0.001f)
        itasc->minstep = 0.001f;
    if (itasc->maxstep < itasc->minstep)
        itasc->maxstep = itasc->minstep;
    if (itasc->feedback < 0.01f)
        itasc->feedback = 0.01f;
    if (itasc->feedback > 100.f)
        itasc->feedback = 100.f;
    if (itasc->maxvel < 0.01f)
        itasc->maxvel = 0.01f;
    if (itasc->maxvel > 100.f)
        itasc->maxvel = 100.f;
    BIK_update_param(ob->pose);

    DAG_id_tag_update(&ob->id, OB_RECALC_DATA);
}

static void rna_Itasc_update_rebuild(Main *bmain, Scene *scene, PointerRNA *ptr)
{
    Object *ob= ptr->id.data;
    bPose *pose = ob->pose;

    pose->flag |= POSE_RECALC;  // checks & sorts pose channels
    rna_Itasc_update(bmain, scene, ptr);
}

static void rna_PoseChannel_bone_custom_set(PointerRNA *ptr, PointerRNA value)
{
    bPoseChannel *pchan = (bPoseChannel*)ptr->data;


    if (pchan->custom) {
        id_us_min(&pchan->custom->id);
        pchan->custom = NULL;
    }

    pchan->custom = value.data;

    id_us_plus(&pchan->custom->id);
}

static PointerRNA rna_PoseChannel_bone_group_get(PointerRNA *ptr)
{
    Object *ob= (Object*)ptr->id.data;
    bPose *pose= (ob) ? ob->pose : NULL;
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    bActionGroup *grp;
    
    if (pose)
        grp= BLI_findlink(&pose->agroups, pchan->agrp_index-1);
    else
        grp= NULL;
    
    return rna_pointer_inherit_refine(ptr, &RNA_BoneGroup, grp);
}

static void rna_PoseChannel_bone_group_set(PointerRNA *ptr, PointerRNA value)
{
    Object *ob= (Object*)ptr->id.data;
    bPose *pose= (ob) ? ob->pose : NULL;
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    
    if (pose)
        pchan->agrp_index= BLI_findindex(&pose->agroups, value.data) + 1;
    else
        pchan->agrp_index= 0;
}

static int rna_PoseChannel_bone_group_index_get(PointerRNA *ptr)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    return MAX2(pchan->agrp_index-1, 0);
}

static void rna_PoseChannel_bone_group_index_set(PointerRNA *ptr, int value)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    pchan->agrp_index= value+1;
}

static void rna_PoseChannel_bone_group_index_range(PointerRNA *ptr, int *min, int *max)
{
    Object *ob= (Object*)ptr->id.data;
    bPose *pose= (ob) ? ob->pose : NULL;
    
    *min= 0;
    
    if (pose) {
        *max= BLI_countlist(&pose->agroups)-1;
        *max= MAX2(0, *max);
    }
    else
        *max= 0;
}

static PointerRNA rna_Pose_active_bone_group_get(PointerRNA *ptr)
{
    bPose *pose= (bPose*)ptr->data;
    return rna_pointer_inherit_refine(ptr, &RNA_BoneGroup, BLI_findlink(&pose->agroups, pose->active_group-1));
}

static void rna_Pose_active_bone_group_set(PointerRNA *ptr, PointerRNA value)
{
    bPose *pose= (bPose*)ptr->data;
    pose->active_group= BLI_findindex(&pose->agroups, value.data) + 1;
}

static int rna_Pose_active_bone_group_index_get(PointerRNA *ptr)
{
    bPose *pose= (bPose*)ptr->data;
    return MAX2(pose->active_group-1, 0);
}

static void rna_Pose_active_bone_group_index_set(PointerRNA *ptr, int value)
{
    bPose *pose= (bPose*)ptr->data;
    pose->active_group= value+1;
}

static void rna_Pose_active_bone_group_index_range(PointerRNA *ptr, int *min, int *max)
{
    bPose *pose= (bPose*)ptr->data;

    *min= 0;
    *max= BLI_countlist(&pose->agroups)-1;
    *max= MAX2(0, *max);
}

#if 0
static void rna_pose_bgroup_name_index_get(PointerRNA *ptr, char *value, int index)
{
    bPose *pose= (bPose*)ptr->data;
    bActionGroup *grp;

    grp= BLI_findlink(&pose->agroups, index-1);

    if(grp) BLI_strncpy(value, grp->name, sizeof(grp->name));
    else value[0]= '\0';
}

static int rna_pose_bgroup_name_index_length(PointerRNA *ptr, int index)
{
    bPose *pose= (bPose*)ptr->data;
    bActionGroup *grp;

    grp= BLI_findlink(&pose->agroups, index-1);
    return (grp)? strlen(grp->name): 0;
}

static void rna_pose_bgroup_name_index_set(PointerRNA *ptr, const char *value, short *index)
{
    bPose *pose= (bPose*)ptr->data;
    bActionGroup *grp;
    int a;
    
    for (a=1, grp=pose->agroups.first; grp; grp=grp->next, a++) {
        if (strcmp(grp->name, value) == 0) {
            *index= a;
            return;
        }
    }
    
    *index= 0;
}

static void rna_pose_pgroup_name_set(PointerRNA *ptr, const char *value, char *result, int maxlen)
{
    bPose *pose= (bPose*)ptr->data;
    bActionGroup *grp;
    
    for (grp= pose->agroups.first; grp; grp= grp->next) {
        if (strcmp(grp->name, value) == 0) {
            BLI_strncpy(result, value, maxlen);
            return;
        }
    }
    
    result[0]= '\0';
}
#endif

static PointerRNA rna_PoseChannel_active_constraint_get(PointerRNA *ptr)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    bConstraint *con= constraints_get_active(&pchan->constraints);
    return rna_pointer_inherit_refine(ptr, &RNA_Constraint, con);
}

static void rna_PoseChannel_active_constraint_set(PointerRNA *ptr, PointerRNA value)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    constraints_set_active(&pchan->constraints, (bConstraint *)value.data);
}

static bConstraint *rna_PoseChannel_constraints_new(bPoseChannel *pchan, int type)
{
    //WM_main_add_notifier(NC_OBJECT|ND_CONSTRAINT|NA_ADDED, object);
    // TODO, pass object also
    // TODO, new pose bones don't have updated draw flags
    return add_pose_constraint(NULL, pchan, NULL, type);
}

static void rna_PoseChannel_constraints_remove(ID *id, bPoseChannel *pchan, ReportList *reports, bConstraint *con)
{
    if(BLI_findindex(&pchan->constraints, con) == -1) {
        BKE_reportf(reports, RPT_ERROR, "Constraint '%s' not found in pose bone '%s'", con->name, pchan->name);
        return;
    }
    else {
        Object *ob= (Object *)id;
        const short is_ik= ELEM(con->type, CONSTRAINT_TYPE_KINEMATIC, CONSTRAINT_TYPE_SPLINEIK);

        remove_constraint(&pchan->constraints, con);
        ED_object_constraint_update(ob);
        constraints_set_active(&pchan->constraints, NULL);
        WM_main_add_notifier(NC_OBJECT|ND_CONSTRAINT|NA_REMOVED, id);

        if (is_ik) {
            BIK_clear_data(ob->pose);
        }
    }
}

static int rna_PoseChannel_proxy_editable(PointerRNA *ptr)
{
    Object *ob= (Object*)ptr->id.data;
    bArmature *arm= ob->data;
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    
    return (ob->proxy && pchan->bone && (pchan->bone->layer & arm->layer_protected))? 0: PROP_EDITABLE;
}

static int rna_PoseChannel_location_editable(PointerRNA *ptr, int index)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;

    /* only if the axis in question is locked, not editable... */
    if ((index == 0) && (pchan->protectflag & OB_LOCK_LOCX))
        return 0;
    else if ((index == 1) && (pchan->protectflag & OB_LOCK_LOCY))
        return 0;
    else if ((index == 2) && (pchan->protectflag & OB_LOCK_LOCZ))
        return 0;
    else
        return PROP_EDITABLE;
}

static int rna_PoseChannel_scale_editable(PointerRNA *ptr, int index)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    
    /* only if the axis in question is locked, not editable... */
    if ((index == 0) && (pchan->protectflag & OB_LOCK_SCALEX))
        return 0;
    else if ((index == 1) && (pchan->protectflag & OB_LOCK_SCALEY))
        return 0;
    else if ((index == 2) && (pchan->protectflag & OB_LOCK_SCALEZ))
        return 0;
    else
        return PROP_EDITABLE;
}

static int rna_PoseChannel_rotation_euler_editable(PointerRNA *ptr, int index)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    
    /* only if the axis in question is locked, not editable... */
    if ((index == 0) && (pchan->protectflag & OB_LOCK_ROTX))
        return 0;
    else if ((index == 1) && (pchan->protectflag & OB_LOCK_ROTY))
        return 0;
    else if ((index == 2) && (pchan->protectflag & OB_LOCK_ROTZ))
        return 0;
    else
        return PROP_EDITABLE;
}

static int rna_PoseChannel_rotation_4d_editable(PointerRNA *ptr, int index)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    
    /* only consider locks if locking components individually... */
    if (pchan->protectflag & OB_LOCK_ROT4D) {
        /* only if the axis in question is locked, not editable... */
        if ((index == 0) && (pchan->protectflag & OB_LOCK_ROTW))
            return 0;
        else if ((index == 1) && (pchan->protectflag & OB_LOCK_ROTX))
            return 0;
        else if ((index == 2) && (pchan->protectflag & OB_LOCK_ROTY))
            return 0;
        else if ((index == 3) && (pchan->protectflag & OB_LOCK_ROTZ))
            return 0;
    }
        
    return PROP_EDITABLE;
}

/* not essential, but much faster then the default lookup function */
int rna_PoseBones_lookup_string(PointerRNA *ptr, const char *key, PointerRNA *r_ptr)
{
    bPose *pose= (bPose*)ptr->data;
    bPoseChannel *pchan= get_pose_channel(pose, key);
    if(pchan) {
        RNA_pointer_create(ptr->id.data, &RNA_PoseBone, pchan, r_ptr);
        return TRUE;
    }
    else {
        return FALSE;
    }
}

static void rna_PoseChannel_matrix_basis_get(PointerRNA *ptr, float *values)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    pchan_to_mat4(pchan, (float (*)[4])values);
}

static void rna_PoseChannel_matrix_basis_set(PointerRNA *ptr, const float *values)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    pchan_apply_mat4(pchan, (float (*)[4])values, FALSE); /* no compat for predictable result */
}

static void rna_PoseChannel_matrix_set(PointerRNA *ptr, const float *values)
{
    bPoseChannel *pchan= (bPoseChannel*)ptr->data;
    Object *ob= (Object*)ptr->id.data;
    float umat[4][4]= MAT4_UNITY;
    float tmat[4][4];

    /* recalculate pose matrix with only parent transformations,
     * bone loc/sca/rot is ignored, scene and frame are not used. */
    where_is_pose_bone(NULL, ob, pchan, 0.0f, FALSE);

    /* find the matrix, need to remove the bone transforms first so this is
     * calculated as a matrix to set rather then a difference ontop of whats
     * already there. */
    pchan_apply_mat4(pchan, umat, FALSE);
    armature_mat_pose_to_bone(pchan, (float (*)[4])values, tmat);
    pchan_apply_mat4(pchan, tmat, FALSE); /* no compat for predictable result */
}

#else

static void rna_def_bone_group(BlenderRNA *brna)
{
    static EnumPropertyItem prop_colorSets_items[] = {
        {0, "DEFAULT", 0, "Default Colors", ""},
        {1, "THEME01", 0, "01 - Theme Color Set", ""},
        {2, "THEME02", 0, "02 - Theme Color Set", ""},
        {3, "THEME03", 0, "03 - Theme Color Set", ""},
        {4, "THEME04", 0, "04 - Theme Color Set", ""},
        {5, "THEME05", 0, "05 - Theme Color Set", ""},
        {6, "THEME06", 0, "06 - Theme Color Set", ""},
        {7, "THEME07", 0, "07 - Theme Color Set", ""},
        {8, "THEME08", 0, "08 - Theme Color Set", ""},
        {9, "THEME09", 0, "09 - Theme Color Set", ""},
        {10, "THEME10", 0, "10 - Theme Color Set", ""},
        {11, "THEME11", 0, "11 - Theme Color Set", ""},
        {12, "THEME12", 0, "12 - Theme Color Set", ""},
        {13, "THEME13", 0, "13 - Theme Color Set", ""},
        {14, "THEME14", 0, "14 - Theme Color Set", ""},
        {15, "THEME15", 0, "15 - Theme Color Set", ""},
        {16, "THEME16", 0, "16 - Theme Color Set", ""},
        {17, "THEME17", 0, "17 - Theme Color Set", ""},
        {18, "THEME18", 0, "18 - Theme Color Set", ""},
        {19, "THEME19", 0, "19 - Theme Color Set", ""},
        {20, "THEME20", 0, "20 - Theme Color Set", ""},
        {-1, "CUSTOM", 0, "Custom Color Set", ""},
        {0, NULL, 0, NULL, NULL}};
    
    StructRNA *srna;
    PropertyRNA *prop;
    
    /* struct */
    srna= RNA_def_struct(brna, "BoneGroup", NULL);
    RNA_def_struct_sdna(srna, "bActionGroup");
    RNA_def_struct_ui_text(srna, "Bone Group", "Groups of Pose Channels (Bones)");
    RNA_def_struct_ui_icon(srna, ICON_GROUP_BONE);
    
    /* name */
    prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
    RNA_def_property_ui_text(prop, "Name", "");
    RNA_def_property_string_funcs(prop, NULL, NULL, "rna_BoneGroup_name_set");
    RNA_def_struct_name_property(srna, prop);
    
    // TODO: add some runtime-collections stuff to access grouped bones 
    
    /* color set + colors */
    prop= RNA_def_property(srna, "color_set", PROP_ENUM, PROP_NONE);
    RNA_def_property_enum_sdna(prop, NULL, "customCol");
    RNA_def_property_enum_items(prop, prop_colorSets_items);
    RNA_def_property_enum_funcs(prop, NULL, "rna_BoneGroup_color_set_set", NULL);
    RNA_def_property_ui_text(prop, "Color Set", "Custom color set to use");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
        // TODO: editing the colors for this should result in changes to the color type...
    prop= RNA_def_property(srna, "colors", PROP_POINTER, PROP_NONE);
    RNA_def_property_flag(prop, PROP_NEVER_NULL);
    RNA_def_property_struct_type(prop, "ThemeBoneColorSet");
    RNA_def_property_pointer_sdna(prop, NULL, "cs"); /* NOTE: the DNA data is not really a pointer, but this code works :) */
    RNA_def_property_ui_text(prop, "Colors", "Copy of the colors associated with the group's color set");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
}

static EnumPropertyItem prop_iksolver_items[] = {
    {IKSOLVER_LEGACY, "LEGACY", 0, "Legacy", "Original IK solver"},
    {IKSOLVER_ITASC, "ITASC", 0, "iTaSC", "Multi constraint, stateful IK solver"},
    {0, NULL, 0, NULL, NULL}};

static EnumPropertyItem prop_solver_items[] = {
    {ITASC_SOLVER_SDLS, "SDLS", 0, "SDLS", "Selective Damped Least Square"},
    {ITASC_SOLVER_DLS, "DLS", 0, "DLS", "Damped Least Square with Numerical Filtering"},
    {0, NULL, 0, NULL, NULL}};


static void rna_def_pose_channel_constraints(BlenderRNA *brna, PropertyRNA *cprop)
{
    StructRNA *srna;
    PropertyRNA *prop;

    FunctionRNA *func;
    PropertyRNA *parm;

    RNA_def_property_srna(cprop, "PoseBoneConstraints");
    srna= RNA_def_struct(brna, "PoseBoneConstraints", NULL);
    RNA_def_struct_sdna(srna, "bPoseChannel");
    RNA_def_struct_ui_text(srna, "PoseBone Constraints", "Collection of pose bone constraints");

    /* Collection active property */
    prop= RNA_def_property(srna, "active", PROP_POINTER, PROP_NONE);
    RNA_def_property_struct_type(prop, "Constraint");
    RNA_def_property_pointer_funcs(prop, "rna_PoseChannel_active_constraint_get",
                                   "rna_PoseChannel_active_constraint_set", NULL, NULL);
    RNA_def_property_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Active Constraint", "Active PoseChannel constraint");


    /* Constraint collection */
    func= RNA_def_function(srna, "new", "rna_PoseChannel_constraints_new");
    RNA_def_function_ui_description(func, "Add a constraint to this object");
    /* return type */
    parm= RNA_def_pointer(func, "constraint", "Constraint", "", "New constraint");
    RNA_def_function_return(func, parm);
    /* constraint to add */
    parm= RNA_def_enum(func, "type", constraint_type_items, 1, "", "Constraint type to add");
    RNA_def_property_flag(parm, PROP_REQUIRED);

    func= RNA_def_function(srna, "remove", "rna_PoseChannel_constraints_remove");
    RNA_def_function_ui_description(func, "Remove a constraint from this object");
    RNA_def_function_flag(func, FUNC_USE_REPORTS|FUNC_USE_SELF_ID); /* ID needed for refresh */
    /* constraint to remove */
    parm= RNA_def_pointer(func, "constraint", "Constraint", "", "Removed constraint");
    RNA_def_property_flag(parm, PROP_REQUIRED|PROP_NEVER_NULL);
}

static void rna_def_pose_channel(BlenderRNA *brna)
{   
    static float default_quat[4] = {1,0,0,0};   /* default quaternion values */
    static float default_axisAngle[4] = {0,0,1,0};  /* default axis-angle rotation values */
    static float default_scale[3] = {1,1,1}; /* default scale values */
    
    const int matrix_dimsize[]= {4, 4};
    
    StructRNA *srna;
    PropertyRNA *prop;

    srna= RNA_def_struct(brna, "PoseBone", NULL);
    RNA_def_struct_sdna(srna, "bPoseChannel");
    RNA_def_struct_ui_text(srna, "Pose Bone", "Channel defining pose data for a bone in a Pose");
    RNA_def_struct_path_func(srna, "rna_PoseBone_path");
    RNA_def_struct_idprops_func(srna, "rna_PoseBone_idprops");
    
    /* Bone Constraints */
    prop= RNA_def_property(srna, "constraints", PROP_COLLECTION, PROP_NONE);
    RNA_def_property_struct_type(prop, "Constraint");
    RNA_def_property_ui_text(prop, "Constraints", "Constraints that act on this PoseChannel");

    rna_def_pose_channel_constraints(brna, prop);

    /* Name + Selection Status */
    prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
    RNA_def_property_string_funcs(prop, NULL, NULL, "rna_PoseChannel_name_set");
    RNA_def_property_ui_text(prop, "Name", "");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_struct_name_property(srna, prop);

    /* Baked Bone Path cache data */
    rna_def_motionpath_common(srna);
    
    /* Relationships to other bones */
    prop= RNA_def_property(srna, "bone", PROP_POINTER, PROP_NONE);
    RNA_def_property_flag(prop, PROP_NEVER_NULL);
    RNA_def_property_struct_type(prop, "Bone");
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Bone", "Bone associated with this PoseBone");

    prop= RNA_def_property(srna, "parent", PROP_POINTER, PROP_NONE);
    RNA_def_property_struct_type(prop, "PoseBone");
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Parent", "Parent of this pose bone");

    prop= RNA_def_property(srna, "child", PROP_POINTER, PROP_NONE);
    RNA_def_property_struct_type(prop, "PoseBone");
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Child", "Child of this pose bone");
    
    /* Transformation settings */
    prop= RNA_def_property(srna, "location", PROP_FLOAT, PROP_TRANSLATION);
    RNA_def_property_float_sdna(prop, NULL, "loc");
    RNA_def_property_editable_array_func(prop, "rna_PoseChannel_location_editable");
    RNA_def_property_ui_text(prop, "Location", "");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable"); // XXX... disabled, since proxy-locked layers are currently used for ensuring proxy-syncing too
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

    prop= RNA_def_property(srna, "scale", PROP_FLOAT, PROP_XYZ);
    RNA_def_property_float_sdna(prop, NULL, "size");
    RNA_def_property_editable_array_func(prop, "rna_PoseChannel_scale_editable");
    RNA_def_property_float_array_default(prop, default_scale);
    RNA_def_property_ui_text(prop, "Scale", "");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable"); // XXX... disabled, since proxy-locked layers are currently used for ensuring proxy-syncing too
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

    prop= RNA_def_property(srna, "rotation_quaternion", PROP_FLOAT, PROP_QUATERNION);
    RNA_def_property_float_sdna(prop, NULL, "quat");
    RNA_def_property_editable_array_func(prop, "rna_PoseChannel_rotation_4d_editable");
    RNA_def_property_float_array_default(prop, default_quat);
    RNA_def_property_ui_text(prop, "Quaternion Rotation", "Rotation in Quaternions");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable"); // XXX... disabled, since proxy-locked layers are currently used for ensuring proxy-syncing too
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
        /* XXX: for axis-angle, it would have been nice to have 2 separate fields for UI purposes, but
         * having a single one is better for Keyframing and other property-management situations...
         */
    prop= RNA_def_property(srna, "rotation_axis_angle", PROP_FLOAT, PROP_AXISANGLE);
    RNA_def_property_array(prop, 4);
    RNA_def_property_float_funcs(prop, "rna_PoseChannel_rotation_axis_angle_get",
                                 "rna_PoseChannel_rotation_axis_angle_set", NULL);
    RNA_def_property_editable_array_func(prop, "rna_PoseChannel_rotation_4d_editable");
    RNA_def_property_float_array_default(prop, default_axisAngle);
    RNA_def_property_ui_text(prop, "Axis-Angle Rotation", "Angle of Rotation for Axis-Angle rotation representation");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable"); // XXX... disabled, since proxy-locked layers are currently used for ensuring proxy-syncing too
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    prop= RNA_def_property(srna, "rotation_euler", PROP_FLOAT, PROP_EULER);
    RNA_def_property_float_sdna(prop, NULL, "eul");
    RNA_def_property_editable_array_func(prop, "rna_PoseChannel_rotation_euler_editable");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable"); // XXX... disabled, since proxy-locked layers are currently used for ensuring proxy-syncing too
    RNA_def_property_ui_text(prop, "Euler Rotation", "Rotation in Eulers");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    prop= RNA_def_property(srna, "rotation_mode", PROP_ENUM, PROP_NONE);
    RNA_def_property_enum_sdna(prop, NULL, "rotmode");
    RNA_def_property_enum_items(prop, posebone_rotmode_items); // XXX move to using a single define of this someday
    RNA_def_property_enum_funcs(prop, NULL, "rna_PoseChannel_rotation_mode_set", NULL);
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable"); // XXX... disabled, since proxy-locked layers are currently used for ensuring proxy-syncing too
    RNA_def_property_ui_text(prop, "Rotation Mode", "");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    /* transform matrices - should be read-only since these are set directly by AnimSys evaluation */
    prop= RNA_def_property(srna, "matrix_channel", PROP_FLOAT, PROP_MATRIX);
    RNA_def_property_float_sdna(prop, NULL, "chan_mat");
    RNA_def_property_multi_array(prop, 2, matrix_dimsize);
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Channel Matrix", "4x4 matrix, before constraints");

    /* writable because it touches loc/scale/rot directly */
    prop= RNA_def_property(srna, "matrix_basis", PROP_FLOAT, PROP_MATRIX);
    RNA_def_property_multi_array(prop, 2, matrix_dimsize);
    RNA_def_property_ui_text(prop, "Basis Matrix",
                             "Alternative access to location/scale/rotation relative to the parent and own rest bone");
    RNA_def_property_float_funcs(prop, "rna_PoseChannel_matrix_basis_get", "rna_PoseChannel_matrix_basis_set", NULL);
    RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

    /* final matrix */
    prop= RNA_def_property(srna, "matrix", PROP_FLOAT, PROP_MATRIX);
    RNA_def_property_float_sdna(prop, NULL, "pose_mat");
    RNA_def_property_multi_array(prop, 2, matrix_dimsize);
    RNA_def_property_float_funcs(prop, NULL, "rna_PoseChannel_matrix_set", NULL);
    RNA_def_property_ui_text(prop, "Pose Matrix", "Final 4x4 matrix after constraints and drivers are applied (object space)");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

    /* Head/Tail Coordinates (in Pose Space) - Automatically calculated... */
    prop= RNA_def_property(srna, "head", PROP_FLOAT, PROP_TRANSLATION);
    RNA_def_property_float_sdna(prop, NULL, "pose_head");
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Pose Head Position", "Location of head of the channel's bone");

    prop= RNA_def_property(srna, "tail", PROP_FLOAT, PROP_TRANSLATION);
    RNA_def_property_float_sdna(prop, NULL, "pose_tail");
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Pose Tail Position", "Location of tail of the channel's bone");
    
    /* IK Settings */
    prop= RNA_def_property(srna, "is_in_ik_chain", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_funcs(prop,  "rna_PoseChannel_has_ik_get", NULL);
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Has IK", "Is part of an IK chain");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "lock_ik_x", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_NO_XDOF);
    RNA_def_property_ui_text(prop, "IK X Lock", "Disallow movement around the X axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "lock_ik_y", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_NO_YDOF);
    RNA_def_property_ui_text(prop, "IK Y Lock", "Disallow movement around the Y axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "lock_ik_z", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_NO_ZDOF);
    RNA_def_property_ui_text(prop, "IK Z Lock", "Disallow movement around the Z axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "use_ik_limit_x", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_XLIMIT);
    RNA_def_property_ui_text(prop, "IK X Limit", "Limit movement around the X axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "use_ik_limit_y", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_YLIMIT);
    RNA_def_property_ui_text(prop, "IK Y Limit", "Limit movement around the Y axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "use_ik_limit_z", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_ZLIMIT);
    RNA_def_property_ui_text(prop, "IK Z Limit", "Limit movement around the Z axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
    
    prop= RNA_def_property(srna, "use_ik_rotation_control", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_ROTCTL);
    RNA_def_property_ui_text(prop, "IK rot control", "Apply channel rotation as IK constraint");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
    
    prop= RNA_def_property(srna, "use_ik_linear_control", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "ikflag", BONE_IK_LINCTL);
    RNA_def_property_ui_text(prop, "IK rot control", "Apply channel size as IK constraint if stretching is enabled");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
    
    prop= RNA_def_property(srna, "ik_min_x", PROP_FLOAT, PROP_ANGLE);
    RNA_def_property_float_sdna(prop, NULL, "limitmin[0]");
    RNA_def_property_range(prop, -M_PI, 0.0f);
    RNA_def_property_ui_text(prop, "IK X Minimum", "Minimum angles for IK Limit");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_max_x", PROP_FLOAT, PROP_ANGLE);
    RNA_def_property_float_sdna(prop, NULL, "limitmax[0]");
    RNA_def_property_range(prop, 0.0f, M_PI);
    RNA_def_property_ui_text(prop, "IK X Maximum", "Maximum angles for IK Limit");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_min_y", PROP_FLOAT, PROP_ANGLE);
    RNA_def_property_float_sdna(prop, NULL, "limitmin[1]");
    RNA_def_property_range(prop, -M_PI, 0.0f);
    RNA_def_property_ui_text(prop, "IK Y Minimum", "Minimum angles for IK Limit");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_max_y", PROP_FLOAT, PROP_ANGLE);
    RNA_def_property_float_sdna(prop, NULL, "limitmax[1]");
    RNA_def_property_range(prop, 0.0f, M_PI);
    RNA_def_property_ui_text(prop, "IK Y Maximum", "Maximum angles for IK Limit");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_min_z", PROP_FLOAT, PROP_ANGLE);
    RNA_def_property_float_sdna(prop, NULL, "limitmin[2]");
    RNA_def_property_range(prop, -M_PI, 0.0f);
    RNA_def_property_ui_text(prop, "IK Z Minimum", "Minimum angles for IK Limit");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_max_z", PROP_FLOAT, PROP_ANGLE);
    RNA_def_property_float_sdna(prop, NULL, "limitmax[2]");
    RNA_def_property_range(prop, 0.0f, M_PI);
    RNA_def_property_ui_text(prop, "IK Z Maximum", "Maximum angles for IK Limit");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_stiffness_x", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "stiffness[0]");
    RNA_def_property_range(prop, 0.0f, 0.99f);
    RNA_def_property_ui_text(prop, "IK X Stiffness", "IK stiffness around the X axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_stiffness_y", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "stiffness[1]");
    RNA_def_property_range(prop, 0.0f, 0.99f);
    RNA_def_property_ui_text(prop, "IK Y Stiffness", "IK stiffness around the Y axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_stiffness_z", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "stiffness[2]");
    RNA_def_property_range(prop, 0.0f, 0.99f);
    RNA_def_property_ui_text(prop, "IK Z Stiffness", "IK stiffness around the Z axis");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");

    prop= RNA_def_property(srna, "ik_stretch", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "ikstretch");
    RNA_def_property_range(prop, 0.0f,1.0f);
    RNA_def_property_ui_text(prop, "IK Stretch", "Allow scaling of the bone for IK");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_IK_update");
    
    prop= RNA_def_property(srna, "ik_rotation_weight", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "ikrotweight");
    RNA_def_property_range(prop, 0.0f,1.0f);
    RNA_def_property_ui_text(prop, "IK Rot Weight", "Weight of rotation constraint for IK");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    prop= RNA_def_property(srna, "ik_linear_weight", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "iklinweight");
    RNA_def_property_range(prop, 0.0f,1.0f);
    RNA_def_property_ui_text(prop, "IK Lin Weight", "Weight of scale constraint for IK");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    /* custom bone shapes */
    prop= RNA_def_property(srna, "custom_shape", PROP_POINTER, PROP_NONE);
    RNA_def_property_pointer_sdna(prop, NULL, "custom");
    RNA_def_property_struct_type(prop, "Object");
    RNA_def_property_flag(prop, PROP_EDITABLE);
    RNA_def_property_pointer_funcs(prop, NULL, "rna_PoseChannel_bone_custom_set", NULL, NULL);
    RNA_def_property_ui_text(prop, "Custom Object", "Object that defines custom draw type for this bone");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    prop= RNA_def_property(srna, "custom_shape_transform", PROP_POINTER, PROP_NONE);
    RNA_def_property_pointer_sdna(prop, NULL, "custom_tx");
    RNA_def_property_struct_type(prop, "PoseBone");
    RNA_def_property_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "Custom Shape Transform", "Bone that defines the display transform of this custom shape");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    /* bone groups */
    prop= RNA_def_property(srna, "bone_group_index", PROP_INT, PROP_NONE);
    RNA_def_property_int_sdna(prop, NULL, "agrp_index");
    RNA_def_property_flag(prop, PROP_EDITABLE);
    RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
    RNA_def_property_int_funcs(prop, "rna_PoseChannel_bone_group_index_get", "rna_PoseChannel_bone_group_index_set",
                               "rna_PoseChannel_bone_group_index_range");
    RNA_def_property_ui_text(prop, "Bone Group Index", "Bone Group this pose channel belongs to (0=no group)");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    prop= RNA_def_property(srna, "bone_group", PROP_POINTER, PROP_NONE);
    RNA_def_property_struct_type(prop, "BoneGroup");
    RNA_def_property_flag(prop, PROP_EDITABLE);
    RNA_def_property_pointer_funcs(prop, "rna_PoseChannel_bone_group_get", "rna_PoseChannel_bone_group_set", NULL, NULL);
    RNA_def_property_ui_text(prop, "Bone Group", "Bone Group this pose channel belongs to");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    /* transform locks */
    prop= RNA_def_property(srna, "lock_location", PROP_BOOLEAN, PROP_XYZ);
    RNA_def_property_boolean_sdna(prop, NULL, "protectflag", OB_LOCK_LOCX);
    RNA_def_property_array(prop, 3);
    RNA_def_property_ui_text(prop, "Lock Location", "Lock editing of location in the interface");
    RNA_def_property_ui_icon(prop, ICON_UNLOCKED, 1);
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

    prop= RNA_def_property(srna, "lock_rotation", PROP_BOOLEAN, PROP_XYZ);
    RNA_def_property_boolean_sdna(prop, NULL, "protectflag", OB_LOCK_ROTX);
    RNA_def_property_array(prop, 3);
    RNA_def_property_ui_text(prop, "Lock Rotation", "Lock editing of rotation in the interface");
    RNA_def_property_ui_icon(prop, ICON_UNLOCKED, 1);
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
        // XXX this is sub-optimal - it really should be included above, but due to technical reasons we can't do this!
    prop= RNA_def_property(srna, "lock_rotation_w", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "protectflag", OB_LOCK_ROTW);
    RNA_def_property_ui_text(prop, "Lock Rotation (4D Angle)",
                             "Lock editing of 'angle' component of four-component rotations in the interface");
    RNA_def_property_ui_icon(prop, ICON_UNLOCKED, 1);
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

        // XXX this needs a better name
    prop= RNA_def_property(srna, "lock_rotations_4d", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "protectflag", OB_LOCK_ROT4D);
    RNA_def_property_ui_text(prop, "Lock Rotations (4D)",
                             "Lock editing of four component rotations by components (instead of as Eulers)");
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

    prop= RNA_def_property(srna, "lock_scale", PROP_BOOLEAN, PROP_XYZ);
    RNA_def_property_boolean_sdna(prop, NULL, "protectflag", OB_LOCK_SCALEX);
    RNA_def_property_array(prop, 3);
    RNA_def_property_ui_text(prop, "Lock Scale", "Lock editing of scale in the interface");
    RNA_def_property_ui_icon(prop, ICON_UNLOCKED, 1);
    RNA_def_property_editable_func(prop, "rna_PoseChannel_proxy_editable");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");

    RNA_api_pose_channel(srna);
}

static void rna_def_pose_itasc(BlenderRNA *brna)
{
    static const EnumPropertyItem prop_itasc_mode_items[]= {
        {0, "ANIMATION", 0, "Animation",
            "Stateless solver computing pose starting from current action and non-IK constraints"},
        {ITASC_SIMULATION, "SIMULATION", 0, "Simulation",
                           "Statefull solver running in real-time context and ignoring actions and non-IK constraints"},
        {0, NULL, 0, NULL, NULL}};
    static const EnumPropertyItem prop_itasc_reiteration_items[]= {
        {0, "NEVER", 0, "Never", "The solver does not reiterate, not even on first frame (starts from rest pose)"},
        {ITASC_INITIAL_REITERATION, "INITIAL", 0, "Initial",
                                    "The solver reiterates (converges) on the first frame but not on subsequent frame"},
        {ITASC_INITIAL_REITERATION|ITASC_REITERATION, "ALWAYS", 0, "Always",
                                                      "The solver reiterates (converges) on all frames"},
        {0, NULL, 0, NULL, NULL}};

    StructRNA *srna;
    PropertyRNA *prop;

    srna= RNA_def_struct(brna, "Itasc", "IKParam");
    RNA_def_struct_sdna(srna, "bItasc");
    RNA_def_struct_ui_text(srna, "bItasc", "Parameters for the iTaSC IK solver");

    prop= RNA_def_property(srna, "precision", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "precision");
    RNA_def_property_range(prop, 0.0f,0.1f);
    RNA_def_property_ui_text(prop, "Precision", "Precision of convergence in case of reiteration");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "iterations", PROP_INT, PROP_NONE);
    RNA_def_property_int_sdna(prop, NULL, "numiter");
    RNA_def_property_range(prop, 1.f,1000.f);
    RNA_def_property_ui_text(prop, "Iterations", "Maximum number of iterations for convergence in case of reiteration");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "step_count", PROP_INT, PROP_NONE);
    RNA_def_property_int_sdna(prop, NULL, "numstep");
    RNA_def_property_range(prop, 1.f, 50.f);
    RNA_def_property_ui_text(prop, "Num steps", "Divide the frame interval into this many steps");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "mode", PROP_ENUM, PROP_NONE);
    RNA_def_property_enum_bitflag_sdna(prop, NULL, "flag");
    RNA_def_property_enum_items(prop, prop_itasc_mode_items);
    RNA_def_property_ui_text(prop, "Mode", NULL);
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update_rebuild");

    prop= RNA_def_property(srna, "reiteration_method", PROP_ENUM, PROP_NONE);
    RNA_def_property_enum_bitflag_sdna(prop, NULL, "flag");
    RNA_def_property_enum_items(prop, prop_itasc_reiteration_items);
    RNA_def_property_ui_text(prop, "Reiteration",
                             "Defines if the solver is allowed to reiterate (converge until "
                             "precision is met) on none, first or all frames");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "use_auto_step", PROP_BOOLEAN, PROP_NONE);
    RNA_def_property_boolean_sdna(prop, NULL, "flag", ITASC_AUTO_STEP);
    RNA_def_property_ui_text(prop, "Auto step",
                             "Automatically determine the optimal number of steps for best performance/accuracy trade off");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "step_min", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "minstep");
    RNA_def_property_range(prop, 0.0f,0.1f);
    RNA_def_property_ui_text(prop, "Min step", "Lower bound for timestep in second in case of automatic substeps");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "step_max", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "maxstep");
    RNA_def_property_range(prop, 0.0f,1.0f);
    RNA_def_property_ui_text(prop, "Max step", "Higher bound for timestep in second in case of automatic substeps");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "feedback", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "feedback");
    RNA_def_property_range(prop, 0.0f,100.0f);
    RNA_def_property_ui_text(prop, "Feedback",
                             "Feedback coefficient for error correction, average response time is 1/feedback (default=20)");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "velocity_max", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "maxvel");
    RNA_def_property_range(prop, 0.0f,100.0f);
    RNA_def_property_ui_text(prop, "Max Velocity", "Maximum joint velocity in rad/s (default=50)");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "solver", PROP_ENUM, PROP_NONE);
    RNA_def_property_enum_sdna(prop, NULL, "solver");
    RNA_def_property_enum_items(prop, prop_solver_items);
    RNA_def_property_ui_text(prop, "Solver", "Solving method selection: automatic damping or manual damping");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update_rebuild");

    prop= RNA_def_property(srna, "damping_max", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "dampmax");
    RNA_def_property_range(prop, 0.0f,1.0f);
    RNA_def_property_ui_text(prop, "Damp",
                             "Maximum damping coefficient when singular value is nearly 0 "
                             "(higher values=more stability, less reactivity - default=0.5)");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");

    prop= RNA_def_property(srna, "damping_epsilon", PROP_FLOAT, PROP_NONE);
    RNA_def_property_float_sdna(prop, NULL, "dampeps");
    RNA_def_property_range(prop, 0.0f,1.0f);
    RNA_def_property_ui_text(prop, "Epsilon",
                             "Singular value under which damping is progressively applied "
                             "(higher values=more stability, less reactivity - default=0.1)");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Itasc_update");
}

static void rna_def_pose_ikparam(BlenderRNA *brna)
{
    StructRNA *srna;
    PropertyRNA *prop;

    srna= RNA_def_struct(brna, "IKParam", NULL);
    RNA_def_struct_sdna(srna, "bIKParam");
    RNA_def_struct_ui_text(srna, "IKParam", "Base type for IK solver parameters");
    RNA_def_struct_refine_func(srna, "rna_IKParam_refine");

    prop= RNA_def_property(srna, "ik_solver", PROP_ENUM, PROP_NONE);
    RNA_def_property_enum_sdna(prop, NULL, "iksolver");
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_enum_items(prop, prop_iksolver_items);
    RNA_def_property_ui_text(prop, "IK Solver", "IK solver for which these parameters are defined, 0 for Legacy, 1 for iTaSC");
}

/* pose.bone_groups */
static void rna_def_bone_groups(BlenderRNA *brna, PropertyRNA *cprop)
{
    StructRNA *srna;
    PropertyRNA *prop;

//  FunctionRNA *func;
//  PropertyRNA *parm;

    RNA_def_property_srna(cprop, "BoneGroups");
    srna= RNA_def_struct(brna, "BoneGroups", NULL);
    RNA_def_struct_sdna(srna, "bPose");
    RNA_def_struct_ui_text(srna, "Bone Groups", "Collection of bone groups");

    prop= RNA_def_property(srna, "active", PROP_POINTER, PROP_NONE);
    RNA_def_property_struct_type(prop, "BoneGroup");
    RNA_def_property_flag(prop, PROP_EDITABLE);
    RNA_def_property_pointer_funcs(prop, "rna_Pose_active_bone_group_get", "rna_Pose_active_bone_group_set", NULL, NULL);
    RNA_def_property_ui_text(prop, "Active Bone Group", "Active bone group for this pose");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
    
    prop= RNA_def_property(srna, "active_index", PROP_INT, PROP_NONE);
    RNA_def_property_int_sdna(prop, NULL, "active_group");
    RNA_def_property_int_funcs(prop, "rna_Pose_active_bone_group_index_get", "rna_Pose_active_bone_group_index_set",
                               "rna_Pose_active_bone_group_index_range");
    RNA_def_property_ui_text(prop, "Active Bone Group Index", "Active index in bone groups array");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_update");
}

static void rna_def_pose(BlenderRNA *brna)
{
    StructRNA *srna;
    PropertyRNA *prop;
    
    /* struct definition */
    srna= RNA_def_struct(brna, "Pose", NULL);
    RNA_def_struct_sdna(srna, "bPose");
    RNA_def_struct_ui_text(srna, "Pose", "A collection of pose channels, including settings for animating bones");

    /* pose channels */
    prop= RNA_def_property(srna, "bones", PROP_COLLECTION, PROP_NONE);
    RNA_def_property_collection_sdna(prop, NULL, "chanbase", NULL);
    RNA_def_property_struct_type(prop, "PoseBone");
    RNA_def_property_ui_text(prop, "Pose Bones", "Individual pose bones for the armature");
    RNA_def_property_collection_funcs(prop, NULL, NULL, NULL, NULL, NULL, NULL, "rna_PoseBones_lookup_string", NULL); /* can be removed, only for fast lookup */
    /* bone groups */
    prop= RNA_def_property(srna, "bone_groups", PROP_COLLECTION, PROP_NONE);
    RNA_def_property_collection_sdna(prop, NULL, "agroups", NULL);
    RNA_def_property_struct_type(prop, "BoneGroup");
    RNA_def_property_ui_text(prop, "Bone Groups", "Groups of the bones");
    rna_def_bone_groups(brna, prop);
    
    /* ik solvers */
    prop= RNA_def_property(srna, "ik_solver", PROP_ENUM, PROP_NONE);
    RNA_def_property_enum_sdna(prop, NULL, "iksolver");
    RNA_def_property_enum_funcs(prop, NULL, "rna_Pose_ik_solver_set", NULL);
    RNA_def_property_enum_items(prop, prop_iksolver_items);
    RNA_def_property_ui_text(prop, "IK Solver",
                             "Selection of IK solver for IK chain, current choice is 0 for Legacy, 1 for iTaSC");
    RNA_def_property_update(prop, NC_OBJECT|ND_POSE, "rna_Pose_ik_solver_update");

    prop= RNA_def_property(srna, "ik_param", PROP_POINTER, PROP_NONE);
    RNA_def_property_struct_type(prop, "IKParam");
    RNA_def_property_pointer_funcs(prop, "rna_Pose_ikparam_get", NULL, "rna_Pose_ikparam_typef", NULL);
    RNA_def_property_clear_flag(prop, PROP_EDITABLE);
    RNA_def_property_ui_text(prop, "IK Param", "Parameters for IK solver");
    
    /* animviz */
    rna_def_animviz_common(srna);
    
    /* RNA_api_pose(srna); */
}

void RNA_def_pose(BlenderRNA *brna)
{
    rna_def_pose(brna);
    rna_def_pose_channel(brna);
    rna_def_pose_ikparam(brna);
    rna_def_pose_itasc(brna);
    rna_def_bone_group(brna);
}

#endif