AnimationImporter.cpp

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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): Chingiz Dyussenov, Arystanbek Dyussenov, Nathan Letwory, Sukhitha Jayathilake.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#include <stddef.h>

/* COLLADABU_ASSERT, may be able to remove later */
#include "COLLADABUPlatform.h"

#include "DNA_armature_types.h"

#include "ED_keyframing.h"

#include "BLI_listbase.h"
#include "BLI_math.h"
#include "BLI_path_util.h"
#include "BLI_string.h"

#include "BKE_action.h"
#include "BKE_armature.h"
#include "BKE_fcurve.h"
#include "BKE_object.h"

#include "MEM_guardedalloc.h"

#include "collada_utils.h"
#include "AnimationImporter.h"
#include "ArmatureImporter.h"
#include "MaterialExporter.h"

#include <algorithm>

// first try node name, if not available (since is optional), fall back to original id
template<class T>
static const char *bc_get_joint_name(T *node)
{
    const std::string& id = node->getName();
    return id.size() ? id.c_str() : node->getOriginalId().c_str();
}

FCurve *AnimationImporter::create_fcurve(int array_index, const char *rna_path)
{
    FCurve *fcu = (FCurve*)MEM_callocN(sizeof(FCurve), "FCurve");
    fcu->flag = (FCURVE_VISIBLE|FCURVE_AUTO_HANDLES|FCURVE_SELECTED);
    fcu->rna_path = BLI_strdupn(rna_path, strlen(rna_path));
    fcu->array_index = array_index;
    return fcu;
}
    
void AnimationImporter::create_bezt(FCurve *fcu, float frame, float output)
{
    BezTriple bez;
    memset(&bez, 0, sizeof(BezTriple));
    bez.vec[1][0] = frame;
    bez.vec[1][1] = output;
    bez.ipo = U.ipo_new; /* use default interpolation mode here... */
    bez.f1 = bez.f2 = bez.f3 = SELECT;
    bez.h1 = bez.h2 = HD_AUTO;
    insert_bezt_fcurve(fcu, &bez, 0);
    calchandles_fcurve(fcu);
}

// create one or several fcurves depending on the number of parameters being animated
void AnimationImporter::animation_to_fcurves(COLLADAFW::AnimationCurve *curve)
{
    COLLADAFW::FloatOrDoubleArray& input = curve->getInputValues();
    COLLADAFW::FloatOrDoubleArray& output = curve->getOutputValues();

    float fps = (float)FPS;
    size_t dim = curve->getOutDimension();
    unsigned int i;

    std::vector<FCurve*>& fcurves = curve_map[curve->getUniqueId()];

    switch (dim) {
    case 1: // X, Y, Z or angle
    case 3: // XYZ
    case 4:
    case 16: // matrix
        {
            for (i = 0; i < dim; i++ ) {
                FCurve *fcu = (FCurve*)MEM_callocN(sizeof(FCurve), "FCurve");

                fcu->flag = (FCURVE_VISIBLE|FCURVE_AUTO_HANDLES|FCURVE_SELECTED);
                // fcu->rna_path = BLI_strdupn(path, strlen(path));
                fcu->array_index = 0;
                fcu->totvert = curve->getKeyCount();

                // create beztriple for each key
                for (unsigned int j = 0; j < curve->getKeyCount(); j++) {
                    BezTriple bez;
                    memset(&bez, 0, sizeof(BezTriple));


                    // input, output
                    bez.vec[1][0] = bc_get_float_value(input, j) * fps; 
                    bez.vec[1][1] = bc_get_float_value(output, j * dim + i);


                    if( curve->getInterpolationType() == COLLADAFW::AnimationCurve::INTERPOLATION_BEZIER ||
                        curve->getInterpolationType() == COLLADAFW::AnimationCurve::INTERPOLATION_STEP) 
                    {
                        COLLADAFW::FloatOrDoubleArray& intan = curve->getInTangentValues();
                        COLLADAFW::FloatOrDoubleArray& outtan = curve->getOutTangentValues();

                        // intangent
                        bez.vec[0][0] = bc_get_float_value(intan, (j * 2 * dim ) + (2 * i)) * fps;
                        bez.vec[0][1] = bc_get_float_value(intan, (j * 2 * dim )+ (2 * i) + 1);

                        // outtangent
                        bez.vec[2][0] = bc_get_float_value(outtan, (j * 2 * dim ) + (2 * i)) * fps;
                        bez.vec[2][1] = bc_get_float_value(outtan, (j * 2 * dim )+ (2 * i) + 1);
                        if(curve->getInterpolationType() == COLLADAFW::AnimationCurve::INTERPOLATION_BEZIER) 
                            bez.ipo = BEZT_IPO_BEZ;
                        else 
                            bez.ipo = BEZT_IPO_CONST;
                        //bez.h1 = bez.h2 = HD_AUTO;    
                    }
                    else 
                    {
                        bez.h1 = bez.h2 = HD_AUTO; 
                        bez.ipo = BEZT_IPO_LIN;
                    }
                    // bez.ipo = U.ipo_new; /* use default interpolation mode here... */
                    bez.f1 = bez.f2 = bez.f3 = SELECT;

                    insert_bezt_fcurve(fcu, &bez, 0);
                }

                calchandles_fcurve(fcu);

                fcurves.push_back(fcu);
            }
        }
        break;
    default:
        fprintf(stderr, "Output dimension of %d is not yet supported (animation id = %s)\n", (int)dim, curve->getOriginalId().c_str());
    }

    for (std::vector<FCurve*>::iterator it = fcurves.begin(); it != fcurves.end(); it++)
        unused_curves.push_back(*it);
}


void AnimationImporter::fcurve_deg_to_rad(FCurve *cu)
{
    for (unsigned int i = 0; i < cu->totvert; i++) {
        // TODO convert handles too
        cu->bezt[i].vec[1][1] *= DEG2RADF(1.0f);
        cu->bezt[i].vec[0][1] *= DEG2RADF(1.0f);
        cu->bezt[i].vec[2][1] *= DEG2RADF(1.0f);
    }
}


void AnimationImporter::add_fcurves_to_object(Object *ob, std::vector<FCurve*>& curves, char *rna_path, int array_index, Animation *animated)
{
    bAction *act;
    
    if (!ob->adt || !ob->adt->action) act = verify_adt_action((ID*)&ob->id, 1);
    else act = ob->adt->action;
    
    std::vector<FCurve*>::iterator it;
    int i;

#if 0
    char *p = strstr(rna_path, "rotation_euler");
    bool is_rotation = p && *(p + strlen("rotation_euler")) == '\0';

    // convert degrees to radians for rotation
    if (is_rotation)
        fcurve_deg_to_rad(fcu);
#endif
    
    for (it = curves.begin(), i = 0; it != curves.end(); it++, i++) {
        FCurve *fcu = *it;
        fcu->rna_path = BLI_strdupn(rna_path, strlen(rna_path));
        
        if (array_index == -1) fcu->array_index = i;
        else fcu->array_index = array_index;
    
        if (ob->type == OB_ARMATURE) {
            bActionGroup *grp = NULL;
            const char *bone_name = bc_get_joint_name(animated->node);
            
            if (bone_name) {
                /* try to find group */
                grp = action_groups_find_named(act, bone_name);
                
                /* no matching groups, so add one */
                if (grp == NULL) {
                    /* Add a new group, and make it active */
                    grp = (bActionGroup*)MEM_callocN(sizeof(bActionGroup), "bActionGroup");
                    
                    grp->flag = AGRP_SELECTED;
                    BLI_strncpy(grp->name, bone_name, sizeof(grp->name));
                    
                    BLI_addtail(&act->groups, grp);
                    BLI_uniquename(&act->groups, grp, "Group", '.', offsetof(bActionGroup, name), 64);
                }
                
                /* add F-Curve to group */
                action_groups_add_channel(act, grp, fcu);
                
            }
#if 0
            if (is_rotation) {
                fcurves_actionGroup_map[grp].push_back(fcu);
            }
#endif
        }
        else {
            BLI_addtail(&act->curves, fcu);
        }

        // curve is used, so remove it from unused_curves
        unused_curves.erase(std::remove(unused_curves.begin(), unused_curves.end(), fcu), unused_curves.end());
    }
}

AnimationImporter::AnimationImporter(UnitConverter *conv, ArmatureImporter *arm, Scene *scene) :
        TransformReader(conv), armature_importer(arm), scene(scene) { }

AnimationImporter::~AnimationImporter()
{
    // free unused FCurves
    for (std::vector<FCurve*>::iterator it = unused_curves.begin(); it != unused_curves.end(); it++)
        free_fcurve(*it);

    if (unused_curves.size())
        fprintf(stderr, "removed %d unused curves\n", (int)unused_curves.size());
}

bool AnimationImporter::write_animation(const COLLADAFW::Animation* anim) 
{
    if (anim->getAnimationType() == COLLADAFW::Animation::ANIMATION_CURVE) {
        COLLADAFW::AnimationCurve *curve = (COLLADAFW::AnimationCurve*)anim;
        
        // XXX Don't know if it's necessary
        // Should we check outPhysicalDimension?
        if (curve->getInPhysicalDimension() != COLLADAFW::PHYSICAL_DIMENSION_TIME) {
            fprintf(stderr, "Inputs physical dimension is not time. \n");
            return true;
        }

        // a curve can have mixed interpolation type,
        // in this case curve->getInterpolationTypes returns a list of interpolation types per key
        COLLADAFW::AnimationCurve::InterpolationType interp = curve->getInterpolationType();

        if (interp != COLLADAFW::AnimationCurve::INTERPOLATION_MIXED) {
            switch (interp) {
            case COLLADAFW::AnimationCurve::INTERPOLATION_LINEAR:
            case COLLADAFW::AnimationCurve::INTERPOLATION_BEZIER:
            case COLLADAFW::AnimationCurve::INTERPOLATION_STEP:
                animation_to_fcurves(curve);
                break;
            default:
                // TODO there're also CARDINAL, HERMITE, BSPLINE and STEP types
                fprintf(stderr, "CARDINAL, HERMITE and BSPLINE anim interpolation types not supported yet.\n");
                break;
            }
        }
        else {
            // not supported yet
            fprintf(stderr, "MIXED anim interpolation type is not supported yet.\n");
        }
    }
    else {
        fprintf(stderr, "FORMULA animation type is not supported yet.\n");
    }
    
    return true;
}
    
// called on post-process stage after writeVisualScenes
bool AnimationImporter::write_animation_list(const COLLADAFW::AnimationList* animlist) 
{
    const COLLADAFW::UniqueId& animlist_id = animlist->getUniqueId();

    animlist_map[animlist_id] = animlist;

#if 0

    // should not happen
    if (uid_animated_map.find(animlist_id) == uid_animated_map.end()) {
        return true;
    }

    // for bones rna_path is like: pose.bones["bone-name"].rotation


#endif

    return true;
}

// \todo refactor read_node_transform to not automatically apply anything,
// but rather return the transform matrix, so caller can do with it what is
// necessary. Same for \ref get_node_mat
void AnimationImporter::read_node_transform(COLLADAFW::Node *node, Object *ob)
{
    float mat[4][4];
    TransformReader::get_node_mat(mat, node, &uid_animated_map, ob);
    if (ob) {
        copy_m4_m4(ob->obmat, mat);
        object_apply_mat4(ob, ob->obmat, 0, 0);
    }
}

#if 0
virtual void AnimationImporter::change_eul_to_quat(Object *ob, bAction *act)
{
    bActionGroup *grp;
    int i;
    
    for (grp = (bActionGroup*)act->groups.first; grp; grp = grp->next) {

        FCurve *eulcu[3] = {NULL, NULL, NULL};
        
        if (fcurves_actionGroup_map.find(grp) == fcurves_actionGroup_map.end())
            continue;

        std::vector<FCurve*> &rot_fcurves = fcurves_actionGroup_map[grp];
        
        if (rot_fcurves.size() > 3) continue;

        for (i = 0; i < rot_fcurves.size(); i++)
            eulcu[rot_fcurves[i]->array_index] = rot_fcurves[i];

        char joint_path[100];
        char rna_path[100];

        BLI_snprintf(joint_path, sizeof(joint_path), "pose.bones[\"%s\"]", grp->name);
        BLI_snprintf(rna_path, sizeof(rna_path), "%s.rotation_quaternion", joint_path);

        FCurve *quatcu[4] = {
            create_fcurve(0, rna_path),
            create_fcurve(1, rna_path),
            create_fcurve(2, rna_path),
            create_fcurve(3, rna_path)
        };

        bPoseChannel *chan = get_pose_channel(ob->pose, grp->name);

        float m4[4][4], irest[3][3];
        invert_m4_m4(m4, chan->bone->arm_mat);
        copy_m3_m4(irest, m4);

        for (i = 0; i < 3; i++) {

            FCurve *cu = eulcu[i];

            if (!cu) continue;

            for (int j = 0; j < cu->totvert; j++) {
                float frame = cu->bezt[j].vec[1][0];

                float eul[3] = {
                    eulcu[0] ? evaluate_fcurve(eulcu[0], frame) : 0.0f,
                    eulcu[1] ? evaluate_fcurve(eulcu[1], frame) : 0.0f,
                    eulcu[2] ? evaluate_fcurve(eulcu[2], frame) : 0.0f
                };

                // make eul relative to bone rest pose
                float rot[3][3], rel[3][3], quat[4];

                /*eul_to_mat3(rot, eul);

                mul_m3_m3m3(rel, irest, rot);

                mat3_to_quat(quat, rel);
                */

                eul_to_quat(quat, eul);

                for (int k = 0; k < 4; k++)
                    create_bezt(quatcu[k], frame, quat[k]);
            }
        }

        // now replace old Euler curves

        for (i = 0; i < 3; i++) {
            if (!eulcu[i]) continue;

            action_groups_remove_channel(act, eulcu[i]);
            free_fcurve(eulcu[i]);
        }

        chan->rotmode = ROT_MODE_QUAT;

        for (i = 0; i < 4; i++)
            action_groups_add_channel(act, grp, quatcu[i]);
    }

    bPoseChannel *pchan;
    for (pchan = (bPoseChannel*)ob->pose->chanbase.first; pchan; pchan = pchan->next) {
        pchan->rotmode = ROT_MODE_QUAT;
    }
}
#endif


//sets the rna_path and array index to curve
void AnimationImporter::modify_fcurve(std::vector<FCurve*>* curves , const char* rna_path , int array_index )
{
    std::vector<FCurve*>::iterator it;
    int i;
    for (it = curves->begin(), i = 0; it != curves->end(); it++, i++) {
        FCurve *fcu = *it;
        fcu->rna_path = BLI_strdup(rna_path);
        
        if (array_index == -1) fcu->array_index = i;
        else fcu->array_index = array_index;

        unused_curves.erase(std::remove(unused_curves.begin(), unused_curves.end(), fcu), unused_curves.end());
    }
}

void AnimationImporter::find_frames( std::vector<float>* frames , std::vector<FCurve*>* curves)
{
    std::vector<FCurve*>::iterator iter;
    for (iter = curves->begin(); iter != curves->end(); iter++) {
        FCurve *fcu = *iter;

        for (unsigned int k = 0; k < fcu->totvert; k++) {
            //get frame value from bezTriple
            float fra = fcu->bezt[k].vec[1][0];
            //if frame already not added add frame to frames
            if (std::find(frames->begin(), frames->end(), fra) == frames->end())
                frames->push_back(fra);

        }
    }
}

//creates the rna_paths and array indices of fcurves from animations using transformation and bound animation class of each animation.
void AnimationImporter:: Assign_transform_animations(COLLADAFW::Transformation * transform , 
                                                     const COLLADAFW::AnimationList::AnimationBinding * binding,
                                                     std::vector<FCurve*>* curves, bool is_joint, char * joint_path)
{
    COLLADAFW::Transformation::TransformationType tm_type = transform->getTransformationType();
    bool is_matrix = tm_type == COLLADAFW::Transformation::MATRIX;
    bool is_rotation = tm_type  == COLLADAFW::Transformation::ROTATE;

    //to check if the no of curves are valid
    bool xyz = ((tm_type == COLLADAFW::Transformation::TRANSLATE ||tm_type  == COLLADAFW::Transformation::SCALE) && binding->animationClass == COLLADAFW::AnimationList::POSITION_XYZ);


    if (!((!xyz && curves->size() == 1) || (xyz && curves->size() == 3) || is_matrix)) {
        fprintf(stderr, "expected %d curves, got %d\n", xyz ? 3 : 1, (int)curves->size());
        return;
    }

    char rna_path[100];

    switch (tm_type) {
        case COLLADAFW::Transformation::TRANSLATE:
        case COLLADAFW::Transformation::SCALE:
            {
                bool loc = tm_type == COLLADAFW::Transformation::TRANSLATE;
                if (is_joint)
                    BLI_snprintf(rna_path, sizeof(rna_path), "%s.%s", joint_path, loc ? "location" : "scale");
                else
                    BLI_strncpy(rna_path, loc ? "location" : "scale", sizeof(rna_path));

                switch (binding->animationClass) {
        case COLLADAFW::AnimationList::POSITION_X:
            modify_fcurve(curves, rna_path, 0 );
            break;
        case COLLADAFW::AnimationList::POSITION_Y:
            modify_fcurve(curves, rna_path, 1 );
            break;
        case COLLADAFW::AnimationList::POSITION_Z:
            modify_fcurve(curves, rna_path, 2 );
            break;
        case COLLADAFW::AnimationList::POSITION_XYZ:
            modify_fcurve(curves, rna_path, -1 );
            break;
        default:
            fprintf(stderr, "AnimationClass %d is not supported for %s.\n",
                binding->animationClass, loc ? "TRANSLATE" : "SCALE");
                }
                break;
            }


        case COLLADAFW::Transformation::ROTATE:
            {
                if (is_joint)
                    BLI_snprintf(rna_path, sizeof(rna_path), "%s.rotation_euler", joint_path);
                else
                    BLI_strncpy(rna_path, "rotation_euler", sizeof(rna_path));
                std::vector<FCurve*>::iterator iter;
                for (iter = curves->begin(); iter != curves->end(); iter++) {
                    FCurve* fcu = *iter;

                    //if transform is rotation the fcurves values must be turned in to radian.
                    if (is_rotation)
                        fcurve_deg_to_rad(fcu);      
                }                   
                COLLADAFW::Rotate* rot = (COLLADAFW::Rotate*)transform;
                COLLADABU::Math::Vector3& axis = rot->getRotationAxis();

                switch (binding->animationClass) {
        case COLLADAFW::AnimationList::ANGLE:
            if (COLLADABU::Math::Vector3::UNIT_X == axis) {
                modify_fcurve(curves, rna_path, 0 );
            }
            else if (COLLADABU::Math::Vector3::UNIT_Y == axis) {
                modify_fcurve(curves, rna_path, 1 );
            }
            else if (COLLADABU::Math::Vector3::UNIT_Z == axis) {
                modify_fcurve(curves, rna_path, 2 );
            }
            break;
        case COLLADAFW::AnimationList::AXISANGLE:
            // TODO convert axis-angle to quat? or XYZ?
        default:
            fprintf(stderr, "AnimationClass %d is not supported for ROTATE transformation.\n",
                binding->animationClass);
                }
                break;
            }

        case COLLADAFW::Transformation::MATRIX:
            /*{
            COLLADAFW::Matrix* mat = (COLLADAFW::Matrix*)transform;
            COLLADABU::Math::Matrix4 mat4 = mat->getMatrix();
            switch (binding->animationClass) {
            case COLLADAFW::AnimationList::TRANSFORM:

            }
            }*/
            break;
        case COLLADAFW::Transformation::SKEW:
        case COLLADAFW::Transformation::LOOKAT:
            fprintf(stderr, "Animation of SKEW and LOOKAT transformations is not supported yet.\n");
            break;
    }

}

//creates the rna_paths and array indices of fcurves from animations using color and bound animation class of each animation.
void AnimationImporter:: Assign_color_animations(const COLLADAFW::UniqueId& listid, ListBase *AnimCurves ,const char * anim_type)
{
    char rna_path[100];
    BLI_strncpy(rna_path,anim_type, sizeof(rna_path));

    const COLLADAFW::AnimationList *animlist = animlist_map[listid];
    const COLLADAFW::AnimationList::AnimationBindings& bindings = animlist->getAnimationBindings();
    //all the curves belonging to the current binding
    std::vector<FCurve*> animcurves;
    for (unsigned int j = 0; j < bindings.getCount(); j++) {
        animcurves = curve_map[bindings[j].animation];

        switch (bindings[j].animationClass) {
        case COLLADAFW::AnimationList::COLOR_R:
            modify_fcurve(&animcurves, rna_path, 0 );
            break;
        case COLLADAFW::AnimationList::COLOR_G:
            modify_fcurve(&animcurves, rna_path, 1 );
            break;
        case COLLADAFW::AnimationList::COLOR_B:
            modify_fcurve(&animcurves, rna_path, 2 );
            break;
        case COLLADAFW::AnimationList::COLOR_RGB:
        case COLLADAFW::AnimationList::COLOR_RGBA: // to do-> set intensity
            modify_fcurve(&animcurves, rna_path, -1 );
            break;

        default:
            fprintf(stderr, "AnimationClass %d is not supported for %s.\n",
                bindings[j].animationClass, "COLOR" );
        }

        std::vector<FCurve*>::iterator iter;
        //Add the curves of the current animation to the object
        for (iter = animcurves.begin(); iter != animcurves.end(); iter++) {
            FCurve * fcu = *iter;
            BLI_addtail(AnimCurves, fcu);   
        }
    }


}

void AnimationImporter:: Assign_float_animations(const COLLADAFW::UniqueId& listid, ListBase *AnimCurves, const char * anim_type)
{
    char rna_path[100];
    if (animlist_map.find(listid) == animlist_map.end()) return ;
    else 
    {
        //anim_type has animations
        const COLLADAFW::AnimationList *animlist = animlist_map[listid];
        const COLLADAFW::AnimationList::AnimationBindings& bindings = animlist->getAnimationBindings();
        //all the curves belonging to the current binding
        std::vector<FCurve*> animcurves;
        for (unsigned int j = 0; j < bindings.getCount(); j++) {
            animcurves = curve_map[bindings[j].animation];

            BLI_strncpy(rna_path, anim_type , sizeof(rna_path));
            modify_fcurve(&animcurves, rna_path, 0 );
            std::vector<FCurve*>::iterator iter;
            //Add the curves of the current animation to the object
            for (iter = animcurves.begin(); iter != animcurves.end(); iter++) {
                FCurve * fcu = *iter;
                BLI_addtail(AnimCurves, fcu);
            }
        }
    }
    
}

void AnimationImporter::apply_matrix_curves( Object * ob, std::vector<FCurve*>& animcurves, COLLADAFW::Node* root ,COLLADAFW::Node* node, 
                                                    COLLADAFW::Transformation * tm )
{
    bool is_joint = node->getType() == COLLADAFW::Node::JOINT;
    const char *bone_name = is_joint ? bc_get_joint_name(node) : NULL;
    char joint_path[200];
    if ( is_joint ) 
        armature_importer->get_rna_path_for_joint(node, joint_path, sizeof(joint_path));

    std::vector<float> frames;
    find_frames(&frames, &animcurves);

    float irest_dae[4][4];
    float rest[4][4], irest[4][4];

    if (is_joint) {
        get_joint_rest_mat(irest_dae, root, node);
        invert_m4(irest_dae);

        Bone *bone = get_named_bone((bArmature*)ob->data, bone_name);
        if (!bone) {
            fprintf(stderr, "cannot find bone \"%s\"\n", bone_name);
            return;
        }

        unit_m4(rest);
        copy_m4_m4(rest, bone->arm_mat);
        invert_m4_m4(irest, rest);
    }
    // new curves to assign matrix transform animation
    FCurve *newcu[10]; // if tm_type is matrix, then create 10 curves: 4 rot, 3 loc, 3 scale
    unsigned int totcu = 10 ;
    const char *tm_str = NULL;
    char rna_path[200];
    for (int i = 0; i < totcu; i++) {

        int axis = i;

        if (i < 4) {
            tm_str = "rotation_quaternion";
            axis = i;
        }
        else if (i < 7) {
            tm_str = "location";
            axis = i - 4;
        }
        else {
            tm_str = "scale";
            axis = i - 7;
        }


        if (is_joint)
            BLI_snprintf(rna_path, sizeof(rna_path), "%s.%s", joint_path, tm_str);
        else
            BLI_strncpy(rna_path, tm_str, sizeof(rna_path));
        newcu[i] = create_fcurve(axis, rna_path);
        newcu[i]->totvert = frames.size();
    }

    if (frames.size() == 0)
        return;

    std::sort(frames.begin(), frames.end());

    std::vector<float>::iterator it;

    // sample values at each frame
    for (it = frames.begin(); it != frames.end(); it++) {
        float fra = *it;

        float mat[4][4];
        float matfra[4][4];

        unit_m4(matfra);

        // calc object-space mat
        evaluate_transform_at_frame(matfra, node, fra);


        // for joints, we need a special matrix
        if (is_joint) {
            // special matrix: iR * M * iR_dae * R
            // where R, iR are bone rest and inverse rest mats in world space (Blender bones),
            // iR_dae is joint inverse rest matrix (DAE) and M is an evaluated joint world-space matrix (DAE)
            float temp[4][4], par[4][4];

            // calc M
            calc_joint_parent_mat_rest(par, NULL, root, node);
            mult_m4_m4m4(temp, par, matfra);

            // evaluate_joint_world_transform_at_frame(temp, NULL, , node, fra);

            // calc special matrix
            mul_serie_m4(mat, irest, temp, irest_dae, rest, NULL, NULL, NULL, NULL);
        }
        else {
            copy_m4_m4(mat, matfra);
        }

        float  rot[4], loc[3], scale[3];

        mat4_to_quat(rot, mat);
        /*for ( int i = 0 ; i < 4  ;  i ++ )
        {
        rot[i] = RAD2DEGF(rot[i]);
        }*/
        copy_v3_v3(loc, mat[3]);
        mat4_to_size(scale, mat);

        // add keys
        for (int i = 0; i < totcu; i++) {
            if (i < 4)
                add_bezt(newcu[i], fra, rot[i]);
            else if (i < 7)
                add_bezt(newcu[i], fra, loc[i - 4]);
            else
                add_bezt(newcu[i], fra, scale[i - 7]);
        }
    }
    verify_adt_action((ID*)&ob->id, 1);

    ListBase *curves = &ob->adt->action->curves;

    // add curves
    for (int i= 0; i < totcu; i++) {
        if (is_joint)
            add_bone_fcurve(ob, node, newcu[i]);
        else
            BLI_addtail(curves, newcu[i]);
    }

    if (is_joint) {
        bPoseChannel *chan = get_pose_channel(ob->pose, bone_name);
        chan->rotmode = ROT_MODE_QUAT;
    }
    else {
        ob->rotmode = ROT_MODE_QUAT;
    }

    return;

}

void AnimationImporter::translate_Animations ( COLLADAFW::Node * node , 
                                                   std::map<COLLADAFW::UniqueId, COLLADAFW::Node*>& root_map,
                                                   std::map<COLLADAFW::UniqueId, Object*>& object_map,
                                                   std::map<COLLADAFW::UniqueId, const COLLADAFW::Object*> FW_object_map)
{
    AnimationImporter::AnimMix* animType = get_animation_type(node, FW_object_map );

    bool is_joint = node->getType() == COLLADAFW::Node::JOINT;
    COLLADAFW::Node *root = root_map.find(node->getUniqueId()) == root_map.end() ? node : root_map[node->getUniqueId()];
    Object *ob = is_joint ? armature_importer->get_armature_for_joint(root) : object_map[node->getUniqueId()];
    if (!ob)
    {
        fprintf(stderr, "cannot find Object for Node with id=\"%s\"\n", node->getOriginalId().c_str());
        return;
    }

    bAction * act;

    if ( (animType->transform) != 0 )
    {
        const char *bone_name = is_joint ? bc_get_joint_name(node) : NULL;
        char joint_path[200];

        if ( is_joint ) 
            armature_importer->get_rna_path_for_joint(node, joint_path, sizeof(joint_path));


        if (!ob->adt || !ob->adt->action) act = verify_adt_action((ID*)&ob->id, 1);
        else act = ob->adt->action;

        //Get the list of animation curves of the object
        ListBase *AnimCurves = &(act->curves);

        const COLLADAFW::TransformationPointerArray& nodeTransforms = node->getTransformations();

        //for each transformation in node 
        for (unsigned int i = 0; i < nodeTransforms.getCount(); i++) {
            COLLADAFW::Transformation *transform = nodeTransforms[i];
            COLLADAFW::Transformation::TransformationType tm_type = transform->getTransformationType();

            bool is_rotation = tm_type == COLLADAFW::Transformation::ROTATE;
            bool is_matrix = tm_type == COLLADAFW::Transformation::MATRIX;

            const COLLADAFW::UniqueId& listid = transform->getAnimationList();

            //check if transformation has animations
            if (animlist_map.find(listid) == animlist_map.end()) continue ; 
            else 
            {
                //transformation has animations
                const COLLADAFW::AnimationList *animlist = animlist_map[listid];
                const COLLADAFW::AnimationList::AnimationBindings& bindings = animlist->getAnimationBindings();
                //all the curves belonging to the current binding
                std::vector<FCurve*> animcurves;
                for (unsigned int j = 0; j < bindings.getCount(); j++) {
                    animcurves = curve_map[bindings[j].animation];
                    if ( is_matrix )
                        apply_matrix_curves(ob, animcurves, root , node,  transform  );
                    else {              
                        //calculate rnapaths and array index of fcurves according to transformation and animation class
                        Assign_transform_animations(transform, &bindings[j], &animcurves, is_joint, joint_path ); 

                        std::vector<FCurve*>::iterator iter;
                        //Add the curves of the current animation to the object
                        for (iter = animcurves.begin(); iter != animcurves.end(); iter++) {
                            FCurve * fcu = *iter;
                            if ((ob->type == OB_ARMATURE))
                                add_bone_fcurve( ob, node , fcu );
                            else 
                                BLI_addtail(AnimCurves, fcu);   
                        }
                    }
                }
            }
            if (is_rotation) {
                if (is_joint) 
                {
                    bPoseChannel *chan = get_pose_channel(ob->pose, bone_name);
                    chan->rotmode = ROT_MODE_EUL;
                }
                else 
                {
                    ob->rotmode = ROT_MODE_EUL;
                }
            }
        }
    }

    if ((animType->light) != 0)
    {
        Lamp * lamp  = (Lamp*) ob->data;

        if (!lamp->adt || !lamp->adt->action) act = verify_adt_action((ID*)&lamp->id, 1);
        else act = lamp->adt->action;

        ListBase *AnimCurves = &(act->curves);
        const COLLADAFW::InstanceLightPointerArray& nodeLights = node->getInstanceLights();

        for (unsigned int i = 0; i < nodeLights.getCount(); i++) {
            const COLLADAFW::Light *light = (COLLADAFW::Light *) FW_object_map[nodeLights[i]->getInstanciatedObjectId()];

            if ((animType->light & LIGHT_COLOR) != 0)
            {
                const COLLADAFW::Color *col =  &(light->getColor());
                const COLLADAFW::UniqueId& listid = col->getAnimationList();

                Assign_color_animations(listid, AnimCurves, "color"); 
            }
            if ((animType->light & LIGHT_FOA) != 0 )
            {
                const COLLADAFW::AnimatableFloat *foa =  &(light->getFallOffAngle());
                const COLLADAFW::UniqueId& listid = foa->getAnimationList();

                Assign_float_animations( listid ,AnimCurves, "spot_size"); 
            }
            if ( (animType->light & LIGHT_FOE) != 0 )
            {
                const COLLADAFW::AnimatableFloat *foe =  &(light->getFallOffExponent());
                const COLLADAFW::UniqueId& listid = foe->getAnimationList();

                Assign_float_animations( listid ,AnimCurves, "spot_blend"); 

            }
        }
    }

    if ( (animType->camera) != 0) 
    {
        Camera * camera  = (Camera*) ob->data;

        if (!camera->adt || !camera->adt->action) act = verify_adt_action((ID*)&camera->id, 1);
        else act = camera->adt->action;

        ListBase *AnimCurves = &(act->curves);
        const COLLADAFW::InstanceCameraPointerArray& nodeCameras= node->getInstanceCameras();

        for (unsigned int i = 0; i < nodeCameras.getCount(); i++) {
            const COLLADAFW::Camera *camera = (COLLADAFW::Camera *) FW_object_map[nodeCameras[i]->getInstanciatedObjectId()];

            if ((animType->camera & CAMERA_XFOV) != 0 )
            {
                const COLLADAFW::AnimatableFloat *xfov =  &(camera->getXFov());
                const COLLADAFW::UniqueId& listid = xfov->getAnimationList();
                Assign_float_animations( listid ,AnimCurves, "lens"); 
            }

            else if ((animType->camera & CAMERA_XMAG) != 0 )
            {
                const COLLADAFW::AnimatableFloat *xmag =  &(camera->getXMag());
                const COLLADAFW::UniqueId& listid = xmag->getAnimationList();
                Assign_float_animations( listid ,AnimCurves, "ortho_scale"); 
            }

            if ((animType->camera & CAMERA_ZFAR) != 0 )
            {
                const COLLADAFW::AnimatableFloat *zfar =  &(camera->getFarClippingPlane());
                const COLLADAFW::UniqueId& listid = zfar->getAnimationList();
                Assign_float_animations( listid ,AnimCurves, "clip_end"); 
            }

            if ((animType->camera & CAMERA_ZNEAR) != 0 )
            {
                const COLLADAFW::AnimatableFloat *znear =  &(camera->getNearClippingPlane());
                const COLLADAFW::UniqueId& listid = znear->getAnimationList();
                Assign_float_animations( listid ,AnimCurves, "clip_start"); 
            }

        }
    }
    if ( animType->material != 0){
        Material *ma = give_current_material(ob, 1);
        if (!ma->adt || !ma->adt->action) act = verify_adt_action((ID*)&ma->id, 1);
        else act = ma->adt->action;

        ListBase *AnimCurves = &(act->curves);

        const COLLADAFW::InstanceGeometryPointerArray& nodeGeoms = node->getInstanceGeometries();
        for (unsigned int i = 0; i < nodeGeoms.getCount(); i++) {
            const COLLADAFW::MaterialBindingArray& matBinds = nodeGeoms[i]->getMaterialBindings();
            for (unsigned int j = 0; j < matBinds.getCount(); j++) {
                const COLLADAFW::UniqueId & matuid = matBinds[j].getReferencedMaterial();
                const COLLADAFW::Effect *ef = (COLLADAFW::Effect *) (FW_object_map[matuid]);
                if (ef != NULL) { /* can be NULL [#28909] */
                    const COLLADAFW::CommonEffectPointerArray& commonEffects  =  ef->getCommonEffects();
                    COLLADAFW::EffectCommon *efc = commonEffects[0];
                    if((animType->material & MATERIAL_SHININESS) != 0){
                        const COLLADAFW::FloatOrParam *shin = &(efc->getShininess());
                        const COLLADAFW::UniqueId& listid =  shin->getAnimationList();
                        Assign_float_animations( listid, AnimCurves , "specular_hardness" );
                    }

                    if((animType->material & MATERIAL_IOR) != 0){
                        const COLLADAFW::FloatOrParam *ior = &(efc->getIndexOfRefraction());
                        const COLLADAFW::UniqueId& listid =  ior->getAnimationList();
                        Assign_float_animations( listid, AnimCurves , "raytrace_transparency.ior" );
                    }

                    if((animType->material & MATERIAL_SPEC_COLOR) != 0){
                        const COLLADAFW::ColorOrTexture *cot = &(efc->getSpecular());
                        const COLLADAFW::UniqueId& listid =  cot->getColor().getAnimationList();
                        Assign_color_animations( listid, AnimCurves , "specular_color" );
                    }

                    if((animType->material & MATERIAL_DIFF_COLOR) != 0){
                        const COLLADAFW::ColorOrTexture *cot = &(efc->getDiffuse());
                        const COLLADAFW::UniqueId& listid =  cot->getColor().getAnimationList();
                        Assign_color_animations( listid, AnimCurves , "diffuse_color" );
                    }
                }
            }
        }   
    }
}


//Check if object is animated by checking if animlist_map holds the animlist_id of node transforms
AnimationImporter::AnimMix* AnimationImporter::get_animation_type ( const COLLADAFW::Node * node , 
                                            std::map<COLLADAFW::UniqueId, const COLLADAFW::Object*> FW_object_map) 
{
    AnimMix *types = new AnimMix();

    const COLLADAFW::TransformationPointerArray& nodeTransforms = node->getTransformations();

    //for each transformation in node 
    for (unsigned int i = 0; i < nodeTransforms.getCount(); i++) {
        COLLADAFW::Transformation *transform = nodeTransforms[i];
        const COLLADAFW::UniqueId& listid = transform->getAnimationList();

        //check if transformation has animations
        if (animlist_map.find(listid) == animlist_map.end()) continue ;
        else 
        {
            types->transform = types->transform|NODE_TRANSFORM;
            break;
        }
    }
    const COLLADAFW::InstanceLightPointerArray& nodeLights = node->getInstanceLights();

    for (unsigned int i = 0; i < nodeLights.getCount(); i++) {
        const COLLADAFW::Light *light = (COLLADAFW::Light *) FW_object_map[nodeLights[i]->getInstanciatedObjectId()];
        types->light = setAnimType(&(light->getColor()),(types->light), LIGHT_COLOR);
        types->light = setAnimType(&(light->getFallOffAngle()),(types->light), LIGHT_FOA);
        types->light = setAnimType(&(light->getFallOffExponent()),(types->light), LIGHT_FOE);

        if ( types->light != 0) break;

    }

    const COLLADAFW::InstanceCameraPointerArray& nodeCameras = node->getInstanceCameras();
    for (unsigned int i = 0; i < nodeCameras.getCount(); i++) {
        const COLLADAFW::Camera *camera = (COLLADAFW::Camera *) FW_object_map[nodeCameras[i]->getInstanciatedObjectId()];

        if ( camera->getCameraType() == COLLADAFW::Camera::PERSPECTIVE )
        {
            types->camera = setAnimType(&(camera->getXMag()),(types->camera), CAMERA_XFOV);
        }
        else
        {
            types->camera = setAnimType(&(camera->getXMag()),(types->camera), CAMERA_XMAG);
        }
        types->camera = setAnimType(&(camera->getFarClippingPlane()),(types->camera), CAMERA_ZFAR);
        types->camera = setAnimType(&(camera->getNearClippingPlane()),(types->camera), CAMERA_ZNEAR);

        if ( types->camera != 0) break;

    }

    const COLLADAFW::InstanceGeometryPointerArray& nodeGeoms = node->getInstanceGeometries();
    for (unsigned int i = 0; i < nodeGeoms.getCount(); i++) {
        const COLLADAFW::MaterialBindingArray& matBinds = nodeGeoms[i]->getMaterialBindings();
        for (unsigned int j = 0; j < matBinds.getCount(); j++) {
            const COLLADAFW::UniqueId & matuid = matBinds[j].getReferencedMaterial();
            const COLLADAFW::Effect *ef = (COLLADAFW::Effect *) (FW_object_map[matuid]);
            if (ef != NULL) { /* can be NULL [#28909] */
                const COLLADAFW::CommonEffectPointerArray& commonEffects = ef->getCommonEffects();
                if(!commonEffects.empty()) {
                    COLLADAFW::EffectCommon *efc = commonEffects[0];
                    types->material =  setAnimType(&(efc->getShininess()),(types->material), MATERIAL_SHININESS);
                    types->material =  setAnimType(&(efc->getSpecular().getColor()),(types->material), MATERIAL_SPEC_COLOR);
                    types->material =  setAnimType(&(efc->getDiffuse().getColor()),(types->material), MATERIAL_DIFF_COLOR);
                    // types->material =  setAnimType(&(efc->get()),(types->material), MATERIAL_TRANSPARENCY);
                    types->material =  setAnimType(&(efc->getIndexOfRefraction()),(types->material), MATERIAL_IOR);
                }
            }
        }
    }
    return types;
}

int AnimationImporter::setAnimType ( const COLLADAFW::Animatable * prop , int types, int addition)
{
    const COLLADAFW::UniqueId& listid =  prop->getAnimationList();
    if (animlist_map.find(listid) != animlist_map.end())
        return types|addition;
    else return types;
}       

// Is not used anymore.
void AnimationImporter::find_frames_old(std::vector<float> * frames, COLLADAFW::Node * node , COLLADAFW::Transformation::TransformationType tm_type)
{
    bool is_matrix = tm_type == COLLADAFW::Transformation::MATRIX;
    bool is_rotation = tm_type == COLLADAFW::Transformation::ROTATE;
    // for each <rotate>, <translate>, etc. there is a separate Transformation
    const COLLADAFW::TransformationPointerArray& nodeTransforms = node->getTransformations();

    unsigned int i;
    // find frames at which to sample plus convert all rotation keys to radians
    for (i = 0; i < nodeTransforms.getCount(); i++) {
        COLLADAFW::Transformation *transform = nodeTransforms[i];
        COLLADAFW::Transformation::TransformationType nodeTmType = transform->getTransformationType();


        if (nodeTmType == tm_type) {
            //get animation bindings for the current transformation
            const COLLADAFW::UniqueId& listid = transform->getAnimationList();
            //if transform is animated its animlist must exist.
            if (animlist_map.find(listid) != animlist_map.end()) {
                
                const COLLADAFW::AnimationList *animlist = animlist_map[listid];
                const COLLADAFW::AnimationList::AnimationBindings& bindings = animlist->getAnimationBindings();

                if (bindings.getCount()) {
                    //for each AnimationBinding get the fcurves which animate the transform
                    for (unsigned int j = 0; j < bindings.getCount(); j++) {
                        std::vector<FCurve*>& curves = curve_map[bindings[j].animation];
                        bool xyz = ((nodeTmType == COLLADAFW::Transformation::TRANSLATE || nodeTmType == COLLADAFW::Transformation::SCALE) && bindings[j].animationClass == COLLADAFW::AnimationList::POSITION_XYZ);

                        if ((!xyz && curves.size() == 1) || (xyz && curves.size() == 3) || is_matrix) {
                            std::vector<FCurve*>::iterator iter;

                            for (iter = curves.begin(); iter != curves.end(); iter++) {
                                FCurve *fcu = *iter;

                                //if transform is rotation the fcurves values must be turned in to radian.
                                if (is_rotation)
                                    fcurve_deg_to_rad(fcu);

                                for (unsigned int k = 0; k < fcu->totvert; k++) {
                                    //get frame value from bezTriple
                                    float fra = fcu->bezt[k].vec[1][0];
                                    //if frame already not added add frame to frames
                                    if (std::find(frames->begin(), frames->end(), fra) == frames->end())
                                        frames->push_back(fra);
                                }
                            }
                        }
                        else {
                            fprintf(stderr, "expected %d curves, got %d\n", xyz ? 3 : 1, (int)curves.size());
                        }
                    }
                }
            }
        }
    }
}



// prerequisites:
// animlist_map - map animlist id -> animlist
// curve_map - map anim id -> curve(s)
Object *AnimationImporter::translate_animation_OLD(COLLADAFW::Node *node,
                            std::map<COLLADAFW::UniqueId, Object*>& object_map,
                            std::map<COLLADAFW::UniqueId, COLLADAFW::Node*>& root_map,
                            COLLADAFW::Transformation::TransformationType tm_type,
                            Object *par_job)
{
    
    bool is_rotation = tm_type == COLLADAFW::Transformation::ROTATE;
    bool is_matrix = tm_type == COLLADAFW::Transformation::MATRIX;
    bool is_joint = node->getType() == COLLADAFW::Node::JOINT;
    
    COLLADAFW::Node *root = root_map.find(node->getUniqueId()) == root_map.end() ? node : root_map[node->getUniqueId()];
    Object *ob = is_joint ? armature_importer->get_armature_for_joint(node) : object_map[node->getUniqueId()];
    const char *bone_name = is_joint ? bc_get_joint_name(node) : NULL;
    if (!ob) {
        fprintf(stderr, "cannot find Object for Node with id=\"%s\"\n", node->getOriginalId().c_str());
        return NULL;
    }

    // frames at which to sample
    std::vector<float> frames;
    
    find_frames_old(&frames, node , tm_type);
    
    unsigned int i;
    
    float irest_dae[4][4];
    float rest[4][4], irest[4][4];

    if (is_joint) {
        get_joint_rest_mat(irest_dae, root, node);
        invert_m4(irest_dae);

        Bone *bone = get_named_bone((bArmature*)ob->data, bone_name);
        if (!bone) {
            fprintf(stderr, "cannot find bone \"%s\"\n", bone_name);
            return NULL;
        }

        unit_m4(rest);
        copy_m4_m4(rest, bone->arm_mat);
        invert_m4_m4(irest, rest);
    }

    Object *job = NULL;

#ifdef ARMATURE_TEST
    FCurve *job_curves[10];
    job = get_joint_object(root, node, par_job);
#endif

    if (frames.size() == 0)
        return job;

    std::sort(frames.begin(), frames.end());

    const char *tm_str = NULL;
    switch (tm_type) {
    case COLLADAFW::Transformation::ROTATE:
        tm_str = "rotation_quaternion";
        break;
    case COLLADAFW::Transformation::SCALE:
        tm_str = "scale";
        break;
    case COLLADAFW::Transformation::TRANSLATE:
        tm_str = "location";
        break;
    case COLLADAFW::Transformation::MATRIX:
        break;
    default:
        return job;
    }

    char rna_path[200];
    char joint_path[200];

    if (is_joint)
        armature_importer->get_rna_path_for_joint(node, joint_path, sizeof(joint_path));

    // new curves
    FCurve *newcu[10]; // if tm_type is matrix, then create 10 curves: 4 rot, 3 loc, 3 scale
    unsigned int totcu = is_matrix ? 10 : (is_rotation ? 4 : 3);

    for (i = 0; i < totcu; i++) {

        int axis = i;

        if (is_matrix) {
            if (i < 4) {
                tm_str = "rotation_quaternion";
                axis = i;
            }
            else if (i < 7) {
                tm_str = "location";
                axis = i - 4;
            }
            else {
                tm_str = "scale";
                axis = i - 7;
            }
        }

        if (is_joint)
            BLI_snprintf(rna_path, sizeof(rna_path), "%s.%s", joint_path, tm_str);
        else
            BLI_strncpy(rna_path, tm_str, sizeof(rna_path));
        newcu[i] = create_fcurve(axis, rna_path);

#ifdef ARMATURE_TEST
        if (is_joint)
            job_curves[i] = create_fcurve(axis, tm_str);
#endif
    }

    std::vector<float>::iterator it;

    // sample values at each frame
    for (it = frames.begin(); it != frames.end(); it++) {
        float fra = *it;

        float mat[4][4];
        float matfra[4][4];

        unit_m4(matfra);

        // calc object-space mat
        evaluate_transform_at_frame(matfra, node, fra);

        // for joints, we need a special matrix
        if (is_joint) {
            // special matrix: iR * M * iR_dae * R
            // where R, iR are bone rest and inverse rest mats in world space (Blender bones),
            // iR_dae is joint inverse rest matrix (DAE) and M is an evaluated joint world-space matrix (DAE)
            float temp[4][4], par[4][4];

            // calc M
            calc_joint_parent_mat_rest(par, NULL, root, node);
            mult_m4_m4m4(temp, par, matfra);

            // evaluate_joint_world_transform_at_frame(temp, NULL, , node, fra);

            // calc special matrix
            mul_serie_m4(mat, irest, temp, irest_dae, rest, NULL, NULL, NULL, NULL);
        }
        else {
            copy_m4_m4(mat, matfra);
        }

        float val[4], rot[4], loc[3], scale[3];

        switch (tm_type) {
        case COLLADAFW::Transformation::ROTATE:
            mat4_to_quat(val, mat);
            break;
        case COLLADAFW::Transformation::SCALE:
            mat4_to_size(val, mat);
            break;
        case COLLADAFW::Transformation::TRANSLATE:
            copy_v3_v3(val, mat[3]);
            break;
        case COLLADAFW::Transformation::MATRIX:
            mat4_to_quat(rot, mat);
            copy_v3_v3(loc, mat[3]);
            mat4_to_size(scale, mat);
            break;
        default:
            break;
        }

        // add keys
        for (i = 0; i < totcu; i++) {
            if (is_matrix) {
                if (i < 4)
                    add_bezt(newcu[i], fra, rot[i]);
                else if (i < 7)
                    add_bezt(newcu[i], fra, loc[i - 4]);
                else
                    add_bezt(newcu[i], fra, scale[i - 7]);
            }
            else {
                add_bezt(newcu[i], fra, val[i]);
            }
        }

#ifdef ARMATURE_TEST
        if (is_joint) {
            switch (tm_type) {
            case COLLADAFW::Transformation::ROTATE:
                mat4_to_quat(val, matfra);
                break;
            case COLLADAFW::Transformation::SCALE:
                mat4_to_size(val, matfra);
                break;
            case COLLADAFW::Transformation::TRANSLATE:
                copy_v3_v3(val, matfra[3]);
                break;
            case MATRIX:
                mat4_to_quat(rot, matfra);
                copy_v3_v3(loc, matfra[3]);
                mat4_to_size(scale, matfra);
                break;
            default:
                break;
            }

            for (i = 0; i < totcu; i++) {
                if (is_matrix) {
                    if (i < 4)
                        add_bezt(job_curves[i], fra, rot[i]);
                    else if (i < 7)
                        add_bezt(job_curves[i], fra, loc[i - 4]);
                    else
                        add_bezt(job_curves[i], fra, scale[i - 7]);
                }
                else {
                    add_bezt(job_curves[i], fra, val[i]);
                }
            }
        }
#endif
    }

    verify_adt_action((ID*)&ob->id, 1);

    ListBase *curves = &ob->adt->action->curves;

    // add curves
    for (i = 0; i < totcu; i++) {
        if (is_joint)
            add_bone_fcurve(ob, node, newcu[i]);
        else
            BLI_addtail(curves, newcu[i]);

#ifdef ARMATURE_TEST
        if (is_joint)
            BLI_addtail(&job->adt->action->curves, job_curves[i]);
#endif
    }

    if (is_rotation || is_matrix) {
        if (is_joint) {
            bPoseChannel *chan = get_pose_channel(ob->pose, bone_name);
            chan->rotmode = ROT_MODE_QUAT;
        }
        else {
            ob->rotmode = ROT_MODE_QUAT;
        }
    }

    return job;
}

// internal, better make it private
// warning: evaluates only rotation and only assigns matrix transforms now
// prerequisites: animlist_map, curve_map
void AnimationImporter::evaluate_transform_at_frame(float mat[4][4], COLLADAFW::Node *node, float fra)
{
    const COLLADAFW::TransformationPointerArray& tms = node->getTransformations();

    unit_m4(mat);

    for (unsigned int i = 0; i < tms.getCount(); i++) {
        COLLADAFW::Transformation *tm = tms[i];
        COLLADAFW::Transformation::TransformationType type = tm->getTransformationType();
        float m[4][4];

        unit_m4(m);
        if ( type != COLLADAFW::Transformation::MATRIX )
            continue;

        std::string nodename = node->getName().size() ? node->getName() : node->getOriginalId();
        if (!evaluate_animation(tm, m, fra, nodename.c_str())) {
            /*switch (type) {
            case COLLADAFW::Transformation::ROTATE:
                dae_rotate_to_mat4(tm, m);
                break;
            case COLLADAFW::Transformation::TRANSLATE:
                dae_translate_to_mat4(tm, m);
                break;
            case COLLADAFW::Transformation::SCALE:
                dae_scale_to_mat4(tm, m);
                break;
            case COLLADAFW::Transformation::MATRIX:
                dae_matrix_to_mat4(tm, m);
                break;
            default:
                fprintf(stderr, "unsupported transformation type %d\n", type);
            }*/
            dae_matrix_to_mat4(tm, m);
            
        }

        float temp[4][4];
        copy_m4_m4(temp, mat);

        mult_m4_m4m4(mat, temp, m);
    }
}

// return true to indicate that mat contains a sane value
bool AnimationImporter::evaluate_animation(COLLADAFW::Transformation *tm, float mat[4][4], float fra, const char *node_id)
{
    const COLLADAFW::UniqueId& listid = tm->getAnimationList();
    COLLADAFW::Transformation::TransformationType type = tm->getTransformationType();

    if (type != COLLADAFW::Transformation::ROTATE &&
        type != COLLADAFW::Transformation::SCALE &&
        type != COLLADAFW::Transformation::TRANSLATE &&
        type != COLLADAFW::Transformation::MATRIX) {
        fprintf(stderr, "animation of transformation %d is not supported yet\n", type);
        return false;
    }

    if (animlist_map.find(listid) == animlist_map.end())
        return false;

    const COLLADAFW::AnimationList *animlist = animlist_map[listid];
    const COLLADAFW::AnimationList::AnimationBindings& bindings = animlist->getAnimationBindings();

    if (bindings.getCount()) {
        float vec[3];

        bool is_scale = (type == COLLADAFW::Transformation::SCALE);
        bool is_translate = (type == COLLADAFW::Transformation::TRANSLATE);

        if (is_scale)
            dae_scale_to_v3(tm, vec);
        else if (is_translate)
            dae_translate_to_v3(tm, vec);

        for (unsigned int j = 0; j < bindings.getCount(); j++) {
            const COLLADAFW::AnimationList::AnimationBinding& binding = bindings[j];
            std::vector<FCurve*>& curves = curve_map[binding.animation];
            COLLADAFW::AnimationList::AnimationClass animclass = binding.animationClass;
            char path[100];

            switch (type) {
            case COLLADAFW::Transformation::ROTATE:
                BLI_snprintf(path, sizeof(path), "%s.rotate (binding %u)", node_id, j);
                break;
            case COLLADAFW::Transformation::SCALE:
                BLI_snprintf(path, sizeof(path), "%s.scale (binding %u)", node_id, j);
                break;
            case COLLADAFW::Transformation::TRANSLATE:
                BLI_snprintf(path, sizeof(path), "%s.translate (binding %u)", node_id, j);
                break;
            case COLLADAFW::Transformation::MATRIX:
                BLI_snprintf(path, sizeof(path), "%s.matrix (binding %u)", node_id, j);
                break;
            default:
                break;
            }

            if (animclass == COLLADAFW::AnimationList::UNKNOWN_CLASS) {
                fprintf(stderr, "%s: UNKNOWN animation class\n", path);
                //continue;
            }

            if (type == COLLADAFW::Transformation::ROTATE) {
                if (curves.size() != 1) {
                    fprintf(stderr, "expected 1 curve, got %d\n", (int)curves.size());
                    return false;
                }

                // TODO support other animclasses
                if (animclass != COLLADAFW::AnimationList::ANGLE) {
                    fprintf(stderr, "%s: animation class %d is not supported yet\n", path, animclass);
                    return false;
                }

                COLLADABU::Math::Vector3& axis = ((COLLADAFW::Rotate*)tm)->getRotationAxis();
                float ax[3] = {axis[0], axis[1], axis[2]};
                float angle = evaluate_fcurve(curves[0], fra);
                axis_angle_to_mat4(mat, ax, angle);

                return true;
            }
            else if (is_scale || is_translate) {
                bool is_xyz = animclass == COLLADAFW::AnimationList::POSITION_XYZ;

                if ((!is_xyz && curves.size() != 1) || (is_xyz && curves.size() != 3)) {
                    if (is_xyz)
                        fprintf(stderr, "%s: expected 3 curves, got %d\n", path, (int)curves.size());
                    else
                        fprintf(stderr, "%s: expected 1 curve, got %d\n", path, (int)curves.size());
                    return false;
                }
                
                switch (animclass) {
                case COLLADAFW::AnimationList::POSITION_X:
                    vec[0] = evaluate_fcurve(curves[0], fra);
                    break;
                case COLLADAFW::AnimationList::POSITION_Y:
                    vec[1] = evaluate_fcurve(curves[0], fra);
                    break;
                case COLLADAFW::AnimationList::POSITION_Z:
                    vec[2] = evaluate_fcurve(curves[0], fra);
                    break;
                case COLLADAFW::AnimationList::POSITION_XYZ:
                    vec[0] = evaluate_fcurve(curves[0], fra);
                    vec[1] = evaluate_fcurve(curves[1], fra);
                    vec[2] = evaluate_fcurve(curves[2], fra);
                    break;
                default:
                    fprintf(stderr, "%s: animation class %d is not supported yet\n", path, animclass);
                    break;
                }
            }
            else if (type == COLLADAFW::Transformation::MATRIX) {
                // for now, of matrix animation, support only the case when all values are packed into one animation
                if (curves.size() != 16) {
                    fprintf(stderr, "%s: expected 16 curves, got %d\n", path, (int)curves.size());
                    return false;
                }

                COLLADABU::Math::Matrix4 matrix;
                int i = 0, j = 0;

                for (std::vector<FCurve*>::iterator it = curves.begin(); it != curves.end(); it++) {
                    matrix.setElement(i, j, evaluate_fcurve(*it, fra));
                    j++;
                    if (j == 4) {
                        i++;
                        j = 0;
                    }
                    unused_curves.erase(std::remove(unused_curves.begin(), unused_curves.end(), *it), unused_curves.end());
                }

                COLLADAFW::Matrix tm(matrix);
                dae_matrix_to_mat4(&tm, mat);

                std::vector<FCurve*>::iterator it;

                return true;
            }
        }

        if (is_scale)
            size_to_mat4(mat, vec);
        else
            copy_v3_v3(mat[3], vec);

        return is_scale || is_translate;
    }

    return false;
}

// gives a world-space mat of joint at rest position
void AnimationImporter::get_joint_rest_mat(float mat[4][4], COLLADAFW::Node *root, COLLADAFW::Node *node)
{
    // if bind mat is not available,
    // use "current" node transform, i.e. all those tms listed inside <node>
    if (!armature_importer->get_joint_bind_mat(mat, node)) {
        float par[4][4], m[4][4];

        calc_joint_parent_mat_rest(par, NULL, root, node);
        get_node_mat(m, node, NULL, NULL);
        mult_m4_m4m4(mat, par, m);
    }
}

// gives a world-space mat, end's mat not included
bool AnimationImporter::calc_joint_parent_mat_rest(float mat[4][4], float par[4][4], COLLADAFW::Node *node, COLLADAFW::Node *end)
{
    float m[4][4];

    if (node == end) {
        par ? copy_m4_m4(mat, par) : unit_m4(mat);
        return true;
    }

    // use bind matrix if available or calc "current" world mat
    if (!armature_importer->get_joint_bind_mat(m, node)) {
        if (par) {
            float temp[4][4];
            get_node_mat(temp, node, NULL, NULL);
            mult_m4_m4m4(m, par, temp);
        }
        else {
            get_node_mat(m, node, NULL, NULL);
        }
    }

    COLLADAFW::NodePointerArray& children = node->getChildNodes();
    for (unsigned int i = 0; i < children.getCount(); i++) {
        if (calc_joint_parent_mat_rest(mat, m, children[i], end))
            return true;
    }

    return false;
}

#ifdef ARMATURE_TEST
Object *AnimationImporter::get_joint_object(COLLADAFW::Node *root, COLLADAFW::Node *node, Object *par_job)
{
    if (joint_objects.find(node->getUniqueId()) == joint_objects.end()) {
        Object *job = add_object(scene, OB_EMPTY);

        rename_id((ID*)&job->id, (char*)get_joint_name(node));

        job->lay = object_in_scene(job, scene)->lay = 2;

        mul_v3_fl(job->size, 0.5f);
        job->recalc |= OB_RECALC_OB;

        verify_adt_action((ID*)&job->id, 1);

        job->rotmode = ROT_MODE_QUAT;

        float mat[4][4];
        get_joint_rest_mat(mat, root, node);

        if (par_job) {
            float temp[4][4], ipar[4][4];
            invert_m4_m4(ipar, par_job->obmat);
            copy_m4_m4(temp, mat);
            mult_m4_m4m4(mat, ipar, temp);
        }

        TransformBase::decompose(mat, job->loc, NULL, job->quat, job->size);

        if (par_job) {
            job->parent = par_job;

            par_job->recalc |= OB_RECALC_OB;
            job->parsubstr[0] = 0;
        }

        where_is_object(scene, job);

        // after parenting and layer change
        DAG_scene_sort(CTX_data_main(C), scene);

        joint_objects[node->getUniqueId()] = job;
    }

    return joint_objects[node->getUniqueId()];
}
#endif

#if 0
// recursively evaluates joint tree until end is found, mat then is world-space matrix of end
// mat must be identity on enter, node must be root
bool AnimationImporter::evaluate_joint_world_transform_at_frame(float mat[4][4], float par[4][4], COLLADAFW::Node *node, COLLADAFW::Node *end, float fra)
{
    float m[4][4];
    if (par) {
        float temp[4][4];
        evaluate_transform_at_frame(temp, node, node == end ? fra : 0.0f);
        mult_m4_m4m4(m, par, temp);
    }
    else {
        evaluate_transform_at_frame(m, node, node == end ? fra : 0.0f);
    }

    if (node == end) {
        copy_m4_m4(mat, m);
        return true;
    }
    else {
        COLLADAFW::NodePointerArray& children = node->getChildNodes();
        for (int i = 0; i < children.getCount(); i++) {
            if (evaluate_joint_world_transform_at_frame(mat, m, children[i], end, fra))
                return true;
        }
    }

    return false;
}
#endif

void AnimationImporter::add_bone_fcurve(Object *ob, COLLADAFW::Node *node, FCurve *fcu)
{
    const char *bone_name = bc_get_joint_name(node);
    bAction *act = ob->adt->action;
            
    /* try to find group */
    bActionGroup *grp = action_groups_find_named(act, bone_name);

    /* no matching groups, so add one */
    if (grp == NULL) {
        /* Add a new group, and make it active */
        grp = (bActionGroup*)MEM_callocN(sizeof(bActionGroup), "bActionGroup");
                    
        grp->flag = AGRP_SELECTED;
        BLI_strncpy(grp->name, bone_name, sizeof(grp->name));
                    
        BLI_addtail(&act->groups, grp);
        BLI_uniquename(&act->groups, grp, "Group", '.', offsetof(bActionGroup, name), 64);
    }
                
    /* add F-Curve to group */
    action_groups_add_channel(act, grp, fcu);
}

void AnimationImporter::add_bezt(FCurve *fcu, float fra, float value)
{
    //float fps = (float)FPS;
    BezTriple bez;
    memset(&bez, 0, sizeof(BezTriple));
    bez.vec[1][0] = fra ;
    bez.vec[1][1] = value;
    bez.ipo = BEZT_IPO_LIN ;/* use default interpolation mode here... */
    bez.f1 = bez.f2 = bez.f3 = SELECT;
    bez.h1 = bez.h2 = HD_AUTO;
    insert_bezt_fcurve(fcu, &bez, 0);
    calchandles_fcurve(fcu);
}