#!BPY
"""
Name: 'Cal3D XML'
Blender: 243
Group: 'Export'
Tip: 'Export armature/bone/mesh/action data to the Cal3D format.'
"""

# export_cal3d.py
# Copyright (C) 2003-2004 Jean-Baptiste LAMY -- jibalamy@free.fr
# Copyright (C) 2004 Matthias Braun -- matze@braunis.de
#
# 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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


__version__ = '0.12'
__author__  = 'Jean-Baptiste, Jiba, Lamy, Campbell Barton (Ideasman42)'
__email__   = ['Authors email, jibalamy:free*fr']
__url__     = ['Soya3ds homepage, http://home.gna.org/oomadness/en/soya/', 'Cal3d, http://cal3d.sourceforge.net']
__bpydoc__  =\
'''This script is a Blender => Cal3D converter.
(See http://blender.org and http://cal3d.sourceforge.net)

USAGE:

To install it, place the script in your $HOME/.blender/scripts directory.

Then open the File->Export->Cal3d v0.9 menu. And select the filename of the .cfg file.
The exporter will create a set of other files with same prefix (ie. bla.cfg, bla.xsf,
bla_Action1.xaf, bla_Action2.xaf, ...).

You should be able to open the .cfg file in cal3d_miniviewer.


NOT (YET) SUPPORTED:

	- Rotation, translation, or stretching Blender objects is still quite
buggy, so AVOID MOVING / ROTATING / RESIZE OBJECTS (either mesh or armature) !
Instead, edit the object (with tab), select all points / bones (with "a"),
and move / rotate / resize them.<br>
	- no support for exporting springs yet<br>
	- no support for exporting material colors (most games should only use images
I think...)


KNOWN ISSUES:

	- Cal3D versions <=0.9.1 have a bug where animations aren't played when the root bone
is not animated;<br>
	- Cal3D versions <=0.9.1 have a bug where objects that aren't influenced by any bones
are not drawn (fixed in Cal3D CVS).


NOTES:

It requires a very recent version of Blender (>= 2.44).

Build a model following a few rules:<br>
	- Use only a single armature;<br>
	- Use only a single rootbone (Cal3D doesn't support floating bones);<br>
	- Use only locrot keys (Cal3D doesn't support bone's size change);<br>
	- Don't try to create child/parent constructs in blender object, that gets exported
incorrectly at the moment;<br>
	- Objects or animations whose names start by "_" are not exported (hidden object).

You can pass as many parameters as you want at the end, "EXPORT_FOR_SOYA=1" is just an
example. The parameters are the same as below.
'''

# True (=1) to export for the Soya 3D engine
#     (http://oomadness.tuxfamily.org/en/soya).
# (=> rotate meshes and skeletons so as X is right, Y is top and -Z is front)
# EXPORT_FOR_SOYA = 0

# Enables LODs computation. LODs computation is quite slow, and the algo is
# surely not optimal :-(
LODS = 0

# Scale the model (not supported by Soya).
SCALE = 0.04

# See also BASE_MATRIX below, if you want to rotate/scale/translate the model at
# the exportation.

#########################################################################################
# Code starts here.
# The script should be quite re-useable for writing another Blender animation exporter.
# Most of the hell of it is to deal with Blender's head-tail-roll bone's definition.

import sys, os, os.path, struct, math, string
import Blender
import BPyMesh
import BPySys



def best_armature_root(armature):
	'''
	Find the armature root bone with the most children, return that bone
	'''
	
	bones = [bone for bone in armature.bones.values() if bone.hasChildren() == True]
	if len(bones) == 1:
		return bones[0]
	
	# Get the best root since we have more then 1
	bones = [(len(bone.getAllChildren()), bone) for bone in bones]
	bones.sort()
	return bones[-1][1] # bone with most children


Vector = Blender.Mathutils.Vector
Quaternion = Blender.Mathutils.Quaternion
Matrix = Blender.Mathutils.Matrix

# HACK -- it seems that some Blender versions don't define sys.argv,
# which may crash Python if a warning occurs.
# if not hasattr(sys, 'argv'): sys.argv = ['???']

def matrix_multiply(b, a):
	return [ [
		a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0],
		a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1],
		a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2],
		0.0,
		], [
		a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0],
		a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1],
		a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2],
		0.0,
		], [
		a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0],
		a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1],
		a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2],
		 0.0,
		], [
		a[3][0] * b[0][0] + a[3][1] * b[1][0] + a[3][2] * b[2][0] + b[3][0],
		a[3][0] * b[0][1] + a[3][1] * b[1][1] + a[3][2] * b[2][1] + b[3][1],
		a[3][0] * b[0][2] + a[3][1] * b[1][2] + a[3][2] * b[2][2] + b[3][2],
		1.0,
		] ]

# multiplies 2 quaternions in x,y,z,w notation
def quaternion_multiply(q1, q2):
	return Quaternion(\
		q2[3] * q1[0] + q2[0] * q1[3] + q2[1] * q1[2] - q2[2] * q1[1],
		q2[3] * q1[1] + q2[1] * q1[3] + q2[2] * q1[0] - q2[0] * q1[2],
		q2[3] * q1[2] + q2[2] * q1[3] + q2[0] * q1[1] - q2[1] * q1[0],
		q2[3] * q1[3] - q2[0] * q1[0] - q2[1] * q1[1] - q2[2] * q1[2],\
		)

def matrix_translate(m, v):
	m[3][0] += v[0]
	m[3][1] += v[1]
	m[3][2] += v[2]
	return m

def matrix2quaternion(m):
	s = math.sqrt(abs(m[0][0] + m[1][1] + m[2][2] + m[3][3]))
	if s == 0.0:
		x = abs(m[2][1] - m[1][2])
		y = abs(m[0][2] - m[2][0])
		z = abs(m[1][0] - m[0][1])
		if   (x >= y) and (x >= z): return Quaternion(1.0, 0.0, 0.0, 0.0)
		elif (y >= x) and (y >= z): return Quaternion(0.0, 1.0, 0.0, 0.0)
		else:                       return Quaternion(0.0, 0.0, 1.0, 0.0)
			
	q = Quaternion([
		-(m[2][1] - m[1][2]) / (2.0 * s),
		-(m[0][2] - m[2][0]) / (2.0 * s),
		-(m[1][0] - m[0][1]) / (2.0 * s),
		0.5 * s,
		])
	q.normalize()
	print q
	return q

def vector_by_matrix_3x3(p, m):
	return [p[0] * m[0][0] + p[1] * m[1][0] + p[2] * m[2][0],
					p[0] * m[0][1] + p[1] * m[1][1] + p[2] * m[2][1],
					p[0] * m[0][2] + p[1] * m[1][2] + p[2] * m[2][2]]

def vector_add(v1, v2):
	return [v1[0]+v2[0], v1[1]+v2[1], v1[2]+v2[2]]

def vector_sub(v1, v2):
	return [v1[0]-v2[0], v1[1]-v2[1], v1[2]-v2[2]]

def quaternion2matrix(q):
	xx = q[0] * q[0]
	yy = q[1] * q[1]
	zz = q[2] * q[2]
	xy = q[0] * q[1]
	xz = q[0] * q[2]
	yz = q[1] * q[2]
	wx = q[3] * q[0]
	wy = q[3] * q[1]
	wz = q[3] * q[2]
	return Matrix([1.0 - 2.0 * (yy + zz),       2.0 * (xy + wz),       2.0 * (xz - wy), 0.0],
					[      2.0 * (xy - wz), 1.0 - 2.0 * (xx + zz),       2.0 * (yz + wx), 0.0],
					[      2.0 * (xz + wy),       2.0 * (yz - wx), 1.0 - 2.0 * (xx + yy), 0.0],
					[0.0                  , 0.0                  , 0.0                  , 1.0])

def matrix_invert(m):
	det = (m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])
			 - m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2])
			 + m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]))
	if det == 0.0: return None
	det = 1.0 / det
	r = [ [
			det * (m[1][1] * m[2][2] - m[2][1] * m[1][2]),
		- det * (m[0][1] * m[2][2] - m[2][1] * m[0][2]),
			det * (m[0][1] * m[1][2] - m[1][1] * m[0][2]),
			0.0,
		], [
		- det * (m[1][0] * m[2][2] - m[2][0] * m[1][2]),
			det * (m[0][0] * m[2][2] - m[2][0] * m[0][2]),
		- det * (m[0][0] * m[1][2] - m[1][0] * m[0][2]),
			0.0
		], [
			det * (m[1][0] * m[2][1] - m[2][0] * m[1][1]),
		- det * (m[0][0] * m[2][1] - m[2][0] * m[0][1]),
			det * (m[0][0] * m[1][1] - m[1][0] * m[0][1]),
			0.0,
		] ]
	r.append([
		-(m[3][0] * r[0][0] + m[3][1] * r[1][0] + m[3][2] * r[2][0]),
		-(m[3][0] * r[0][1] + m[3][1] * r[1][1] + m[3][2] * r[2][1]),
		-(m[3][0] * r[0][2] + m[3][1] * r[1][2] + m[3][2] * r[2][2]),
		1.0,
		])
	return r


def point_by_matrix(p, m):
	return [p[0] * m[0][0] + p[1] * m[1][0] + p[2] * m[2][0] + m[3][0],
					p[0] * m[0][1] + p[1] * m[1][1] + p[2] * m[2][1] + m[3][1],
					p[0] * m[0][2] + p[1] * m[1][2] + p[2] * m[2][2] + m[3][2]]

# Hack for having the model rotated right.
# Put in BASE_MATRIX your own rotation if you need some.

BASE_MATRIX = None


# Cal3D data structures

CAL3D_VERSION = 910
MATERIALS = {}

class Cal3DMaterial:
	def __init__(self, map_filename = None):
		self.amb  = (255,255,255,255)
		self.diff = (255,255,255,255)
		self.spec = (255,255,255,255)
		self.shininess = 1.0
		
		if map_filename:
			map_filename = map_filename.split('\\')[-1].split('/')[-1]
			self.maps_filenames = [map_filename]
		else:
			self.maps_filenames = []
		
		self.id = len(MATERIALS)
		MATERIALS[map_filename] = self
		
	# new xml format
	def writeCal3D(self, file):
		file.write('<?xml version="1.0"?>\n')
		file.write('<HEADER MAGIC="XRF" VERSION="%i"/>\n' % CAL3D_VERSION)
		file.write('<MATERIAL NUMMAPS="%s">\n' % len(self.maps_filenames))
		file.write('\t<AMBIENT>%i %i %i %i</AMBIENT>\n' % self.amb)
		file.write('\t<DIFFUSE>%i %i %i %i</DIFFUSE>\n' % self.diff)
		file.write('\t<SPECULAR>%i %i %i %i</SPECULAR>\n' % self.spec)
		file.write('\t<SHININESS>%i</SHININESS>\n' % self.shininess)
		
		for map_filename in self.maps_filenames:
			file.write('\t<MAP>%s</MAP>\n' % map_filename)
			
		file.write('</MATERIAL>\n')


class Cal3DMesh:
	def __init__(self, ob, blend_mesh):
		self.name      = ob.name
		self.submeshes = []
		
		matrix = ob.matrixWorld
		#if BASE_MATRIX:
		#	matrix = matrix_multiply(BASE_MATRIX, matrix)
		
		faces = list(blend_mesh.faces)
		while faces:
			image          = faces[0].image
			image_filename = image and image.filename
			material       = MATERIALS.get(image_filename) or Cal3DMaterial(image_filename)
			outputuv       = len(material.maps_filenames) > 0
			
			# TODO add material color support here
			submesh = Cal3DSubMesh(self, material, len(self.submeshes))
			self.submeshes.append(submesh)
			vertices = {}
			for face in faces[:]:
				if (face.image and face.image.filename) == image_filename:
					faces.remove(face)
					
					if not face.smooth:
						normal = face.no * matrix
						normal.normalize()
						
					face_vertices = []
					face_v = face.v
					for i, blend_vert in enumerate(face_v):
						vertex = vertices.get(blend_vert.index)
						if not vertex:
							#coord  = blend_vert.co * matrix
							coord  = blend_vert.co
							if face.smooth:
								#normal = blend_vert.no * matrix
								normal = blend_vert.no
								#normal.normalize()
							
							vertex  = vertices[blend_vert.index] = Cal3DVertex(coord, normal, len(submesh.vertices))
							submesh.vertices.append(vertex)

							influences = blend_mesh.getVertexInfluences(blend_vert.index)
							# should this really be a warning? (well currently enabled,
							# because blender has some bugs where it doesn't return
							# influences in python api though they are set, and because
							# cal3d<=0.9.1 had bugs where objects without influences
							# aren't drawn.
							if not influences:
								print 'A vertex of object "%s" has no influences.\n(This occurs on objects placed in an invisible layer, you can fix it by using a single layer)' % ob.name
							
							# sum of influences is not always 1.0 in Blender ?!?!
							sum = 0.0
							for bone_name, weight in influences:
								sum += weight
							
							for bone_name, weight in influences:
								if bone_name not in BONES:
									print 'Couldnt find bone "%s" which influences object "%s"' % (bone_name, ob.name)
									continue
								if weight:
									vertex.influences.append(Influence(BONES[bone_name], weight / sum))
								
						elif not face.smooth:
							# We cannot share vertex for non-smooth faces, since Cal3D does not
							# support vertex sharing for 2 vertices with different normals.
							# => we must clone the vertex.
							
							old_vertex = vertex
							vertex = Cal3DVertex(vertex.loc, normal, len(submesh.vertices))
							submesh.vertices.append(vertex)
							
							vertex.cloned_from = old_vertex
							vertex.influences = old_vertex.influences
							old_vertex.clones.append(vertex)
							
						if blend_mesh.faceUV:
							uv = [face.uv[i][0], 1.0 - face.uv[i][1]]
							if not vertex.maps:
								if outputuv: vertex.maps.append(Map(*uv))
							elif (vertex.maps[0].u != uv[0]) or (vertex.maps[0].v != uv[1]):
								# This vertex can be shared for Blender, but not for Cal3D !!!
								# Cal3D does not support vertex sharing for 2 vertices with
								# different UV texture coodinates.
								# => we must clone the vertex.
								
								for clone in vertex.clones:
									if (clone.maps[0].u == uv[0]) and (clone.maps[0].v == uv[1]):
										vertex = clone
										break
								else: # Not yet cloned...
									old_vertex = vertex
									vertex = Cal3DVertex(vertex.loc, vertex.normal, len(submesh.vertices))
									submesh.vertices.append(vertex)
									
									vertex.cloned_from = old_vertex
									vertex.influences = old_vertex.influences
									if outputuv: vertex.maps.append(Map(*uv))
									old_vertex.clones.append(vertex)
						
						face_vertices.append(vertex)
						
					# Split faces with more than 3 vertices
					for i in xrange(1, len(face.v) - 1):
						submesh.faces.append(Face(face_vertices[0], face_vertices[i], face_vertices[i + 1]))
			
			# Computes LODs info
			if LODS:
				submesh.compute_lods()
	
	def writeCal3D(self, file):
		file.write('<?xml version="1.0"?>\n')
		file.write('<HEADER MAGIC="XMF" VERSION="%i"/>\n' % CAL3D_VERSION)
		file.write('<MESH NUMSUBMESH="%i">\n' % len(self.submeshes))
		for submesh in self.submeshes:
			submesh.writeCal3D(file)
		file.write('</MESH>\n')

class Cal3DSubMesh:
	def __init__(self, mesh, material, id):
		self.material   = material
		self.vertices   = []
		self.faces      = []
		self.nb_lodsteps = 0
		self.springs    = []
		self.id = id
		
	def compute_lods(self):
		"""Computes LODs info for Cal3D (there's no Blender related stuff here)."""
		
		print "Start LODs computation..."
		vertex2faces = {}
		for face in self.faces:
			for vertex in (face.vertex1, face.vertex2, face.vertex3):
				l = vertex2faces.get(vertex)
				if not l: vertex2faces[vertex] = [face]
				else: l.append(face)
				
		couple_treated         = {}
		couple_collapse_factor = []
		for face in self.faces:
			for a, b in ((face.vertex1, face.vertex2), (face.vertex1, face.vertex3), (face.vertex2, face.vertex3)):
				a = a.cloned_from or a
				b = b.cloned_from or b
				if a.id > b.id: a, b = b, a
				if not couple_treated.has_key((a, b)):
					# The collapse factor is simply the distance between the 2 points :-(
					# This should be improved !!
					if vector_dotproduct(a.normal, b.normal) < 0.9: continue
					couple_collapse_factor.append((point_distance(a.loc, b.loc), a, b))
					couple_treated[a, b] = 1
			
		couple_collapse_factor.sort()
		
		collapsed    = {}
		new_vertices = []
		new_faces    = []
		for factor, v1, v2 in couple_collapse_factor:
			# Determines if v1 collapses to v2 or v2 to v1.
			# We choose to keep the vertex which is on the smaller number of faces, since
			# this one has more chance of being in an extrimity of the body.
			# Though heuristic, this rule yields very good results in practice.
			if   len(vertex2faces[v1]) <  len(vertex2faces[v2]): v2, v1 = v1, v2
			elif len(vertex2faces[v1]) == len(vertex2faces[v2]):
				if collapsed.get(v1, 0): v2, v1 = v1, v2 # v1 already collapsed, try v2
				
			if (not collapsed.get(v1, 0)) and (not collapsed.get(v2, 0)):
				collapsed[v1] = 1
				collapsed[v2] = 1
				
				# Check if v2 is already colapsed
				while v2.collapse_to: v2 = v2.collapse_to
				
				common_faces = filter(vertex2faces[v1].__contains__, vertex2faces[v2])
				
				v1.collapse_to         = v2
				v1.face_collapse_count = len(common_faces)
				
				for clone in v1.clones:
					# Find the clone of v2 that correspond to this clone of v1
					possibles = []
					for face in vertex2faces[clone]:
						possibles.append(face.vertex1)
						possibles.append(face.vertex2)
						possibles.append(face.vertex3)
					clone.collapse_to = v2
					for vertex in v2.clones:
						if vertex in possibles:
							clone.collapse_to = vertex
							break
						
					clone.face_collapse_count = 0
					new_vertices.append(clone)

				# HACK -- all faces get collapsed with v1 (and no faces are collapsed with v1's
				# clones). This is why we add v1 in new_vertices after v1's clones.
				# This hack has no other incidence that consuming a little few memory for the
				# extra faces if some v1's clone are collapsed but v1 is not.
				new_vertices.append(v1)
				
				self.nb_lodsteps += 1 + len(v1.clones)
				
				new_faces.extend(common_faces)
				for face in common_faces:
					face.can_collapse = 1
					
					# Updates vertex2faces
					vertex2faces[face.vertex1].remove(face)
					vertex2faces[face.vertex2].remove(face)
					vertex2faces[face.vertex3].remove(face)
				vertex2faces[v2].extend(vertex2faces[v1])
				
		new_vertices.extend(filter(lambda vertex: not vertex.collapse_to, self.vertices))
		new_vertices.reverse() # Cal3D want LODed vertices at the end
		for i in xrange(len(new_vertices)): new_vertices[i].id = i
		self.vertices = new_vertices
		
		new_faces.extend(filter(lambda face: not face.can_collapse, self.faces))
		new_faces.reverse() # Cal3D want LODed faces at the end
		self.faces = new_faces
		
		print "LODs computed : %s vertices can be removed (from a total of %s)." % (self.nb_lodsteps, len(self.vertices))
		
	def rename_vertices(self, new_vertices):
		"""Rename (change ID) of all vertices, such as self.vertices == new_vertices."""
		for i in xrange(len(new_vertices)): new_vertices[i].id = i
		self.vertices = new_vertices
	
	def writeCal3D(self, file):
		file.write('\t<SUBMESH NUMVERTICES="%i" NUMFACES="%i" MATERIAL="%i" ' % \
				(len(self.vertices), len(self.faces), self.material.id))
		file.write('NUMLODSTEPS="%i" NUMSPRINGS="%i" NUMTEXCOORDS="%i">\n' % \
				 (self.nb_lodsteps, len(self.springs),
				 len(self.material.maps_filenames)))
		
		for item in self.vertices:	item.writeCal3D(file)
		for item in self.springs:	item.writeCal3D(file)
		for item in self.faces:		item.writeCal3D(file)
		
		file.write('\t</SUBMESH>\n')

class Cal3DVertex:
	"""
	__slots__ =\
	'loc',# vertex location, worldspace
	'normal',# vertex normal, worldspace
	'collapse_to',# ?
	'face_collapse_count',# ?
	'maps',# uv coords, must support Multi UV's eventually
	'influences',# Bone influences
	'weight',# ?
	'cloned_from',# ?
	'clones',# ?
	'id'# index
	"""
	def __init__(self, loc, normal, id):
		self.loc    = loc
		self.normal = normal
		self.collapse_to         = None
		self.face_collapse_count = 0
		self.maps       = []
		self.influences = []
		self.weight = None
		
		self.cloned_from = None
		self.clones      = []
		
		self.id = id
	
	def writeCal3D(self, file):
		if self.collapse_to:
			collapse_id = self.collapse_to.id
		else:
			collapse_id = -1
		file.write('\t\t<VERTEX ID="%i" NUMINFLUENCES="%i">\n' % \
				(self.id, len(self.influences)))
		file.write('\t\t\t<POS>%.6f %.6f %.6f</POS>\n' % (self.loc[0], self.loc[1], self.loc[2]))
		file.write('\t\t\t<NORM>%.6f %.6f %.6f</NORM>\n' % \
				 (self.normal[0], self.normal[1], self.normal[2]))
		if collapse_id != -1:
			file.write('\t\t\t<COLLAPSEID>%i</COLLAPSEID>\n' % collapse_id)
			file.write('\t\t\t<COLLAPSECOUNT>%i</COLLAPSECOUNT>\n' % \
					 self.face_collapse_count)
		
		for item in self.maps:
			item.writeCal3D(file)
		
		for item in self.influences:
			item.writeCal3D(file)
		
		if self.weight != None:
			file.write('\t\t\t<PHYSIQUE>%.6f</PHYSIQUE>\n' % len(self.weight))
		file.write('\t\t</VERTEX>\n')


class Map(object):
	__slots__ = 'u', 'v'
	def __init__(self, u, v):
		self.u = u
		self.v = v

	def writeCal3D(self, file):
		file.write('\t\t\t<TEXCOORD>%.6f %.6f</TEXCOORD>\n' % (self.u, self.v))

class Influence(object):
	__slots__ = 'bone', 'weight'
	def __init__(self, bone, weight):
		self.bone   = bone
		self.weight = weight
	
	def writeCal3D(self, file):
		file.write('\t\t\t<INFLUENCE ID="%i">%.6f</INFLUENCE>\n' % \
					 (self.bone.id, self.weight))

class Spring(object):
	__slots__ = 'vertex1', 'vertex2', 'spring_coefficient', 'idlelength'
	def __init__(self, vertex1, vertex2):
		self.vertex1 = vertex1
		self.vertex2 = vertex2
		self.spring_coefficient = 0.0
		self.idlelength = 0.0
	
	def writeCal3D(self, file):
		file.write('\t\t<SPRING VERTEXID="%i %i" COEF="%.6f" LENGTH="%.6f"/>\n' % \
					 (self.vertex1.id, self.vertex2.id, self.spring_coefficient, self.idlelength))

class Face(object):
	__slots__ = 'vertex1', 'vertex2', 'vertex3', 'can_collapse',
	def __init__(self, vertex1, vertex2, vertex3):
		self.vertex1 = vertex1
		self.vertex2 = vertex2
		self.vertex3 = vertex3
		self.can_collapse = 0
	
	def writeCal3D(self, file):
		file.write('\t\t<FACE VERTEXID="%i %i %i"/>\n' % \
					 (self.vertex1.id, self.vertex2.id, self.vertex3.id))

class Cal3DSkeleton(object):
	__slots__ = 'bones'
	def __init__(self):
		self.bones = []
	
	def writeCal3D(self, file):
		file.write('<?xml version="1.0"?>\n')
		file.write('<HEADER MAGIC="XSF" VERSION="%i"/>\n' % CAL3D_VERSION)
		file.write('<SKELETON NUMBONES="%i">\n' % len(self.bones))
		for item in self.bones:
			item.writeCal3D(file)
		
		file.write('</SKELETON>\n')

BONES = {}
POSEBONES= {}
class Cal3DBone(object):
	__slots__ = 'head', 'tail', 'name', 'cal3d_parent', 'loc', 'rot', 'children', 'matrix', 'lloc', 'lrot', 'id'
	def __init__(self, skeleton, blend_bone, arm_matrix, cal3d_parent=None):
		
		# def treat_bone(b, parent = None):
		head = blend_bone.head['BONESPACE']
		tail = blend_bone.tail['BONESPACE']
		#print parent.rot
		# Turns the Blender's head-tail-roll notation into a quaternion
		#quat = matrix2quaternion(blender_bone2matrix(head, tail, blend_bone.roll['BONESPACE']))
		quat = matrix2quaternion(blend_bone.matrix['BONESPACE'].copy().resize4x4())
		
		# Pose location
		ploc = POSEBONES[blend_bone.name].loc
		
		if cal3d_parent:
			# Compute the translation from the parent bone's head to the child
			# bone's head, in the parent bone coordinate system.
			# The translation is parent_tail - parent_head + child_head,
			# but parent_tail and parent_head must be converted from the parent's parent
			# system coordinate into the parent system coordinate.
			
			parent_invert_transform = matrix_invert(quaternion2matrix(cal3d_parent.rot))
			parent_head = vector_by_matrix_3x3(cal3d_parent.head, parent_invert_transform)
			parent_tail = vector_by_matrix_3x3(cal3d_parent.tail, parent_invert_transform)
			ploc = vector_add(ploc, blend_bone.head['BONESPACE'])
			
			# EDIT!!! FIX BONE OFFSET BE CAREFULL OF THIS PART!!! ??
			#diff = vector_by_matrix_3x3(head, parent_invert_transform)
			parent_tail= vector_add(parent_tail, head)
			# DONE!!!
			
			parentheadtotail = vector_sub(parent_tail, parent_head)
			# hmm this should be handled by the IPos, but isn't for non-animated
			# bones which are transformed in the pose mode...
			#loc = vector_add(ploc, parentheadtotail)
			#rot = quaternion_multiply(blender2cal3dquat(blend_bone.getQuat()), quat)
			loc = parentheadtotail
			rot = quat
			
		else:
			# Apply the armature's matrix to the root bones
			head = point_by_matrix(head, arm_matrix)
			tail = point_by_matrix(tail, arm_matrix)
			quat = matrix2quaternion(matrix_multiply(arm_matrix, quaternion2matrix(quat))) # Probably not optimal
			
			# loc = vector_add(head, blend_bone.getLoc())
			# rot = quaternion_multiply(blender2cal3dquat(blend_bone.getQuat()), quat)
			loc = head 
			rot = quat
			
		self.head = head
		self.tail = tail
		
		self.cal3d_parent = cal3d_parent
		self.name   = blend_bone.name
		self.loc = loc
		self.rot = rot
		self.children = []
		
		self.matrix = matrix_translate(quaternion2matrix(rot), loc)
		if cal3d_parent:
			self.matrix = matrix_multiply(cal3d_parent.matrix, self.matrix)
		
		# lloc and lrot are the bone => model space transformation (translation and rotation).
		# They are probably specific to Cal3D.
		m = matrix_invert(self.matrix)
		self.lloc = m[3][0], m[3][1], m[3][2]
		self.lrot = matrix2quaternion(m)
		
		self.id = len(skeleton.bones)
		skeleton.bones.append(self)
		BONES[self.name] = self
		
		if not blend_bone.hasChildren():	return
		for blend_child in blend_bone.children:
			self.children.append(Cal3DBone(skeleton, blend_child, arm_matrix, self))
		

	def writeCal3D(self, file):
		file.write('\t<BONE ID="%i" NAME="%s" NUMCHILD="%i">\n' % \
				(self.id, self.name, len(self.children)))
		# We need to negate quaternion W value, but why ?
		file.write('\t\t<TRANSLATION>%.6f %.6f %.6f</TRANSLATION>\n' % \
				 (self.loc[0], self.loc[1], self.loc[2]))
		file.write('\t\t<ROTATION>%.6f %.6f %.6f %.6f</ROTATION>\n' % \
				 (self.rot[0], self.rot[1], self.rot[2], -self.rot[3]))
		file.write('\t\t<LOCALTRANSLATION>%.6f %.6f %.6f</LOCALTRANSLATION>\n' % \
				 (self.lloc[0], self.lloc[1], self.lloc[2]))
		file.write('\t\t<LOCALROTATION>%.6f %.6f %.6f %.6f</LOCALROTATION>\n' % \
				 (self.lrot[0], self.lrot[1], self.lrot[2], -self.lrot[3]))
		if self.cal3d_parent:
			file.write('\t\t<PARENTID>%i</PARENTID>\n' % self.cal3d_parent.id)
		else:
			file.write('\t\t<PARENTID>%i</PARENTID>\n' % -1)
		
		for item in self.children:
			file.write('\t\t<CHILDID>%i</CHILDID>\n' % item.id)
			
		file.write('\t</BONE>\n')

class Cal3DAnimation:
	def __init__(self, name, duration = 0.0):
		self.name     = name
		self.duration = duration
		self.tracks   = {} # Map bone names to tracks
	
	def writeCal3D(self, file):
		file.write('<?xml version="1.0"?>\n')
		file.write('<HEADER MAGIC="XAF" VERSION="%i"/>\n' % CAL3D_VERSION)
		file.write('<ANIMATION DURATION="%.6f" NUMTRACKS="%i">\n' % \
				 (self.duration, len(self.tracks)))
		
		for item in self.tracks.itervalues():
			item.writeCal3D(file)
		
		file.write('</ANIMATION>\n')

class Cal3DTrack:
	def __init__(self, bone):
		self.bone      = bone
		self.keyframes = []

	def writeCal3D(self, file):
		file.write('\t<TRACK BONEID="%i" NUMKEYFRAMES="%i">\n' % \
				(self.bone.id, len(self.keyframes)))
		
		for item in self.keyframes:
			item.writeCal3D(file)
		
		file.write('\t</TRACK>\n')

class Cal3DKeyFrame:
	def __init__(self, track, time, loc, rot):
		self.time = time
		self.loc  = loc
		self.rot  = rot
		
		self.track = track
		track.keyframes.append(self)
	
	def writeCal3D(self, file):
		file.write('\t\t<KEYFRAME TIME="%.6f">\n' % self.time)
		file.write('\t\t\t<TRANSLATION>%.6f %.6f %.6f</TRANSLATION>\n' % \
				 (self.loc[0], self.loc[1], self.loc[2]))
		# We need to negate quaternion W value, but why ?
		file.write('\t\t\t<ROTATION>%.6f %.6f %.6f %.6f</ROTATION>\n' % \
				 (self.rot[0], self.rot[1], self.rot[2], -self.rot[3]))
		file.write('\t\t</KEYFRAME>\n')

def export_cal3d(filename):
	if not filename.endswith('.cfg'):
		filename += '.cfg'
	
	file_only = filename.split('/')[-1].split('\\')[-1]
	file_only_noext = file_only.split('.')[0]
	base_only = filename[:-len(file_only)]
	
	def new_name(dataname, ext):
		return file_only_noext + '_' + BPySys.cleanName(dataname) + ext
	
	#if EXPORT_FOR_SOYA:
	#	global BASE_MATRIX
	#	BASE_MATRIX = matrix_rotate_x(-math.pi / 2.0)
		
	# Get the scene
	scene = Blender.Scene.GetCurrent()
	
	# ---- Export skeleton (=armature) ----------------------------------------

	skeleton = Cal3DSkeleton()
	blender_armature = [ob for ob in scene.objects.context if ob.type == 'Armature']
	if len(blender_armature) > 1:	print "Found multiple armatures! using ",armatures[0].name
	if blender_armature: blender_armature = blender_armature[0]
	else:
		Blender.Draw.PupMenu('Aborting%t|No Armature in selection')
		return

	# we need pose bone locations
	for pbone in blender_armature.getPose().bones.values():
		POSEBONES[pbone.name] = pbone

	Cal3DBone(skeleton, best_armature_root(blender_armature.getData()), blender_armature.matrixWorld)
	
	# ---- Export Mesh data ---------------------------------------------------
	meshes = []
	
	for ob in scene.objects.context:
		if ob.type != 'Mesh':		continue
		blend_mesh = ob.getData(mesh=1)
		BPyMesh.meshCalcNormals(blend_mesh)
		
		if not blend_mesh.faces:			continue
		meshes.append( Cal3DMesh(ob, blend_mesh) )
		
	# ---- Export animations --------------------------------------------------
	ANIMATIONS = {}
	SUPPORTED_IPOS = "QuatW", "QuatX", "QuatY", "QuatZ", "LocX", "LocY", "LocZ"
	for animation_name, blend_action in Blender.Armature.NLA.GetActions().iteritems():
		#for blend_action in [blender_armature.action]:
		#animation_name = a[0]
		#animation_name = blend_action.name
		animation = Cal3DAnimation(animation_name)
		animation.duration = 0.0
		
		
		# All tracks need to have at least 1 keyframe.
		# bones without any keys crash the viewer so we need to find the location for a dummy keyframe.
		blend_action_ipos = blend_action.getAllChannelIpos()
		start_frame = 300000 # largest frame
		for bone_name, ipo in blend_action_ipos.iteritems():
			if ipo:
				for curve in ipo:
					if curve.name in SUPPORTED_IPOS:
						for p in curve.bezierPoints:
							start_frame = min(start_frame, p.pt[0])
		
		# Write all dummy keyframes, find bones with no actions
		if start_frame == 300000:
			pass # BAD STUFF NO IPOS
		
		
		# Now we mau have some bones with no channels, easiest to add their names and an empty list here
		# this way they are exported with dummy keyfraames at teh first used frame
		blend_action_ipos_items = blend_action_ipos.items()
		action_bone_names = [name for name, ipo in blend_action_ipos_items]
		for bone_name in BONES: # iterkeys
			if bone_name not in action_bone_names:
				blend_action_ipos_items.append( (bone_name, []) )
		
		
		for bone_name, ipo in blend_action_ipos_items:
			if bone_name not in BONES:
				print "\tNo Bone '" + bone_name + "' in (from Animation '" + animation_name + "') ?!?"
				continue
			
			# So we can loop without errors
			if ipo==None: ipo = [] 
			
			bone = BONES[bone_name]
			track = animation.tracks[bone_name] = Cal3DTrack(bone)
			
			#run 1: we need to find all time values where we need to produce keyframes
			times = set()
			for curve in ipo:
				curve_name = curve.name
				if curve_name in SUPPORTED_IPOS:
					for p in curve.bezierPoints:
						times.add( p.pt[0] )
			
			times = list(times)
			times.sort()
			
			# Incase we have no keys here or ipo==None
			if not times:
				times.append(start_frame)

			# run2: now create keyframes
			for time in times:
				cal3dtime = (time-1) / 25.0 # assume 25FPS by default
				if cal3dtime > animation.duration:
					animation.duration = cal3dtime
				trans = Vector(0,0,0)
				quat  = Quaternion()
				
				for curve in ipo:
					val = curve.evaluate(time)
					# val = 0.0 
					curve_name= curve.name
					if   curve_name == "LocX":  trans[0] = val
					elif curve_name == "LocY":  trans[1] = val
					elif curve_name == "LocZ":  trans[2] = val
					elif curve_name == "QuatW": quat[3]  = val
					elif curve_name == "QuatX": quat[0]  = val
					elif curve_name == "QuatY": quat[1]  = val
					elif curve_name == "QuatZ": quat[2]  = val
				
				transt = vector_by_matrix_3x3(trans, bone.matrix)
				loc = vector_add(bone.loc, transt)
				rot = quaternion_multiply(quat, bone.rot)
				rot = Quaternion(rot)
				rot.normalize()
				rot = tuple(rot)
				Cal3DKeyFrame(track, cal3dtime, loc, rot)
				
				Cal3DKeyFrame(track, cal3dtime, loc, rot)
				
		if animation.duration <= 0:
			print "Ignoring Animation '" + animation_name + "': duration is 0.\n"
			continue
		ANIMATIONS[animation_name] = animation
	
	
	cfg = open((filename), "wb")
	cfg.write('# Cal3D model exported from Blender with export_cal3d.py\n')

	if SCALE != 1.0:	cfg.write('scale=%.6f\n' % SCALE)
	
	fname = file_only_noext + '.xsf'
	file = open( base_only +  fname, "wb")
	skeleton.writeCal3D(file)
	file.close()
	
	cfg.write('skeleton=%s\n' % fname)
	
	for animation in ANIMATIONS.itervalues():
		if not animation.name.startswith('_'):
			if animation.duration > 0.1: # Cal3D does not support animation with only one state
				fname = new_name(animation.name, '.xaf')
				file = open(base_only + fname, "wb")
				animation.writeCal3D(file)
				file.close()
				cfg.write('animation=%s\n' % fname)
	
	for mesh in meshes:
		if not mesh.name.startswith('_'):
			fname = new_name(mesh.name, '.xmf')
			file = open(base_only + fname, "wb")
			mesh.writeCal3D(file)
			file.close()
			
			cfg.write('mesh=%s\n' % fname)
	
	materials = MATERIALS.values()
	materials.sort(key = lambda a: a.id)
	for material in materials:
		if material.maps_filenames:
			fname = new_name(material.maps_filenames[0].split('\\')[-1].split('/')[-1], '.xrf')
		else:
			fname = new_name('plain', '.xrf')
		
		file = open(base_only + fname, "wb")
		material.writeCal3D(file)
		file.close()
		
		cfg.write('material=%s\n' % fname)
	
	print 'Cal3D Saved to "%s.cfg"' % file_only_noext
	
	# Warnings
	if len(animation.tracks) < 2:
		Blender.Draw.PupMenu('Warning, the armature has less then 2 tracks, file may not load in Cal3d')

#import os
if __name__ == '__main__':
	Blender.Window.FileSelector(export_cal3d, "Cal3D Export", Blender.Get('filename').replace('.blend', '.cfg'))
	#export_cal3d('/test' + '.cfg')
	#os.system('cd /; wine /cal3d_miniviewer.exe /test.cfg')