berusky2/src/komat/Keyframe.cpp

/* Keyframovy animacni modul - slohnuto z:
   Splines & Quaternions (splines.txt)
   -----------------------------------
   by
   Jochen Wilhelmy
   a.k.a.
   digisnap
   digisnap@cs.tu-berlin.de
   06.08.1997
*/
#include <alloca.h>

#include "Berusky_universal.h"
#include "3d_all.h"

#define  DELTA_INTERVAL  0.01f

#define  LIB3DS_EPSILON (1e-8)

#define  MAX_SIM_RADKU 2000


/******************************************************************************
  Debug-rozhrani
 ******************************************************************************
*/

void dbg_print_matrix(GLMATRIX * m)
{

#define PRESNOST2 "%f %f %f %f"
  dbgprintf(PRESNOST2, m->_11, m->_21, m->_31, m->_41);
  dbgprintf(PRESNOST2, m->_12, m->_22, m->_32, m->_42);
  dbgprintf(PRESNOST2, m->_13, m->_23, m->_33, m->_43);
  dbgprintf(PRESNOST2, m->_14, m->_24, m->_34, m->_44);
}

void kprintf_matrix(GLMATRIX * m)
{
#define PRESNOST2 "%f %f %f %f"
  kprintf(TRUE, PRESNOST2, m->_11, m->_21, m->_31, m->_41);
  kprintf(TRUE, PRESNOST2, m->_12, m->_22, m->_32, m->_42);
  kprintf(TRUE, PRESNOST2, m->_13, m->_23, m->_33, m->_43);
  kprintf(TRUE, PRESNOST2, m->_14, m->_24, m->_34, m->_44);
}

void kprint_matrix(GLMATRIX * m)
{
#define PRESNOST3 "%.2f %.2f %.2f %.2f"
  kprintf(TRUE, PRESNOST3, m->_11, m->_21, m->_31, m->_41);
  kprintf(TRUE, PRESNOST3, m->_12, m->_22, m->_32, m->_42);
  kprintf(TRUE, PRESNOST3, m->_13, m->_23, m->_33, m->_43);
  kprintf(TRUE, PRESNOST3, m->_14, m->_24, m->_34, m->_44);
}

void dbg_print_track_uhel(TRACK_INFO * p_track)
{
  word i;

  dbgprintf("Uhlovy track....");
  for (i = 0; i < p_track->rot_keys; i++) {
    dbgprintf("U: %d Uhel %f Osa [x = %f][y = %f][z = %f]", i,
      p_track->p_rot[i].angle * 180.0f / PI, p_track->p_rot[i].x,
      p_track->p_rot[i].y, p_track->p_rot[i].z);
  }
}

void dbg_print_track_quaternion(TRACK_INFO * p_track)
{
  QUAT qa;
  word i;

  dbgprintf("Quat track....");
  for (i = 0; i < p_track->rot_keys; i++) {
    key_rotkey_to_quat(p_track->p_rot + i, &qa);
    dbgprintf("A: %d Absolutne [x = %f][y = %f][z = %f][w = %f]", i, qa.x,
      qa.y, qa.z, qa.w);
  }
}

void dbg_print_track_abs(TRACK_INFO * p_track)
{
  QUAT qa;
  word i;

  dbgprintf("Absolutni track...");
  for (i = 0; i < p_track->rot_keys; i++) {
    qa = p_track->p_at[i];
    dbgprintf("%d Absolutne [x = %f][y = %f][z = %f][w = %f]", i, qa.x, qa.y,
      qa.z, qa.w);
  }
}

void dbg_print_track_abs_uhel(TRACK_INFO * p_track)
{
  QUAT qa;
  word i;

  dbgprintf("Absolutni uhlovy track...");
  for (i = 0; i < p_track->rot_keys; i++) {
    quat_to_quat_angle(p_track->p_at + i, &qa);
    dbgprintf("U: %d Uhel %f Osa [x = %f][y = %f][z = %f]", i,
      qa.w * 180.0f / PI, qa.x, qa.y, qa.z);
  }
}



/*------------------------------------------------------------
  Modifikonvane universalni fce.
  ------------------------------------------------------------
*/
/* Pokud je frame klicem -> vrati jeho cislo, jinak K_CHYBA
*/
int key_je_frame_klic(KEY_POINT_BRS * p_list, int klicu, dword frame)
{
  int l, p, s;
  dword time = frame * SIM_KONSTI;

  l = 0;
  p = klicu;

  if (!klicu || !p_list || time < p_list->time
    || time > p_list[klicu - 1].time)
    return (K_CHYBA);

  if (time == p_list->time)
    return (0);
  if (time == p_list[klicu - 1].time)
    return (klicu - 1);

  while (l != p) {
// while(l < p) {
    s = l + ((p - l) >> 1);
    if (p_list[s].time == time)
      return (s);
    else {
      if (time > p_list[s].time) {
        if (time < p_list[s + 1].time)
          return (K_CHYBA);
        else
          l = s;
      }
      else
        p = s;
    }
  }
  return (K_CHYBA);
}

int key_je_time_klic(KEY_POINT_BRS * p_list, int klicu, dword time)
{
  int l, p, s;

  l = 0;
  p = klicu;

  if (!klicu || !p_list || time < p_list->time
    || time > p_list[klicu - 1].time)
    return (K_CHYBA);

  if (time == p_list->time)
    return (0);
  if (time == p_list[klicu - 1].time)
    return (klicu - 1);

  while (l != p) {
// while(l < p) {
    s = l + ((p - l) >> 1);
    if (p_list[s].time == time)
      return (s);
    else {
      if (time > p_list[s].time) {
        if (time < p_list[s + 1].time)
          return (K_CHYBA);
        else
          l = s;
      }
      else
        p = s;
    }
  }
  return (K_CHYBA);
}

// najde tento frame nebo nejblizsi levy klic
inline static int key_najdi_klice(KEY_POINT_BRS * p_list, int klicu,
  dword time)
{
  int l, p, s;

  l = 0;
  p = klicu;

  while (l != p) {
    s = l + ((p - l) >> 1);
    if (p_list[s].time == time)
      return (s);
    else {
      if (time > p_list[s].time) {
        if (time < p_list[s + 1].time)
          return (s);
        else
          l = s;
      }
      else
        p = s;
    }
  }
  return (K_CHYBA);
}

/* 
  ----------------------
    Interpolace floatu
  ----------------------
*/
/* spocita tangentu k pozicnimu klici
   trida =  1 -> trida a
         = -1 -> trida b
*/
float key_tangent_float(float *p_body, KEY_POINT_BRS * p_keys, int kn,
  int keynum, int trida, int loop, float *p_tn)
{
  float bias, continuity, tension;
  float t1, g1, g3;

  assert(kn < keynum);

  bias = p_keys[kn].bias;
  continuity = p_keys[kn].continuity;
  tension = p_keys[kn].tension;

  if (!kn) {
    if (keynum == 2) {
      *p_tn = (p_body[1] - p_body[0]) * (1.0f - tension);
      return (*p_tn);
    }
    else {
      if (loop) {               // prvni klic
        g1 = (p_body[0] - p_body[keynum - 1]) * (1.0f + bias);
        g3 = (p_body[1] - p_body[0]) * (1.0f - bias) - g1;
        *p_tn =
          (g1 + g3 * (0.5f + trida * 0.5f * continuity)) * (1.0f - tension);
      }
      else {
        key_tangent_float(p_body, p_keys, 1, keynum, TRIDA_A, loop, &t1);
        *p_tn =
          ((p_body[kn + 1] - p_body[kn]) * 1.5f - t1 * 0.5f) * (1.0f -
          tension);
      }
      return (*p_tn);
    }
  }
  else if (kn == (keynum - 1)) {        // konec - p(n-1), p(n)
    if (keynum == 2) {
      *p_tn = (p_body[kn] - p_body[kn - 1]) * (1.0f - tension);
      return (*p_tn);
    }
    else {
      if (loop) {               // posledni klic
        g1 = (p_body[kn] - p_body[kn - 1]) * (1.0f + bias);
        g3 = (p_body[0] - p_body[kn]) * (1.0f - bias) - g1;
        *p_tn =
          (g1 + g3 * (0.5f + trida * 0.5f * continuity)) * (1.0f - tension);
      }
      else {
        key_tangent_float(p_body, p_keys, kn - 1, keynum, TRIDA_B, loop, &t1);
        *p_tn =
          ((p_body[kn] - p_body[kn - 1]) * 1.5f - t1 * 0.5f) * (1.0f -
          tension);
      }
      return (*p_tn);
    }
  }
  else {                        // stredni bod - mam p(n-1), p(n), p(n+1)
    g1 = (p_body[kn] - p_body[kn - 1]) * (1.0f + bias);
    g3 = (p_body[kn + 1] - p_body[kn]) * (1.0f - bias) - g1;
    *p_tn = (g1 + g3 * (0.5f + trida * 0.5f * continuity)) * (1.0f - tension);
    return (*p_tn);
  }
}

/* Prepocita kn, kn1, vraci t
   vraci:
   0 - pouzit vse (kn,kn1,time)
   1 - pouzit kn
   2 - pouzit kn1   
*/
#define KN_ALL   0              //pouzit 2 klice + cas
#define KN_KN    1              //pouzit klic 1


// Volat pouze pokud keynum > 1 !!!
inline int key_track_prepocet_knt(KEY_POINT_BRS * p_keys, int keynum,
  int time, int endtime, int loop, int *p_kn, int *p_kn1, float *p_time)
{
  int start, stop, k1;
  int dop, intrv;
  int t1, t2;

  k1 = keynum - 1;

  start = p_keys[0].time;
  stop = p_keys[k1].time;

  if (time > 2 * endtime) {
    time = endtime + time % endtime;
  }
  assert(time < 2 * endtime);

  if (time < start) {
    if (loop) {
      *p_kn = k1;
      *p_kn1 = 0;
      dop = endtime - stop;
      intrv = dop + start;
      *p_time =
        (intrv >
        DELTA_INTERVAL) ? (float) (time + dop) / (float) intrv : 0.0f;
      return (KN_ALL);
    }
    else {
      *p_kn = 0;
      return (KN_KN);
    }
  }
  else if (time >= stop) {
    if (loop) {
      *p_kn = k1;
      *p_kn1 = 0;               // presah do dalsiho intervalu
      intrv = (endtime - stop) + start;
      *p_time =
        (intrv >
        DELTA_INTERVAL) ? (float) (time - stop) / (float) intrv : 0.0f;
      return (KN_ALL);
    }
    else {
      *p_kn = k1;
      return (KN_KN);
    }
  }
  else {
    if (keynum == 2) {
      *p_kn = 0;
      *p_kn1 = 1;
      t1 = p_keys[0].time;
      t2 = p_keys[1].time;
    }
    else {
      *p_kn = key_najdi_klice(p_keys, keynum, time);
      *p_kn1 = (*p_kn) + 1;
      t1 = p_keys[*p_kn].time;
      t2 = p_keys[*p_kn1].time;
    }
    *p_time = (float) (time - t1) / (float) (t2 - t1);
    return (KN_ALL);
  }
}

float key_track_interpolace_float(float *p_vysl, float *p_body,
  KEY_POINT_BRS * p_keys, int time, int endtime, int keynum, int loop)
{
  float pt0, pt1;
  float t, t2, t3;
  int ret;
  int kn, kn1;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_keys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      t2 = t * t;
      t3 = t2 * t;
      key_tangent_float(p_body, p_keys, kn, keynum, TRIDA_B, loop, &pt0);
      key_tangent_float(p_body, p_keys, kn1, keynum, TRIDA_A, loop, &pt1);
      return ((*p_vysl =
          p_body[kn] * (2 * t3 - 3 * t2 + 1) + pt0 * (t3 - 2 * t2 + t)
          + p_body[kn1] * (-2 * t3 + 3 * t2) + pt1 * (t3 - t2)));
    }
    else {
      return (*p_vysl = p_body[kn]);
    }
  }
  else {
    if (keynum) {
      return (*p_vysl = *p_body);
    }
    else
      return (FLT_MAX);
  }
}

float key_track_interpolace_float_linear(float *p_vysl, float *p_body,
  KEY_POINT_BRS * p_keys, int time, int endtime, int keynum, int loop)
{
  float t, t2;
  int kn, kn1, ret;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_keys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      t2 = 1.0f - t;
      return (*p_vysl = p_body[kn] * t2 + p_body[kn1] * t);
    }
    else {
      return (*p_vysl = p_body[kn]);
    }
  }
  else {
    if (keynum) {
      return (*p_vysl = *p_body);
    }
    else
      return (FLT_MAX);
  }
}

/* 
  ----------------------
     Interpolace bodu
  ----------------------
*/
/* spocita tangentu k pozicnimu klici
   trida =  1 -> trida a
         = -1 -> trida b
*/
BOD *key_tangent_bod(BOD * p_body, KEY_POINT_BRS * p_keys, int kn, int keynum,
  int trida, int loop, BOD * p_tn)
{
  int kn_1 = kn - 1,            // key k(n-1)
    kn1 = kn + 1;               // key k(n+1)
  float bias, continuity, tension, tmp, tmp2;
  BOD *p_p0, *p_p1, *p_p2, t1, g1, g2, g3;

  bias = p_keys[kn].bias;
  continuity = p_keys[kn].continuity;
  tension = p_keys[kn].tension;

  if (!kn) {
    //kn = 0,  zacatek - mam p(n), p(n+1)    
    p_p1 = p_body + kn;
    p_p2 = p_body + kn1;

    if (keynum == 2) {
      //track ma jen 2 klice
      //b0 = (p1-p0)*(1-T)
      tmp = 1.0f - tension;
      p_tn->x = (p_p2->x - p_p1->x) * tmp;
      p_tn->y = (p_p2->y - p_p1->y) * tmp;
      p_tn->z = (p_p2->z - p_p1->z) * tmp;
      return (p_tn);
    }
    else {                      // zacatecni tangenta
      if (loop) {
        p_p0 = p_body + keynum - 1;
      }
      else {
        // trak ma vice klicu
        key_tangent_bod(p_body, p_keys, 1, keynum, TRIDA_A, loop, &t1);

        // b0 = ((p1 - p0)*1.5 - a1*0.5)*(1-T)
        tmp = 1.0f - tension;
        p_tn->x = ((p_p2->x - p_p1->x) * 1.5f - t1.x * 0.5f) * tmp;
        p_tn->y = ((p_p2->y - p_p1->y) * 1.5f - t1.y * 0.5f) * tmp;
        p_tn->z = ((p_p2->z - p_p1->z) * 1.5f - t1.z * 0.5f) * tmp;
        return (p_tn);
      }
    }
  }
  else if (kn == (keynum - 1)) {        // konec - p(n-1), p(n)
    p_p0 = p_body + kn_1;
    p_p1 = p_body + kn;

    if (keynum == 2) {
      //track ma jen 2 klice
      //a1 = (p1-p0)*(1-T)
      tmp = 1.0f - tension;
      p_tn->x = (p_p1->x - p_p0->x) * tmp;
      p_tn->y = (p_p1->y - p_p0->y) * tmp;
      p_tn->z = (p_p1->z - p_p0->z) * tmp;
      return (p_tn);
    }
    else {
      if (loop) {               // koncova tangenta
        p_p2 = p_body;
      }
      else {
        // bez opakovani      
        key_tangent_bod(p_body, p_keys, kn_1, keynum, TRIDA_B, loop, &t1);

        // an = ((pn - p(n-1))*1.5 - b(n-1)*0.5)*(1-T)
        tmp = 1.0f - tension;
        p_tn->x = ((p_p1->x - p_p0->x) * 1.5f - t1.x * 0.5f) * tmp;
        p_tn->y = ((p_p1->y - p_p0->y) * 1.5f - t1.y * 0.5f) * tmp;
        p_tn->z = ((p_p1->z - p_p0->z) * 1.5f - t1.z * 0.5f) * tmp;

        return (p_tn);
      }
    }
  }
  else {                        // stredni bod - mam p(n-1), p(n), p(n+1)
    p_p0 = p_body + kn_1;
    p_p1 = p_body + kn;
    p_p2 = p_body + kn1;
  }

  //  g1 = (pn - p(n-1))*(1+B)
  tmp = 1.0f + bias;
  g1.x = (p_p1->x - p_p0->x) * tmp;
  g1.y = (p_p1->y - p_p0->y) * tmp;
  g1.z = (p_p1->z - p_p0->z) * tmp;

  // g2 = (p(n+1) - pn)*(1-B)
  tmp = 1.0f - bias;
  g2.x = (p_p2->x - p_p1->x) * tmp;
  g2.y = (p_p2->y - p_p1->y) * tmp;
  g2.z = (p_p2->z - p_p1->z) * tmp;

  // g3 = g2 - g1,
  vektor_sub(&g2, &g1, &g3);

  /*
     tangent case a: an = (g1 + g3*(0.5 + 0.5*C))*(1-T),
     tangent case b: bn = (g1 + g3*(0.5 - 0.5*C))*(1-T).
   */
  tmp = 1.0f - tension;
  tmp2 = 0.5f + trida * 0.5f * continuity;
  p_tn->x = (g1.x + g3.x * tmp2) * tmp;
  p_tn->y = (g1.y + g3.y * tmp2) * tmp;
  p_tn->z = (g1.z + g3.z * tmp2) * tmp;

  return (p_tn);
}

BOD *key_track_interpolace_bod(BOD * p_vysl, BOD * p_body,
  KEY_POINT_BRS * p_keys, int time, int endtime, int keynum, int loop)
{
  BOD *p0, *p1, pt0, pt1;
  float F1, F2, F3, F4;
  float t, t2, t3;
  int kn, kn1;
  int ret;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_keys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      t2 = t * t;
      t3 = t2 * t;

      key_tangent_bod(p_body, p_keys, kn, keynum, TRIDA_B, loop, &pt0);
      key_tangent_bod(p_body, p_keys, kn1, keynum, TRIDA_A, loop, &pt1);

      p0 = p_body + kn;
      p1 = p_body + kn1;

      F1 = 2 * t3 - 3 * t2 + 1;
      F2 = t3 - 2 * t2 + t;
      F3 = -2 * t3 + 3 * t2;
      F4 = t3 - t2;

      p_vysl->x = p0->x * F1 + pt0.x * F2 + p1->x * F3 + pt1.x * F4;
      p_vysl->y = p0->y * F1 + pt0.y * F2 + p1->y * F3 + pt1.y * F4;
      p_vysl->z = p0->z * F1 + pt0.z * F2 + p1->z * F3 + pt1.z * F4;
    }
    else {
      *p_vysl = p_body[kn];
    }
  }
  else {
    if (keynum) {
      *p_vysl = *p_body;
    }
  }

  return (p_vysl);
}

BOD *key_track_interpolace_bod_linear(BOD * p_vysl, BOD * p_body,
  KEY_POINT_BRS * p_keys, int time, int endtime, int keynum, int loop)
{
  BOD *p_p0, *p_p1;
  float t, t2;
  int kn, kn1;
  int ret;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_keys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      t2 = 1.0f - t;
      p_p0 = p_body + kn;
      p_p1 = p_body + kn1;
      p_vysl->x = p_p0->x * t2 + p_p1->x * t;
      p_vysl->y = p_p0->y * t2 + p_p1->y * t;
      p_vysl->z = p_p0->z * t2 + p_p1->z * t;
    }
    else {
      *p_vysl = p_body[kn];
    }
  }
  else {
    if (keynum) {
      *p_vysl = *p_body;
    }
  }
  return (p_vysl);
}

/* 
  ---------------------------
     Interpolace ctyr-bodu
  ---------------------------
*/
/* spocita tangentu k pozicnimu klici
   trida =  1 -> trida a
         = -1 -> trida b
*/
WBOD *key_tangent_wbod(WBOD * p_body, KEY_POINT_BRS * p_keys, int kn,
  int keynum, int trida, int loop, WBOD * p_tn)
{
  int kn_1 = kn - 1,            // key k(n-1)
    kn1 = kn + 1;               // key k(n+1)
  float bias, continuity, tension, tn1, bp1;
  WBOD *p_p0, *p_p1, *p_p2, t1, g1, g2, g3;

  bias = p_keys[kn].bias;
  continuity = p_keys[kn].continuity;
  tension = p_keys[kn].tension;

  if (!kn) {
    //kn = 0,  zacatek - mam p(n), p(n+1)    
    p_p1 = p_body + kn;
    p_p2 = p_body + kn1;

    if (keynum == 2) {
      //track ma jen 2 klice
      //b0 = (p1-p0)*(1-T)
      tn1 = (1.0f - tension);
      p_tn->x = (p_p2->x - p_p1->x) * tn1;
      p_tn->y = (p_p2->y - p_p1->y) * tn1;
      p_tn->z = (p_p2->z - p_p1->z) * tn1;
      p_tn->w = (p_p2->w - p_p1->w) * tn1;
      return (p_tn);
    }
    else {
      if (loop) {
        p_p0 = p_body + keynum - 1;
      }
      else {
        // trak ma vice klicu            
        key_tangent_wbod(p_body, p_keys, 1, keynum, TRIDA_A, loop, &t1);

        tn1 = (1.0f - tension);
        // b0 = ((p1 - p0)*1.5 - a1*0.5)*(1-T)
        p_tn->x = ((p_p2->x - p_p1->x) * 1.5f - t1.x * 0.5f) * tn1;
        p_tn->y = ((p_p2->y - p_p1->y) * 1.5f - t1.y * 0.5f) * tn1;
        p_tn->z = ((p_p2->z - p_p1->z) * 1.5f - t1.z * 0.5f) * tn1;
        p_tn->w = ((p_p2->w - p_p1->w) * 1.5f - t1.w * 0.5f) * tn1;

        return (p_tn);
      }
    }
  }
  else if (kn == (keynum - 1)) {        // konec - p(n-1), p(n)
    p_p0 = p_body + kn_1;
    p_p1 = p_body + kn;

    if (keynum == 2) {
      //track ma jen 2 klice
      //a1 = (p1-p0)*(1-T)
      tn1 = (1.0f - tension);
      p_tn->x = (p_p1->x - p_p0->x) * tn1;
      p_tn->y = (p_p1->y - p_p0->y) * tn1;
      p_tn->z = (p_p1->z - p_p0->z) * tn1;
      p_tn->w = (p_p1->w - p_p0->w) * tn1;

      return (p_tn);
    }
    else {
      if (loop) {
        p_p2 = p_body;
      }
      else {
        // bez opakovani      
        key_tangent_wbod(p_body, p_keys, kn_1, keynum, TRIDA_B, loop, &t1);

        // an = ((pn - p(n-1))*1.5 - b(n-1)*0.5)*(1-T)
        tn1 = (1.0f - tension);
        p_tn->x = ((p_p1->x - p_p0->x) * 1.5f - t1.x * 0.5f) * tn1;
        p_tn->y = ((p_p1->y - p_p0->y) * 1.5f - t1.y * 0.5f) * tn1;
        p_tn->z = ((p_p1->z - p_p0->z) * 1.5f - t1.z * 0.5f) * tn1;
        p_tn->w = ((p_p1->w - p_p0->w) * 1.5f - t1.w * 0.5f) * tn1;

        return (p_tn);
      }
    }
  }
  else {                        // stredni bod - mam p(n-1), p(n), p(n+1)
    p_p0 = p_body + kn_1;
    p_p1 = p_body + kn;
    p_p2 = p_body + kn1;
  }

  bp1 = 1.0f + bias;

  //  g1 = (pn - p(n-1))*(1+B)
  g1.x = (p_p1->x - p_p0->x) * bp1;
  g1.y = (p_p1->y - p_p0->y) * bp1;
  g1.z = (p_p1->z - p_p0->z) * bp1;
  g1.w = (p_p1->w - p_p0->w) * bp1;

  // g2 = (p(n+1) - pn)*(1-B)
  g2.x = (p_p2->x - p_p1->x) * bp1;
  g2.y = (p_p2->y - p_p1->y) * bp1;
  g2.z = (p_p2->z - p_p1->z) * bp1;
  g2.w = (p_p2->w - p_p1->w) * bp1;

  // g3 = g2 - g1,
  wvektor_sub(&g2, &g1, &g3);

  /*
     tangent case a: an = (g1 + g3*(0.5 + 0.5*C))*(1-T),
     tangent case b: bn = (g1 + g3*(0.5 - 0.5*C))*(1-T).
   */

  tn1 = (1.0f - tension);
  bp1 = (0.5f + trida * 0.5f * continuity);
  p_tn->x = (g1.x + g3.x * bp1) * tn1;
  p_tn->y = (g1.y + g3.y * bp1) * tn1;
  p_tn->z = (g1.z + g3.z * bp1) * tn1;
  p_tn->w = (g1.w + g3.w * bp1) * tn1;

  return (p_tn);

}

WBOD *key_track_interpolace_wbod(WBOD * p_vysl, WBOD * p_body,
  KEY_POINT_BRS * p_keys, int time, int endtime, int keynum, int loop)
{
  WBOD *p0, *p1, pt0, pt1;
  float F1, F2, F3, F4;
  float t, t2, t3;
  int kn, kn1;
  int ret;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_keys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      t2 = t * t;
      t3 = t2 * t;

      key_tangent_wbod(p_body, p_keys, kn, keynum, TRIDA_B, loop, &pt0);
      key_tangent_wbod(p_body, p_keys, kn1, keynum, TRIDA_A, loop, &pt1);

      p0 = p_body + kn;
      p1 = p_body + kn1;

      F1 = 2 * t3 - 3 * t2 + 1;
      F2 = t3 - 2 * t2 + t;
      F3 = -2 * t3 + 3 * t2;
      F4 = t3 - t2;

      p_vysl->x = p0->x * F1 + pt0.x * F2 + p1->x * F3 + pt1.x * F4;
      p_vysl->y = p0->y * F1 + pt0.y * F2 + p1->y * F3 + pt1.y * F4;
      p_vysl->z = p0->z * F1 + pt0.z * F2 + p1->z * F3 + pt1.z * F4;
      p_vysl->w = p0->w * F1 + pt0.w * F2 + p1->w * F3 + pt1.w * F4;
    }
    else {
      *p_vysl = p_body[kn];
    }
  }
  else {
    if (keynum) {
      *p_vysl = *p_body;
    }
  }

  return (p_vysl);
}

WBOD *key_track_interpolace_wbod_linear(WBOD * p_vysl, WBOD * p_body,
  KEY_POINT_BRS * p_keys, int time, int endtime, int keynum, int loop)
{
  WBOD *p_p0, *p_p1;
  float t, t2;
  int kn, kn1;
  int ret;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_keys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      t2 = 1.0f - t;
      p_p0 = p_body + kn;
      p_p1 = p_body + kn1;
      p_vysl->x = p_p0->x * t2 + p_p1->x * t;
      p_vysl->y = p_p0->y * t2 + p_p1->y * t;
      p_vysl->z = p_p0->z * t2 + p_p1->z * t;
      p_vysl->w = p_p0->w * t2 + p_p1->w * t;
    }
    else {
      *p_vysl = p_body[kn];
    }
  }
  else {
    if (keynum) {
      *p_vysl = *p_body;
    }
  }

  return (p_vysl);
}

/* 
  ---------------------------
    Interpolace Quaternionu
  ---------------------------
*/

QUAT *key_tangent_quat(QUAT * p_at, KEY_POINT_BRS * p_rkeys, int kn,
  int keynum, int trida, int loop, QUAT * p_q)
{
  int kn_1 = kn - 1,            // key k(n-1)
    kn1 = kn + 1;               // key k(n+1)
  float bias, continuity, tension;
  QUAT q0, /*q1, */ q2, g1, g2, g3;

  bias = p_rkeys[kn].bias;
  continuity = p_rkeys[kn].continuity;
  tension = p_rkeys[kn].tension;

  if (!kn) {
    //kn = 0,  zacatek - mam p(n), p(n+1)    
    if (keynum == 2) {          //track ma jen 2 klice
      return (slerp(p_at + kn, p_at + kn1, (1.0f - tension) / 3.0f, p_q));
    }
    else {                      // prvni body (-1,0,1)
      if (loop) {
        return (slerp(p_at + kn, slerp(slerp(p_at + kn, p_at + keynum - 1,
                -(1 + bias) / 3.0f, &g1), slerp(p_at + kn, p_at + kn1,
                (1 - bias) / 3.0f, &g2), 0.5f + trida * 0.5f * continuity,
              &g3), trida * (tension - 1.0f), p_q));
      }
      else {
        key_tangent_quat(p_at, p_rkeys, kn1, keynum, TRIDA_B, loop, &q2);
        return (slerp(p_at + kn, &q2, (1.0f - tension) * 0.5f, p_q));
      }
    }
  }
  else if (kn == (int) keynum - 1) {    // konec - p(n-1), p(n)
    if (keynum == 2) {          //track ma jen 2 klice
      return (slerp(p_at + kn, p_at + kn_1, (1.0f - tension) / 3.0f, p_q));
    }
    else {                      // posledni body bez opakovani
      if (loop) {               // posledni (-2,-1,0)
        return (slerp(p_at + kn, slerp(slerp(p_at + kn, p_at + kn_1,
                -(1 + bias) / 3.0f, &g1), slerp(p_at + kn, p_at,
                (1 - bias) / 3.0f, &g2), 0.5f + trida * 0.5f * continuity,
              &g3), trida * (tension - 1.0f), p_q));
      }
      else {
        key_tangent_quat(p_at, p_rkeys, kn_1, keynum, TRIDA_A, loop, &q0);
        return (slerp(p_at + kn, &q0, (1.0f - tension) * 0.5f, p_q));
      }
    }
  }
  else {                        // stredni bod - mam q(n-1), q(n), q(n+1)
    return (slerp(p_at + kn, slerp(slerp(p_at + kn, p_at + kn_1,
            -(1 + bias) / 3.0f, &g1), slerp(p_at + kn, p_at + kn1,
            (1 - bias) / 3.0f, &g2), 0.5f + trida * 0.5f * continuity, &g3),
        trida * (tension - 1.0f), p_q));
  }
}

QUAT *key_track_interpolace_quat(QUAT * p_quat, QUAT * p_at,
  KEY_POINT_BRS * p_rkeys, int time, int endtime, int keynum, int loop)
{
  QUAT q0, q1, q2;
  QUAT qn, qn1;
  QUAT bn, an;
  int kn, kn1;
  float t;
  int ret;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_rkeys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      assert(0.0f <= t && t <= 1.0f);

      key_tangent_quat(p_at, p_rkeys, kn, keynum, TRIDA_B, loop, &bn);
      key_tangent_quat(p_at, p_rkeys, kn1, keynum, TRIDA_A, loop, &an);

      qn = p_at[kn];
      qn1 = p_at[kn1];

      slerp(&qn, &bn, t, &q0);
      slerp(&bn, &an, t, &q1);
      slerp(&an, &qn1, t, &q2);

      slerp(&q0, &q1, t, &qn);
      slerp(&q1, &q2, t, &qn1);

      return (slerp(&qn, &qn1, t, p_quat));
    }
    else {
      *p_quat = p_at[kn];
      return (p_quat);
    }
  }
  else {
    if (keynum) {
      *p_quat = *p_at;
      return (p_quat);
    }
    else
      return (NULL);
  }
}

QUAT *key_track_interpolace_quat_linear(QUAT * p_quat, QUAT * p_at,
  KEY_POINT_BRS * p_rkeys, int time, int endtime, int keynum, int loop)
{
  int kn, kn1;
  float t;
  int ret;

  if (keynum > 1) {
    ret =
      key_track_prepocet_knt(p_rkeys, keynum, time, endtime, loop, &kn, &kn1,
      &t);
    if (ret == KN_ALL) {
      assert(0.0f <= t && t <= 1.0f);
      return (slerp(p_at + kn, p_at + kn1, t, p_quat));
    }
    else {
      *p_quat = p_at[kn];
      return (p_quat);
    }
  }
  else {
    if (keynum) {
      *p_quat = *p_at;
      return (p_quat);
    }
    else
      return (NULL);
  }
}

/* Pole hodnot o velikosti size_of_hodnota*keynum, p_keys*size_of_hodnota
   najdu frame a vlozim to tam
*/
int key_track_klic_vloz(byte ** p_hodnoty, KEY_POINT_BRS ** p_skeys,
  int keynum, int size_of_hodnota, byte * p_new_hodnota,
  KEY_POINT_BRS * p_new_keys)
{
  KEY_POINT_BRS *p_nkeys;
  byte *p_nhod;
  KEY_POINT_BRS *p_keys = *p_skeys;
  byte *p_hod = *p_hodnoty;
  int i, j;
  dword new_time = p_new_keys->time;

  p_nhod = (byte *) mmalloc(size_of_hodnota * (keynum + 1));
  p_nkeys = (KEY_POINT_BRS *) mmalloc(sizeof(p_nkeys[0]) * (keynum + 1));

  // Vlozit pred nulovym framem
  if (keynum && new_time < p_keys[0].time) {
    p_nkeys[0] = *p_new_keys;
    memcpy(p_nhod, p_new_hodnota, size_of_hodnota);
    memcpy(p_nkeys + 1, p_keys, sizeof(p_nkeys[0]) * keynum);
    memcpy(p_nhod + size_of_hodnota, p_hod, size_of_hodnota * keynum);
    // Vlozit za nulovym framem
  }
  else if (!keynum || p_keys[keynum - 1].time < new_time) {
    memcpy(p_nkeys, p_keys, sizeof(p_nkeys[0]) * keynum);
    memcpy(p_nhod, p_hod, size_of_hodnota * keynum);
    p_nkeys[keynum] = *p_new_keys;
    memcpy(p_nhod + keynum * size_of_hodnota, p_new_hodnota, size_of_hodnota);
  }
  else {
    // kopie vseho bez noveho framu
    for (i = 0, j = 0; i < keynum; i++, j++) {
      if (p_keys[i].time <= new_time && new_time < p_keys[i + 1].time) {
        p_nkeys[j] = p_keys[i];
        memcpy(p_nhod + j * size_of_hodnota, p_hod + i * size_of_hodnota,
          size_of_hodnota);
        j++;
        p_nkeys[j] = *p_new_keys;
        memcpy(p_nhod + j * size_of_hodnota, p_new_hodnota, size_of_hodnota);
      }
      else {
        p_nkeys[j] = p_keys[i];
        memcpy(p_nhod + j * size_of_hodnota, p_hod + i * size_of_hodnota,
          size_of_hodnota);
      }
    }
  }
  free(p_keys);
  free(p_hod);

  *p_hodnoty = p_nhod;
  *p_skeys = p_nkeys;

  return (keynum + 1);
}

// Automaticke vlozeni klice do seznamu
int key_track_klic_vloz_auto(byte ** p_hodnoty, KEY_POINT_BRS ** p_skeys,
  int keynum, int size_of_hodnota, byte * p_new_hodnota,
  KEY_POINT_BRS * p_new_keys)
{
  int klic;

  if ((klic =
      key_je_frame_klic(*p_skeys, keynum, p_new_keys->time)) == K_CHYBA) {
    return (key_track_klic_vloz(p_hodnoty, p_skeys, keynum, size_of_hodnota,
        p_new_hodnota, p_new_keys));
  }
  else {
    memcpy((*p_skeys) + klic, p_new_keys, sizeof(p_new_keys[0]));
    memcpy((*p_hodnoty) + klic * size_of_hodnota, p_new_hodnota,
      size_of_hodnota);
    return (keynum);
  }
}

int key_track_klic_smaz(byte ** p_hodnoty, KEY_POINT_BRS ** p_skeys,
  int *p_keynum, int size_of_hodnota, dword del_time)
{
  KEY_POINT_BRS *p_nkeys;
  byte *p_nhod;
  KEY_POINT_BRS *p_keys = *p_skeys;
  byte *p_hod = *p_hodnoty;
  int i, j, keynum = *p_keynum;

  if (keynum == 1) {
    null_free((void **) p_hodnoty);
    null_free((void **) p_skeys);
    return ((*p_keynum = 0));
  }
  else {
    p_nhod = (byte *) mmalloc(size_of_hodnota * (keynum - 1));
    p_nkeys = (KEY_POINT_BRS *) mmalloc(sizeof(p_nkeys[0]) * (keynum - 1));

    if (p_keys[keynum - 1].time == del_time) {
      memcpy(p_nkeys, p_keys, sizeof(p_nkeys[0]) * (keynum - 1));
      memcpy(p_nhod, p_hod, size_of_hodnota * (keynum - 1));
    }
    else {
      // kopie vseho bez noveho framu
      for (i = 0, j = 0; i < keynum; i++, j++) {
        if (p_keys[i].time != del_time) {
          p_nkeys[j] = p_keys[i];
          memcpy(p_nhod + j * size_of_hodnota, p_hod + i * size_of_hodnota,
            size_of_hodnota);
        }
        else {
          j--;
        }
      }
    }

    free(p_keys);
    free(p_hod);

    *p_hodnoty = p_nhod;
    *p_skeys = p_nkeys;
    return ((*p_keynum)--);
  }
}

/*****************************************************************************
 Key-frame animace
 *****************************************************************************
*/
void key_pivot_sub(EDIT_OBJEKT * p_obj, BOD * p_pivot)
{
  int v;

  for (v = 0; v < p_obj->vertexnum; v++) {
    p_obj->p_vertex[v].x -= p_pivot->x;
    p_obj->p_vertex[v].y -= p_pivot->y;
    p_obj->p_vertex[v].z -= p_pivot->z;
  }
}

void key_tri_to_matrix_zero(GLMATRIX * p_m, HIERARCHY_TRACK_INFO * p_track)
{
  if (p_track) {
    init_matrix(p_m);

    if (p_track->rot_keys)
      quat_to_matrix(p_m, p_track->p_at);

    if (p_track->scs_keys) {
      scale_matrix(p_m, p_track->p_scale[0].x,
        p_track->p_scale[0].y, p_track->p_scale[0].z);
    }
    if (p_track->pos_keys) {
      p_m->_41 = p_track->p_pos[0].x;
      p_m->_42 = p_track->p_pos[0].y;
      p_m->_43 = p_track->p_pos[0].z;
    }
  }
}

static int key_konec_prochazeni;

/* Rekurzivne prida tri do tri-stromu
*/
static void key_tri_node_pridej(HIERARCHY_TRACK_INFO * p_tri,
  HIERARCHY_TRACK_INFO * p_child)
{
  int i;

  if (key_konec_prochazeni)
    return;

  if (p_tri->objnum == p_child->parentnum) {
    key_tri_child_pridej(p_tri, p_child);
    key_konec_prochazeni = TRUE;
  }
  else {
    for (i = 0; i < p_tri->childnum && !key_konec_prochazeni; i++) {
      key_tri_node_pridej(p_tri->p_child[i], p_child);
    }
  }
}

/* rekurzivne prida tri node do rootu
*/
static void key_root_node_pridej(HIERARCHY_ROOT * p_root,
  HIERARCHY_TRACK_INFO * p_child)
{
  int i;

  if (p_child->parentnum == ROOT_NODE) {
    key_root_child_pridej(p_root, p_child);
    key_konec_prochazeni = TRUE;
  }
  else {
    for (i = 0; i < p_root->childnum && !key_konec_prochazeni; i++)
      key_tri_node_pridej(p_root->p_child[i], p_child);
  }
}

/* vyrobi root animacni strom
*/
HIERARCHY_ROOT *key_root_vyrob_indir(EDIT_KONTEJNER * p_kont,
  HIERARCHY_ROOT * p_root)
{
  HIERARCHY_TRACK_INFO *p_tri;
  TRACK_INFO *p_track;
  EDIT_OBJEKT *p_obj;

  //int objnum = p_kont->objektu;
  int o;

  // nastaveni zakladnich veci
  for (o = 0; o < p_kont->max_objektu; o++) {
    if (p_kont->p_obj[o] && p_kont->p_obj[o]->p_track)
      break;
  }

  if (o >= p_kont->max_objektu) {
    //assert(0);
    return (NULL);
  }

  p_track = p_kont->p_obj[o]->p_track;
  p_root->framenum = p_track->framenum;
  p_root->delka = (float) p_root->framenum / (float) FRAMU_PER_SEC;

  // kopie vsech tracku + provazani objektu se scenou
  for (o = 0; o < p_kont->max_objektu; o++) {
    p_obj = p_kont->p_obj[o];
    if (p_obj && (p_track = p_obj->p_track)) {  // pokud tento objekt ma track

      p_tri = key_track_to_tri(p_obj->p_track);
      p_tri->p_obj = p_obj;
      key_zrus_track(&p_obj->p_track);

      key_konec_prochazeni = FALSE;
      key_root_node_pridej(p_root, p_tri);
      assert(key_konec_prochazeni);
    }
  }

  return (p_root);
}

static float key_najdi_otcovy_scaly(HIERARCHY_TRACK_INFO * p_track)
{
  if (p_track->p_otec == NULL)
    return ((p_track->scs_keys) ? p_track->p_scale[0].x : 1.0f);
  else
    return ((p_track->scs_keys) ? p_track->p_scale[0].x *
      key_najdi_otcovy_scaly(p_track->
        p_otec) : key_najdi_otcovy_scaly(p_track->p_otec));
}

static void key_tri_to_local(HIERARCHY_TRACK_INFO * p_track)
{
  EDIT_OBJEKT *p_obj;
  GLMATRIX m;
  int i;

  p_obj = (EDIT_OBJEKT *) p_track->p_obj;

  if (key_najdi_otcovy_scaly(p_track) < 0.0f)
    scale_matrix(&p_obj->m, -1.0f, 1.0f, 1.0f);

  // proval to matici a jedeme
  transformuj_objekt_matici(p_obj, invert_matrix(&p_obj->m, &m));

  if (p_track->childnum == 1) {
    key_tri_to_local(p_track->p_child[0]);
  }
  else {
    for (i = 0; i < p_track->childnum; i++) {
      key_tri_to_local(p_track->p_child[i]);
    }
  }
}

/*
static void key_tri_to_local(HIERARCHY_TRACK_INFO *p_track)
{
  EDIT_OBJEKT *p_obj;
  int i;
    
  p_obj = (EDIT_OBJEKT *)p_track->p_obj;
  

  if(key_najdi_otcovy_scaly(p_track) < 0.0f) {        
    //scale_matrix(&p_obj->local_matrix,-1.0f,1.0f,1.0f);
  }

  if(p_track->childnum == 1) {
    key_tri_to_local(p_track->p_child[0]);
  } else {
    for(i = 0; i < p_track->childnum; i++) {
      key_tri_to_local(p_track->p_child[i]);
    }
  }
}
*/
static void key_tri_to_world(HIERARCHY_TRACK_INFO * p_track)
{
  EDIT_OBJEKT *p_obj, *p_otec;
  int i;

  p_obj = (EDIT_OBJEKT *) p_track->p_obj;
  key_tri_to_matrix_zero(&p_obj->m, p_track);

  if (p_track->p_otec) {
    p_otec = (EDIT_OBJEKT *) p_track->p_otec->p_obj;
    mat_mult(&p_obj->m, &p_otec->m, &p_obj->m);
  }

  pivotuj_matrix_tam(&p_track->pivot, &p_obj->m);

  if (p_track->childnum == 1) {
    key_tri_to_world(p_track->p_child[0]);
  }
  else {
    for (i = 0; i < p_track->childnum; i++) {
      key_tri_to_world(p_track->p_child[i]);
    }
  }
}

/*
static void key_tri_to_world(HIERARCHY_TRACK_INFO *p_track)
{  
  EDIT_OBJEKT *p_obj,*p_otec;
  int i;
          
  p_obj = (EDIT_OBJEKT *)p_track->p_obj;
  //key_tri_to_matrix_zero(&p_obj->m, p_track);
    
  if(p_track->p_otec) {
    p_otec = (EDIT_OBJEKT *)p_track->p_otec->p_obj;
    mat_mult(&p_obj->m,&p_otec->m,&p_obj->m);
  }

//  pivotuj_matrix_tam(&p_track->pivot,&p_obj->m);

  if(p_track->childnum == 1) {
    key_tri_to_world(p_track->p_child[0]);
  } else {
    for(i = 0; i < p_track->childnum; i++) {
      key_tri_to_world(p_track->p_child[i]);
    }
  }
}
*/

/* Prevede root do nulove vychozi pozice
*/
void key_root_to_zero(HIERARCHY_ROOT * p_root)
{
  int i;

  for (i = 0; i < p_root->childnum; i++) {
    key_tri_to_local(p_root->p_child[i]);
    key_tri_to_world(p_root->p_child[i]);
  }
}

/* rekurzivni animace stromu/objektu - 
   predavat i horni matici -> jako horni matice 0 je word-matrix !
*/
void key_tri_to_matrix(HIERARCHY_TRACK_INFO * p_track, int time,
  GLMATRIX * p_otec, int loop)
{
  EDIT_OBJEKT *p_obj;
  GLMATRIX m;
  QUAT q;
  BOD p;
  int i;

  // spocitej hierarchii
  p_obj = (EDIT_OBJEKT *) p_track->p_obj;

  // spocitej pozici + ostatni veci
  init_matrix(&m);

  if (p_track->p_pos) {
    key_track_interpolace_bod(&p, p_track->p_pos, p_track->p_pkeys, time,
      p_track->endtime, p_track->pos_keys, loop);
    m._41 = p.x;
    m._42 = p.y;
    m._43 = p.z;
  }

  if (p_track->p_at) {
    key_track_interpolace_quat(&q, p_track->p_at, p_track->p_rkeys, time,
      p_track->endtime, p_track->rot_keys, loop);
    quat_to_matrix(&m, &q);
  }

  if (p_track->p_scale) {
    key_track_interpolace_bod(&p, p_track->p_scale, p_track->p_skeys, time,
      p_track->endtime, p_track->scs_keys, loop);

    m._11 *= p.x;
    m._21 *= p.x;
    m._31 *= p.x;

    m._12 *= p.y;
    m._22 *= p.y;
    m._32 *= p.y;

    m._13 *= p.z;
    m._23 *= p.z;
    m._33 *= p.z;
  }

  if (p_track->p_at) {
    pivotuj_matrix_tam(&p_track->pivot, &m);
  }

  // spocitej hierarchii
  p_obj = (EDIT_OBJEKT *) p_track->p_obj;
  mat_mult(&m, p_otec, &p_obj->m);      // aktualni*otec => vysledek

  if (p_track->childnum == 1) {
    key_tri_to_matrix(p_track->p_child[0], time, &p_obj->m, loop);
  }
  else {
    for (i = 0; i < p_track->childnum; i++) {
      key_tri_to_matrix(p_track->p_child[i], time, &p_obj->m, loop);
    }
  }
}

/*
void key_tri_to_matrix(HIERARCHY_TRACK_INFO *p_track, int time, GLMATRIX *p_otec, int loop)
{  
  EDIT_OBJEKT *p_obj;
  GLMATRIX m;
  QUAT q;
  BOD p;
  int i;

  // spocitej hierarchii
  p_obj = (EDIT_OBJEKT *)p_track->p_obj;   

  // spocitej pozici + ostatni veci
  init_matrix(&m);

  if(p_track->p_pos) {
    key_track_interpolace_bod(&p,p_track->p_pos,p_track->p_pkeys,time,p_track->endtime,p_track->pos_keys,loop);
    m._41 = p.x;
    m._42 = p.y;
    m._43 = p.z;
  }

  if(p_track->p_at) {
    key_track_interpolace_quat(&q,p_track->p_at,p_track->p_rkeys,time,p_track->endtime,p_track->rot_keys,loop);
    quat_to_matrix(&m,&q);
  }

  if(p_track->p_scale) {
    key_track_interpolace_bod(&p,p_track->p_scale,p_track->p_skeys,time,p_track->endtime,p_track->scs_keys,loop);
    scale_matrix(&m,p.x,p.y,p.z);
  }

  // spocitej hierarchii
  p_obj = (EDIT_OBJEKT *)p_track->p_obj;
  mat_mult(&m,p_otec,&m); // aktualni*otec => vysledek

  p_obj->m = m;  
  pivotuj_matrix_tam(&p_track->pivot,&p_obj->m);
  
  mat_mult(&p_obj->local_matrix,&p_obj->m,&p_obj->m);
  
  if(p_track->childnum == 1) {
    key_tri_to_matrix(p_track->p_child[0], time, &m, loop);
  } else {
    for(i = 0; i < p_track->childnum; i++) {
      key_tri_to_matrix(p_track->p_child[i], time, &m, loop);
    }
  }
}
*/

void key_root_to_matrix(HIERARCHY_ROOT * p_root, int time, GLMATRIX * p_otec)
{
  GLMATRIX m;
  int i;

  if (!p_otec) {
    p_otec = init_matrix(&m);
  }

  for (i = 0; i < p_root->childnum; i++)
    key_tri_to_matrix(p_root->p_child[i], time, p_otec,
      p_root->flag & GK_LOOP);
}

// track veci
TRACK_INFO *key_track_vyrob(int poskey, int rotkey, int scalekey)
{
  TRACK_INFO *p_track;

  p_track = (TRACK_INFO *) mmalloc(sizeof(TRACK_INFO));

  // pozicni klice
  p_track->pos_keys = poskey;
  p_track->p_pkeys =
    (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_pkeys[0]) * poskey);
  p_track->p_pos = (BOD *) mmalloc(sizeof(BOD) * poskey);

  // rotacni klice
  p_track->rot_keys = rotkey;
  p_track->p_rkeys =
    (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_rkeys[0]) * rotkey);
  p_track->p_rot = (ROTKEY *) mmalloc(sizeof(ROTKEY) * rotkey);
  p_track->p_at = (QUAT *) mmalloc(sizeof(p_track->p_at[0]) * rotkey);

  // scalovaci klice
  p_track->scs_keys = scalekey;
  p_track->p_skeys =
    (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_skeys[0]) * scalekey);
  p_track->p_scale = (BOD *) mmalloc(sizeof(BOD) * scalekey);

  return (p_track);
}

HIERARCHY_TRACK_INFO *key_tri_vyrob_indir(HIERARCHY_TRACK_INFO * p_hir,
  int poskey, int rotkey, int scalekey)
{

  memset(p_hir, 0, sizeof(p_hir[0]));

  // pozicni klice
  if ((p_hir->pos_keys = poskey)) {
    p_hir->p_pkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_hir->p_pkeys[0]) * poskey);
    p_hir->p_pos = (BOD *) mmalloc(sizeof(BOD) * poskey);
  }

  // rotacni klice
  if ((p_hir->rot_keys = rotkey)) {
    p_hir->p_rkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_hir->p_rkeys[0]) * rotkey);
    p_hir->p_at = (QUAT *) mmalloc(sizeof(p_hir->p_at[0]) * rotkey);
  }

  // scalovaci klice
  if ((p_hir->scs_keys = scalekey)) {
    p_hir->p_scale = (BOD *) mmalloc(sizeof(BOD) * scalekey);
    p_hir->p_skeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_hir->p_skeys[0]) * scalekey);
  }

  return (p_hir);
}

HIERARCHY_TRACK_INFO *key_tri_vyrob(int poskey, int rotkey, int scalekey)
{
  HIERARCHY_TRACK_INFO *p_hir;

  p_hir = (HIERARCHY_TRACK_INFO *) mmalloc(sizeof(HIERARCHY_TRACK_INFO));
  key_tri_vyrob_indir(p_hir, poskey, rotkey, scalekey);
  return (p_hir);
}

HIERARCHY_TRACK_INFO *key_tri_vyrob_un_indir(void)
{
  HIERARCHY_TRACK_INFO *p_hir;

  p_hir = (HIERARCHY_TRACK_INFO *) mmalloc(sizeof(HIERARCHY_TRACK_INFO));
  return (p_hir);
}

// kopie tracku
HIERARCHY_TRACK_INFO *key_track_to_tri(TRACK_INFO * p_track)
{
  HIERARCHY_TRACK_INFO *p_tri = key_tri_vyrob(p_track->pos_keys,
    p_track->rot_keys, p_track->scs_keys);

  p_tri->objnum = p_track->objekt;
  p_tri->parentnum = p_track->parent;
  p_tri->pivot = p_track->pivot;
  p_tri->endtime = calc_endtime(p_track->framenum);

  if (p_track->pos_keys) {
    memcpy(p_tri->p_pkeys, p_track->p_pkeys,
      sizeof(p_track->p_pkeys[0]) * p_track->pos_keys);
    memcpy(p_tri->p_pos, p_track->p_pos,
      sizeof(p_track->p_pos[0]) * p_track->pos_keys);
  }

  if (p_track->rot_keys) {
    memcpy(p_tri->p_rkeys, p_track->p_rkeys,
      sizeof(p_track->p_rkeys[0]) * p_track->rot_keys);
    memcpy(p_tri->p_at, p_track->p_at,
      sizeof(p_track->p_at[0]) * p_track->rot_keys);
  }

  if (p_track->scs_keys) {
    memcpy(p_tri->p_skeys, p_track->p_skeys,
      sizeof(p_track->p_skeys[0]) * p_track->scs_keys);
    memcpy(p_tri->p_scale, p_track->p_scale,
      sizeof(p_track->p_scale[0]) * p_track->scs_keys);
  }

  return (p_tri);
}

void key_zrus_track(TRACK_INFO ** p_track)
{
  TRACK_INFO *p_tri = *p_track;

  null_free((void **) &p_tri->p_pkeys);
  null_free((void **) &p_tri->p_pos);
  null_free((void **) &p_tri->p_rkeys);
  null_free((void **) &p_tri->p_rot);
  null_free((void **) &p_tri->p_at);
  null_free((void **) &p_tri->p_skeys);
  null_free((void **) &p_tri->p_scale);
  null_free((void **) &p_tri);
  *p_track = NULL;
}

// prida child do track_node
void key_tri_child_pridej(HIERARCHY_TRACK_INFO * p_root,
  HIERARCHY_TRACK_INFO * p_child)
{
  p_root->childnum += 1;
  p_root->p_child =
    (HIERARCHY_TRACK_INFO **) realloc(p_root->p_child,
    sizeof(p_root->p_child[0]) * p_root->childnum);
  p_root->p_child[p_root->childnum - 1] = p_child;
  p_child->p_otec = p_root;
}

// prida child do root_node
void key_root_child_pridej(HIERARCHY_ROOT * p_root,
  HIERARCHY_TRACK_INFO * p_child)
{
  p_root->childnum += 1;
  p_root->p_child =
    (HIERARCHY_TRACK_INFO **) realloc(p_root->p_child,
    sizeof(p_root->p_child[0]) * p_root->childnum);
  p_root->p_child[p_root->childnum - 1] = p_child;
  p_child->p_otec = NULL;
}

void key_tri_calc_absolutne(TRACK_INFO * p_track, QUAT * p_puvodni)
{
  QUAT q(0, 0, 0, 1);
  word i;

  if (p_track->rot_keys) {
    if (!p_track->p_at) {
      p_track->p_at =
        (QUAT *) mmalloc(sizeof(p_track->p_at[0]) * p_track->rot_keys);
    }
    key_rotkey_to_quat(p_track->p_rot, p_track->p_at);
    for (i = 1; i < p_track->rot_keys; i++) {
      quat_mult(key_rotkey_to_quat(p_track->p_rot + i, &q),
        p_track->p_at + (i - 1), p_track->p_at + i);
    }
  }
}

void key_sim_calc_absolutne(SIMPLE_TRACK_INFO * p_sim)
{
  QUAT q(0, 0, 0, 1), qz;
  int i, il;

  if (p_sim->p_at) {
    for (i = 0; i < p_sim->keynum; i++) {
      if (p_sim->p_at[i].x != FLT_MAX)
        break;
    }

    angle_to_quat(&qz, (BOD *) (&p_sim->p_at[i].x), p_sim->p_at[i].w);
    p_sim->p_at[i] = qz;
    il = i;

    for (i++; i < p_sim->keynum; i++) {
      if (p_sim->p_at[i].x != FLT_MAX) {
        angle_to_quat(&qz, (BOD *) & (p_sim->p_at[i].x), p_sim->p_at[i].w);
        quat_mult(&qz, p_sim->p_at + il, p_sim->p_at + i);
        il = i;
      }
    }
  }
}

/*
  0. Key_frame prevest na matice
  1. Vynasobit word matrix
  2. Prevest zpet
  
  BOD *p_pos, QUAT *p_q, BOD *p_scs
*/

// cilovy kontejner - kopie tracku
static void key_tri_to_tri_indir(EDIT_KONTEJNER * p_kont,
  HIERARCHY_TRACK_INFO * p_cil,
  HIERARCHY_TRACK_INFO * p_src, HIERARCHY_TRACK_INFO * p_otec)
{
  int i;

  p_cil->childnum = p_src->childnum;
  p_cil->endtime = p_src->endtime;
  p_cil->objnum = p_src->objnum;
  p_cil->parentnum = p_src->parentnum;
  p_cil->pivot = p_src->pivot;
  p_cil->p_obj = p_kont->p_obj[p_src->objnum];
  p_cil->p_otec = p_otec;
  p_cil->p_m = &p_kont->p_obj[p_src->objnum]->m;

  if (p_cil->pos_keys) {
    memcpy(p_cil->p_pkeys, p_src->p_pkeys,
      sizeof(p_src->p_pkeys[0]) * p_cil->pos_keys);
    memcpy(p_cil->p_pos, p_src->p_pos,
      sizeof(p_src->p_pos[0]) * p_cil->pos_keys);
  }

  if (p_cil->scs_keys) {
    memcpy(p_cil->p_scale, p_src->p_scale,
      sizeof(p_src->p_scale[0]) * p_cil->scs_keys);
  }

  if (p_cil->rot_keys) {
    memcpy(p_cil->p_rkeys, p_src->p_rkeys,
      sizeof(p_src->p_rkeys[0]) * p_cil->rot_keys);
    memcpy(p_cil->p_at, p_src->p_at,
      sizeof(p_src->p_at[0]) * p_cil->rot_keys);
  }

  p_cil->p_child =
    (HIERARCHY_TRACK_INFO **) mmalloc(sizeof(p_cil->p_child[0]) *
    p_src->childnum);
  for (i = 0; i < p_src->childnum; i++) {
    p_cil->p_child[i] =
      key_tri_vyrob(p_src->p_child[i]->pos_keys, p_src->p_child[i]->rot_keys,
      p_src->p_child[i]->scs_keys);
    key_tri_to_tri_indir(p_kont, p_cil->p_child[i], p_src->p_child[i], p_cil);
  }
}

void key_root_to_root_indir(EDIT_KONTEJNER * p_kont, HIERARCHY_ROOT * p_cil,
  HIERARCHY_ROOT * p_src)
{
  int i;

  *p_cil = *p_src;

  p_cil->p_child =
    (HIERARCHY_TRACK_INFO **) mmalloc(sizeof(p_cil->p_child[0]) *
    p_src->childnum);
  for (i = 0; i < p_src->childnum; i++) {
    p_cil->p_child[i] =
      key_tri_vyrob(p_src->p_child[i]->pos_keys, p_src->p_child[i]->rot_keys,
      p_src->p_child[i]->scs_keys);
    key_tri_to_tri_indir(p_kont, p_cil->p_child[i], p_src->p_child[i], NULL);
  }
}

/* kopie sim-animaci
*/
/*
typedef struct _SIMPLE_TRACK_INFO {
  
  int      Objekt_ID;      // id objektu ke kteremu animace patri
  dword    flag;
  
  int      keynum;         // pocet klicu
  BOD     *p_pos;          // Mesh position keys
  BOD     *p_scale;        // Mesh scaling keys
  QUAT    *p_at;           // Absolutni traky
  BOD      pivot;          // pivot point animace -> kopiruje se do objektu
  BOD      pivot3ds;       // pivot 3ds animace

  GLMATRIX *p_m;            // kam to hazet
  
  int       childnum;      // pocet svistich traku
  struct   _SIMPLE_TRACK_INFO *p_child; // svisti traky
  struct   _SIMPLE_TRACK_INFO *p_otec; // otcovy traky
  
} SIMPLE_TRACK_INFO;
*/

// Kopie sim-animaci
void key_sim_root_to_sim_root_indir(EDIT_KONTEJNER * p_kont,
  HIERARCHY_SIM * p_cil, HIERARCHY_SIM * p_src)
{
  int i;

  *p_cil = *p_src;

  p_cil->p_child =
    (SIMPLE_TRACK_INFO *) mmalloc(sizeof(p_cil->p_child[0]) *
    p_src->childnum);
  for (i = 0; i < p_src->childnum; i++) {
    key_sim_to_sim_indir(p_cil->p_child + i, p_src->p_child + i);
  }
  key_sim_dopln_matrix_kont(p_kont, p_cil);
}

static void key_sim_dopln_matrix_kont_rec(EDIT_KONTEJNER * p_kont,
  SIMPLE_TRACK_INFO * p_sim)
{
  EDIT_OBJEKT *p_obj;
  int i;

  p_obj = lo_najdi_objekt_kont_poiter_ID(p_kont, p_sim->Objekt_ID);
  if (p_obj) {
    p_sim->p_m = &p_obj->m;
    p_sim->p_object_norm = &p_obj->float_scale;
  }
  else {
    p_sim->p_m = NULL;
    p_sim->p_object_norm = NULL;
  }

  for (i = 0; i < p_sim->childnum; i++) {
    key_sim_dopln_matrix_kont_rec(p_kont, p_sim->p_child + i);
  }
}

// Doplni matice
void key_sim_dopln_matrix_kont(EDIT_KONTEJNER * p_kont, HIERARCHY_SIM * p_src)
{
  int i;

  for (i = 0; i < p_src->childnum; i++) {
    key_sim_dopln_matrix_kont_rec(p_kont, p_src->p_child + i);
  }
}


static void key_sim_dopln_matrix_mesh_rec(GAME_MESH_OLD * p_mesh,
  SIMPLE_TRACK_INFO * p_sim)
{
  int i;

  for (i = 0; i < p_mesh->objektu; i++) {
    if (p_mesh->p_Objekt_ID[i] == p_sim->Objekt_ID) {
      p_sim->p_m = p_mesh->p_key + i;
      p_sim->p_obb_local = p_mesh->p_obb_local + i;
      p_sim->p_obb_world = p_mesh->p_obb_world + i;
      p_sim->p_object_norm =
        p_mesh->p_normal_scale ? p_mesh->p_normal_scale + i : NULL;
      for (i = 0; i < p_sim->childnum; i++) {
        key_sim_dopln_matrix_mesh_rec(p_mesh, p_sim->p_child + i);
      }
      return;
    }
  }

  // fuck-ati
}

void key_sim_dopln_matrix_mesh(GAME_MESH_OLD * p_mesh,
  SIMPLE_TRACK_INFO * p_sim)
{
  int i;

  for (i = 0; i < p_sim->childnum; i++) {
    key_sim_dopln_matrix_mesh_rec(p_mesh, p_sim->p_child + i);
  }
}

/*
typedef struct _HIERARCHY_SIM {
  
  float     delka;         // delka casu animace (fps)
  byte      stav;          // 0 = stop, 1 = run
  
  int       flag;          // flagy animace (GL_LOOP,GL_REMOVE)

  dword     time;          // aktualni cas animace
  dword     time_start;    // aktualni start
  dword     time_stop;     // aktualni stop
  dword     time_delka;    // aktualni delka animace
  
  dword     start;
  dword     stop;  
  
  int       keynum;         // pocet klicu
  char      jmeno[MAX_JMENO]; // jmeno animace
  int       childnum;         // pocet detskych traku
  SIMPLE_TRACK_INFO *p_child;

} HIERARCHY_SIM;
*/

/* Rekurzivni extra-interpolator
*/
static void key_root_to_sim_indir_rec(EDIT_KONTEJNER * p_kont,
  SIMPLE_TRACK_INFO * p_sim, HIERARCHY_TRACK_INFO * p_root, int loop,
  int float_scale)
{

  /* Kopie puvodnich traku
   */
  key_tri_to_sim_indir(p_root, p_sim, loop, float_scale);

  p_sim->p_m = &p_kont->p_obj[p_root->objnum]->m;
  p_sim->Objekt_ID = p_kont->p_obj[p_root->objnum]->Objekt_ID;
  p_sim->pivot = p_root->pivot_sim;


  /* Vytvoreni stromu
   */
  if (p_root->childnum) {
    int i;

    p_sim->childnum = p_root->childnum;

    p_sim->p_child =
      (SIMPLE_TRACK_INFO *) mmalloc(sizeof(p_sim->p_child[0]) *
      p_root->childnum);

    for (i = 0; i < p_sim->childnum; i++) {
      p_sim->p_child[i].p_otec = p_sim;
      key_root_to_sim_indir_rec(p_kont, p_sim->p_child + i,
        p_root->p_child[i], loop, float_scale);
    }
  }
}

/* Prevod root - stromu do simple animacniho stromu
*/
void key_root_to_sim_indir(EDIT_KONTEJNER * p_kont, HIERARCHY_SIM * p_sim,
  HIERARCHY_ROOT * p_root, int float_scale)
{
  int i;

  if (!p_root->childnum)
    return;

  strcpy(p_sim->jmeno, p_root->jmeno);
  p_sim->childnum = p_root->childnum;
  p_sim->keynum = p_root->framenum;

  p_sim->p_child =
    (SIMPLE_TRACK_INFO *) mmalloc(sizeof(p_sim->p_child[0]) *
    p_root->childnum);
  for (i = 0; i < p_sim->childnum; i++) {
    key_root_to_sim_indir_rec(p_kont, p_sim->p_child + i, p_root->p_child[i],
      p_root->flag & GK_LOOP, float_scale);
  }

  key_sim_dopln_matrix_kont(p_kont, p_sim);
}

/* Reanimuje kontejner word-matrix - vkladat akt_animace
*/
void key_kontejner_reanimuj(EDIT_KONTEJNER * p_kont, HIERARCHY_ROOT * p_root)
{
  if (p_kont->kflag & KONT_KEYFRAME && p_root->framenum) {
    key_root_to_matrix(p_root, 0, kont_world_matrix(p_kont));
  }
}

void key_kontejner_sim_reanimuj(EDIT_KONTEJNER * p_kont)
{
  if (p_kont->kflag & KONT_KEYFRAME
    && p_kont->sim[p_kont->akt_animace].keynum) {
    key_sim_root_to_matrix(p_kont, p_kont->sim + p_kont->akt_animace, 0,
      kont_world_matrix(p_kont));
  }
}

void key_kontejner_sim_reanimuj_pivoty(EDIT_KONTEJNER * p_kont)
{
  HIERARCHY_SIM *p_sim;
  GLMATRIX m;
  int i;

  init_matrix(&m);
  if (p_kont->kflag & KONT_KEYFRAME) {
    p_sim = p_kont->sim + p_kont->akt_animace;
    if (p_sim->keynum) {
      for (i = 0; i < p_sim->childnum; i++) {
        key_sim_animuj_strom_pivoty(p_sim->p_child + i, 0, &m);
      }
    }
  }
}

void key_kontejner_retransformuj(EDIT_KONTEJNER * p_kont_top)
{
  EDIT_KONTEJNER *p_kont = p_kont_top;
  EDIT_OBJEKT *p_obj;
  int o;

  while (p_kont) {
    if (p_kont->kflag & KONT_KEYFRAME) {
      for (o = 0; o < MAX_KONT_OBJEKTU; o++) {
        p_obj = p_kont->p_obj[o];
        if (p_obj) {
          transformuj_objekt_matici(p_obj, &p_obj->m);
          init_matrix(&p_obj->m);
        }
      }
    }
    p_kont = p_kont->p_next;
  }
}

void key_mesh_reanimuj(GAME_MESH_OLD * p_mesh, int time, GLMATRIX * p_top)
{
  SIMPLE_TRACK_INFO *p_sim = p_mesh->p_sim_aktivni;
  int i;

  assert(p_mesh->p_data->kflag & KONT_KEYFRAME);

  for (i = 0; i < p_sim->childnum; i++) {
    key_sim_animuj_strom(p_sim->p_child + i, time, p_top);
  }

  // Transformace obalky meshe
  obb_transformuj(&p_mesh->obb_local, p_top, &p_mesh->obb_world);

  key_mesh_recalc_normal_anim(p_mesh);
}

/**************************************************************************** 
  Simple-track animace
 ****************************************************************************
*/

/* kopie sim->sim
*/
void key_sim_to_sim_indir(SIMPLE_TRACK_INFO * p_dest,
  SIMPLE_TRACK_INFO * p_src)
{
  int i;

  *p_dest = *p_src;

  // kopie pozicnich klicu
  if (p_src->p_pos) {
    p_dest->p_pos =
      (BOD *) kopiruj_pole(p_src->p_pos,
      sizeof(p_src->p_pos[0]) * p_src->keynum);
  }

  // kopie rotacnich klicu
  if (p_src->p_at) {
    p_dest->p_at =
      (QUAT *) kopiruj_pole(p_src->p_at,
      sizeof(p_src->p_at[0]) * p_src->keynum);
  }

  // kopie scale klicu
  if (p_src->p_scale) {
    p_dest->p_scale =
      (BOD *) kopiruj_pole(p_src->p_scale,
      sizeof(p_src->p_scale[0]) * p_src->keynum);
  }

  // Kopie zero-matic
  if (p_src->p_all_matrix) {
    p_dest->p_all_matrix =
      (GLMATRIX *) kopiruj_pole(p_src->p_all_matrix,
      sizeof(p_src->p_all_matrix[0]));
  }

  if (p_dest->childnum) {
    p_dest->p_child =
      (SIMPLE_TRACK_INFO *) mmalloc(sizeof(p_dest->p_child[0]) *
      p_dest->childnum);
    for (i = 0; i < p_dest->childnum; i++) {
      key_sim_to_sim_indir(p_dest->p_child + i, p_src->p_child + i);
    }
  }
}

/* Rekurzivne animuje animacni strom
*/
void key_sim_animuj_strom(SIMPLE_TRACK_INFO * p_sim, int time,
  GLMATRIX * p_otec)
{
  OBB_OLD *p_src, *p_dest;
  GLMATRIX m, *p_top = p_otec;
  int i;

  // animuj hierarchii
  if (p_sim->p_m) {
    p_top =
      mat_mult_dir(key_sim_to_matrix(p_sim, time, &m), p_otec, p_sim->p_m);
    p_src = p_sim->p_obb_local;
    p_dest = p_sim->p_obb_world;
    if (p_src && p_dest) {
      obb_transformuj(p_src, p_top, p_dest);
    }
  }

  // rozmazni i decka
  for (i = 0; i < p_sim->childnum; i++) {
    key_sim_animuj_strom(p_sim->p_child + i, time, p_top);
  }
}

void key_sim_animuj_strom_pivoty(SIMPLE_TRACK_INFO * p_sim, int time,
  GLMATRIX * p_otec)
{
  GLMATRIX m, m1, *p_top = p_otec;
  int i;

  // animuj hierarchii
  if (p_sim->p_at || p_sim->p_pos || p_sim->p_scale) {
    p_top = mat_mult(key_sim_to_matrix(p_sim, time, &m), p_otec, &m1);
  }
  else {
    p_top = p_otec;
  }

  // Transformuje akt. pivot
  invert_matrix_copy(p_top, &m);
  transformuj_bod_bod_matici(&p_sim->pivot, &m);

  // rozmazni i decka
  for (i = 0; i < p_sim->childnum; i++) {
    key_sim_animuj_strom_pivoty(p_sim->p_child + i, time, p_top);
  }
}

/*------------------------------------------------------------------
  Simple animace
  ------------------------------------------------------------------
*/
/* Prevede tri do simple tracku
*/
SIMPLE_TRACK_INFO *key_tri_to_sim_indir(HIERARCHY_TRACK_INFO * p_track,
  SIMPLE_TRACK_INFO * p_sim, int loop, int float_scale)
{
  int i, endtime;

  // prevedu hlavni track
  memset(p_sim, 0, sizeof(SIMPLE_TRACK_INFO));

  p_sim->keynum = calc_keynum(p_track->endtime);

  endtime = p_track->endtime;

  /* Kopie pozicnich klicu
   */
  if (p_track->p_pos) {
    p_sim->p_pos = (BOD *) mmalloc(sizeof(p_sim->p_pos[0]) * p_sim->keynum);
    for (i = 0; i < p_sim->keynum; i++)
      key_track_interpolace_bod(p_sim->p_pos + i, p_track->p_pos,
        p_track->p_pkeys, i * SIM_KONSTI, endtime, p_track->pos_keys, loop);
  }

  /* Kopie rotacnich klicu
   */
  if (p_track->p_at) {
    p_sim->p_at = (QUAT *) mmalloc(sizeof(p_sim->p_at[0]) * p_sim->keynum);
    p_sim->pivot3ds = p_track->pivot;
    key_track_quat_zkontroluj(p_track->p_at, p_track->rot_keys);
    for (i = 0; i < p_sim->keynum; i++)
      key_track_interpolace_quat(p_sim->p_at + i, p_track->p_at,
        p_track->p_rkeys, i * SIM_KONSTI, endtime, p_track->rot_keys, loop);
  }

  /* Kopie scale klicu
   */
  if (p_track->p_scale) {
    if (float_scale) {
      BOD s;

      p_sim->p_norm =
        (float *) mmalloc(sizeof(p_sim->p_norm[0]) * p_sim->keynum);
      for (i = 0; i < p_sim->keynum; i++) {
        key_track_interpolace_bod(&s, p_track->p_scale, p_track->p_skeys,
          i * SIM_KONSTI, endtime, p_track->scs_keys, loop);
        p_sim->p_norm[i] = s.x;
      }
    }
    else {
      p_sim->p_scale =
        (BOD *) mmalloc(sizeof(p_sim->p_scale[0]) * p_sim->keynum);
      for (i = 0; i < p_sim->keynum; i++)
        key_track_interpolace_bod(p_sim->p_scale + i, p_track->p_scale,
          p_track->p_skeys, i * SIM_KONSTI, endtime, p_track->scs_keys, loop);
    }
  }
  return (p_sim);
}

/* Prevede tri linearne do simple tracku
*/
SIMPLE_TRACK_INFO *key_tri_to_sim_indir_lin(HIERARCHY_TRACK_INFO * p_track,
  SIMPLE_TRACK_INFO * p_sim, int loop)
{
  int i, keynum, endtime;

  // prevedu hlavni track
  memset(p_sim, 0, sizeof(SIMPLE_TRACK_INFO));

  keynum = p_sim->keynum = calc_keynum(p_track->endtime);
  keynum--;
  endtime = p_track->endtime;

  /* Kopie pozicnich klicu
   */
  if (p_track->p_pos) {
    p_sim->p_pos = (BOD *) mmalloc(sizeof(p_sim->p_pos[0]) * p_sim->keynum);
    for (i = 0; i < p_sim->keynum; i++)
      key_track_interpolace_bod_linear(p_sim->p_pos + i, p_track->p_pos,
        p_track->p_pkeys, i * SIM_KONSTI, endtime, p_track->pos_keys, loop);
  }

  /* Kopie rotacnich klicu
   */
  if (p_track->p_at) {
    p_sim->p_at = (QUAT *) mmalloc(sizeof(p_sim->p_at[0]) * p_sim->keynum);
    p_sim->pivot3ds = p_track->pivot;
    key_track_quat_zkontroluj(p_track->p_at, p_track->rot_keys);
    for (i = 0; i < p_sim->keynum; i++)
      key_track_interpolace_quat_linear(p_sim->p_at + i, p_track->p_at,
        p_track->p_rkeys, i * SIM_KONSTI, endtime, p_track->rot_keys, loop);
  }

  /* Kopie scale klicu
   */
  if (p_track->p_scale) {
    p_sim->p_scale =
      (BOD *) mmalloc(sizeof(p_sim->p_scale[0]) * p_sim->keynum);
    for (i = 0; i < p_sim->keynum; i++)
      key_track_interpolace_bod_linear(p_sim->p_scale + i, p_track->p_scale,
        p_track->p_skeys, i * SIM_KONSTI, endtime, p_track->scs_keys, loop);
  }

  return (p_sim);
}

void key_sim_zrus_vnitrek(SIMPLE_TRACK_INFO * p_sim)
{
  null_free((void **) &p_sim->p_pos);
  null_free((void **) &p_sim->p_at);
  null_free((void **) &p_sim->p_scale);
  null_free((void **) &p_sim->p_all_matrix);
}

// Zrusi animacni strom sim animaci
void key_sim_zrus(SIMPLE_TRACK_INFO * p_sim)
{
  int i;

  if (p_sim->p_child) {
    for (i = 0; i < p_sim->childnum; i++) {
      key_sim_zrus(p_sim->p_child + i);
    }
    free(p_sim->p_child);
  }
  key_sim_zrus_vnitrek(p_sim);
}

void key_sim_root_zrus(HIERARCHY_SIM * p_sim)
{
  int i;

  if (p_sim->p_child) {
    for (i = 0; i < p_sim->childnum; i++) {
      key_sim_zrus(p_sim->p_child + i);
    }
    free(p_sim->p_child);
  }
  memset(p_sim, 0, sizeof(p_sim[0]));
}

// ulozi simple animaci jako text-file
/*
C 20      // (pocet framu zacinajici od 0)
V 0 0 0   // pivot point

F 0       // Pro kazdy frame jeho cislo
P 0 2 3   // relativni posun x,y,z
R 0 0 0 0 // relativni rotace x,y,z + uhel
S 0 0 0   // relativni scale x y z

T 0       // tension
O 0       // continuity
B 0       // bias
L 0 0 0   // tension/continuity/bias
*/

void key_sim_uloz(SIMPLE_TRACK_INFO * p_sim, char *p_file, char *p_dir)
{
  BOD b;
  float uhel;
  FILE *f;
  int i;
  int loop = p_sim->flag & GK_LOOP;

  chdir((p_dir));

  if (!(f = fopen(p_file, "w"))) {
    ddw("File %s Line %d Chyba otevreni souboru '%s' v %s", __FILE__,
      __LINE__, p_file, p_dir);
    return;
  }

  fprintf(f, "C %d\n", p_sim->keynum);
  if (loop)
    fputs("N\n", f);
  fprintf(f, "M %f %f %f", p_sim->pivot3ds.x, p_sim->pivot3ds.y,
    p_sim->pivot3ds.z);
  fprintf(f, "O %f %f %f", p_sim->pivot.x, p_sim->pivot.y, p_sim->pivot.z);
  for (i = 0; i < p_sim->keynum; i++) {
    fprintf(f, "F %d\n", i);
    fprintf(f, "P %f %f %f\n", p_sim->p_pos[i].x, p_sim->p_pos[i].y,
      p_sim->p_pos[i].z);
    quat_to_angle(p_sim->p_at + i, &b, &uhel);
    uhel = (uhel / PI) * 180.0f;
    fprintf(f, "R %f %f %f %f\n", b.x, b.y, b.z, uhel);
    fprintf(f, "S %f %f %f\n", p_sim->p_scale[i].x, p_sim->p_scale[i].y,
      p_sim->p_scale[i].z);
  }

  fclose(f);
}

// load sim z text-file
int key_sim_nahraj(APAK_HANDLE * pHandle, SIMPLE_TRACK_INFO * p_sim,
  char *p_file, char *p_dir, int linear)
{
  HIERARCHY_TRACK_INFO track;   // load jako hierarchie -> prevedu do simple tracku
  KEY_POINT_BRS *p_spline = NULL;
  char line[1000], *p_pom;
  KFILE *f;
  int p, r, s, fr, loop = 0;
  BOD pivot(0.0f, 0.0f, 0.0f);
  BOD osa;
  float uhel;
  char **p_line;
  int l, lmax;

  chdir((p_dir));
  if (!(f = kopen(pHandle, p_file, "r"))) {
    kprintf(TRUE, "File %s Line %d Chyba otevreni souboru '%s' v %s",
      __FILE__, __LINE__, p_file, (p_dir));
    return (FALSE);
  }
  else {
    kprintf(TRUE, "Nahravam animaci z %s...", p_file);
  }

  p_line = (char **) mmalloc(sizeof(p_line[0]) * MAX_SIM_RADKU);
  l = 0;
  while (kgets(line, 999, f)) {
    assert(l < MAX_SIM_RADKU);
    if (line[0] && line[0] != '\n' && line[0] != ';') {
      p_line[l] =
        (char *) kopiruj_pole(line, sizeof(char) * (strlen(line) + 1));
      l++;
    }
  }
  kclose(f);
  lmax = l;


  p = r = s = 0;
  for (l = 0; l < lmax; l++) {
    p_pom = p_line[l];
    switch (toupper(p_pom[0])) {
      case 'P':                // posun
        p++;
        break;
      case 'R':                // rotace
        r++;
        break;
      case 'S':                // scale
        s++;
        break;
      default:
        break;
    }
  }

  key_tri_vyrob_indir(&track, p, r, s);

  p = r = s = fr = 0;
  for (l = 0; l < lmax; l++) {
    p_pom = p_line[l];
    switch (toupper(p_pom[0])) {
      case 'F':                // frame
        sscanf(p_pom + 1, "%d", &fr);
        break;

      case 'P':                // posun
        track.p_pkeys[p].time = fr * SIM_KONSTI;
        p_spline = track.p_pkeys + p;
        sscanf(p_pom + 1, "%f %f %f", &track.p_pos[p].x, &track.p_pos[p].y,
          &track.p_pos[p].z);
        p++;
        break;
      case 'R':                // rotace
        track.p_rkeys[r].time = fr * SIM_KONSTI;
        p_spline = track.p_rkeys + r;
        sscanf(p_pom + 1, "%f %f %f %f", &osa.x, &osa.y, &osa.z, &uhel);
        /* Korekce zaporneho uhlu
         */
        if (uhel < 0.0f) {
          uhel = -uhel;
          osa.x = -osa.x;
          osa.y = -osa.y;
          osa.z = -osa.z;
        }
        uhel = DEG2RAD(uhel);
        angle_to_quat(track.p_at + r, &osa, uhel);
        r++;
        break;
      case 'S':                // scale
        track.p_skeys[s].time = fr * SIM_KONSTI;
        p_spline = track.p_skeys + s;
        sscanf(p_pom + 1, "%f %f %f", &track.p_scale[s].x,
          &track.p_scale[s].y, &track.p_scale[s].z);
        s++;
        break;


      case 'L':
        if (p_spline) {
          sscanf(p_pom + 1, "%f %f %f", &p_spline->tension,
            &p_spline->continuity, &p_spline->bias);
        }
        break;
      case 'T':
        if (p_spline) {
          sscanf(p_pom + 1, "%f", &p_spline->tension);
        }
        break;
      case 'O':
        if (p_spline) {
          sscanf(p_pom + 1, "%f", &p_spline->continuity);
        }
        break;
      case 'B':
        if (p_spline) {
          sscanf(p_pom + 1, "%f", &p_spline->bias);
        }
        break;
      case 'C':                // celkem framu
        sscanf(p_pom + 1, "%d", &track.endtime);
        track.endtime = calc_endtime(track.endtime);
        break;
      case 'N':                // loop animace
        loop = TRUE;
        break;
      case 'V':                // pivot
        sscanf(p_pom + 1, "%f %f %f", &pivot.x, &pivot.y, &pivot.z);
        break;
      case 'M':                // 3ds pivot
        sscanf(p_pom + 1, "%f %f %f", &track.pivot.x, &track.pivot.y,
          &track.pivot.z);
        break;
      case 'Q':
        linear = TRUE;
        break;
      case 'W':
        linear = FALSE;
        break;
      default:
        break;
    }
  }

  for (l = 0; l < lmax; l++) {
    free(p_line[l]);
  }
  free(p_line);

  if (linear) {
    key_tri_to_sim_indir_lin(&track, p_sim, loop);
  }
  else {
    key_tri_to_sim_indir(&track, p_sim, loop, FALSE);
  }
  zrus_tri_vnitrek(&track);

  p_sim->pivot = pivot;         // dokopiruj standartni pivot

  return (TRUE);
}

// rozsirene sim-animace load
int key_sim_nahraj_extended(EDIT_KONTEJNER * p_kont, int cislo_anim,
  char *p_file, char *p_dir)
{
  HIERARCHY_TRACK_INFO **p_track_list;
  HIERARCHY_TRACK_INFO *p_track;
  HIERARCHY_ROOT root;
  int akt_track;
  KEY_POINT_BRS *p_spline = NULL;
  char pom[1000];
  char pom1[1000];
  FILE *f;
  int p, r, s, fr, loop = 0, framu;
  BOD pivot(0.0f, 0.0f, 0.0f);
  BOD osa;
  float uhel;
  int i, objektu = 0, stop, ob, end, float_scale = FALSE;

  chdir((p_dir));
  if (!(f = fopen(p_file, "r"))) {
    ddw("File %s Line %d Chyba otevreni souboru '%s' v %s", __FILE__,
      __LINE__, p_file, (p_dir));
    return (FALSE);
  }

  kprintf(TRUE, "Nahravam animaci z %s...", p_file);

  while (fgets(pom, 999, f)) {
    fgets_korekce(pom);
    if (pom[0] && pom[0] != '\n' && pom[0] != ';') {
      switch (toupper(pom[0])) {
        case 'C':              // celkem framu
          sscanf(pom + 1, "%d", &framu);
          break;
        case 'X':
          switch (toupper(pom[1])) {
            case 'O':          // vlastnik
              objektu++;
              break;
            case 'P':          // otec
              break;
          }
          break;
        default:
          break;
      }
    }
  }

  if (!objektu)
    objektu = 1;
  p_track_list =
    (HIERARCHY_TRACK_INFO **) alloca(sizeof(p_track_list[0]) * objektu);
  akt_track = 0;

  stop = 0;

  do {

    p_track = p_track_list[akt_track++] =
      (HIERARCHY_TRACK_INFO *) alloca(sizeof(p_track[0]));
    memset(p_track, 0, sizeof(p_track[0]));

    /* reset pivot-pointu
     */
    pivot.x = pivot.y = pivot.z = FLT_MAX;

    /* Nactu jmena objektu
     */
    fseek(f, stop, SEEK_SET);
    while (fgets(pom, 999, f)) {
      fgets_korekce(pom);
      if (pom[0] && pom[0] != '\n' && pom[0] != ';') {
        if (toupper(pom[0]) == 'X' && toupper(pom[1]) == 'O') {
          strcpy(p_track->jmeno, cti_za_znak(pom + 2, ' '));
          continue;
        }
        if (toupper(pom[0]) == 'X' && toupper(pom[1]) == 'P') {
          strcpy(p_track->jmeno_otec, cti_za_znak(pom + 2, ' '));
          continue;
        }
        if (toupper(pom[0]) == 'V') {
          sscanf(pom + 1, "%f %f %f", &pivot.x, &pivot.y, &pivot.z);
          break;
        }
        if (toupper(pom[0]) == 'F') {
          sscanf(pom + 1, "%d", &fr);
          break;
        }
      }
    }

    /* Nactu pozici za jmenama objektu
     */
    stop = ftell(f);

    /* Nactu pocty klicu
     */
    p = r = s = 0;
    while (fgets(pom, 999, f)) {
      fgets_korekce(pom);
      if (pom[0] && pom[0] != '\n' && pom[0] != ';') {
        if (toupper(pom[0]) == 'X') {
          break;
        }
        if (toupper(pom[0]) == 'P') {
          p++;
          continue;
        }
        if (toupper(pom[0]) == 'R') {
          r++;
          continue;
        }
        if (toupper(pom[0]) == 'S' || toupper(pom[0]) == 'U') {
          s++;
          continue;
        }
      }
    }

    /* Vyrobim animaci podle poctu klicu
     */
    strcpy(pom, p_track->jmeno);
    strcpy(pom1, p_track->jmeno_otec);
    key_tri_vyrob_indir(p_track, p, r, s);
    strcpy(p_track->jmeno, pom);
    strcpy(p_track->jmeno_otec, pom1);
    p = r = s = 0;
    // fame zbylo zposledniho klice

    /* Vratim se za prvni frame a ctu klice
     */
    fseek(f, stop, SEEK_SET);
    while ((end = (int) fgets(pom, 999, f))) {
      fgets_korekce(pom);
      if (pom[0] && pom[0] != '\n' && pom[0] != ';') {
        /* Test - je dalsi objekt?
         */
        if (toupper(pom[0]) != 'X')
          stop = ftell(f);
        else
          break;

        /* neni - cti klice animace
         */
        switch (toupper(pom[0])) {
          case 'F':            // frame
            sscanf(pom + 1, "%d", &fr);
            break;
          case 'P':            // posun
            p_track->p_pkeys[p].time = fr * SIM_KONSTI;
            p_spline = p_track->p_pkeys + p;
            sscanf(pom + 1, "%f %f %f", &p_track->p_pos[p].x,
              &p_track->p_pos[p].y, &p_track->p_pos[p].z);
            p++;
            break;
          case 'R':            // rotace
            p_track->p_rkeys[r].time = fr * SIM_KONSTI;
            p_spline = p_track->p_rkeys + r;
            sscanf(pom + 1, "%f %f %f %f", &osa.x, &osa.y, &osa.z, &uhel);
            /* Korekce zaporneho uhlu
             */
            if (uhel < 0.0f) {
              uhel = -uhel;
              osa.x = -osa.x;
              osa.y = -osa.y;
              osa.z = -osa.z;
            }
            uhel = DEG2RAD(uhel);
            angle_to_quat(p_track->p_at + r, &osa, uhel);
            r++;
            break;
          case 'S':            // scale
            p_track->p_skeys[s].time = fr * SIM_KONSTI;
            p_spline = p_track->p_skeys + s;
            sscanf(pom + 1, "%f %f %f", &p_track->p_scale[s].x,
              &p_track->p_scale[s].y, &p_track->p_scale[s].z);
            s++;
            break;
          case 'U':            // scale
            p_track->p_skeys[s].time = fr * SIM_KONSTI;
            p_spline = p_track->p_skeys + s;
            sscanf(pom + 1, "%f", &p_track->p_scale[s].x);
            p_track->p_scale[s].y = p_track->p_scale[s].z = 0.0f;
            float_scale = TRUE;
            s++;
            break;
          case 'L':
            if (p_spline) {
              sscanf(pom + 1, "%f %f %f", &p_spline->tension,
                &p_spline->continuity, &p_spline->bias);
            }
            break;
          case 'T':
            if (p_spline) {
              sscanf(pom + 1, "%f", &p_spline->tension);
            }
            break;
          case 'O':
            if (p_spline) {
              sscanf(pom + 1, "%f", &p_spline->continuity);
            }
            break;
          case 'B':
            if (p_spline) {
              sscanf(pom + 1, "%f", &p_spline->bias);
            }
            break;
          case 'N':            // loop animace
            loop = TRUE;
            break;
          case 'V':            // pivot
            sscanf(pom + 1, "%f %f %f", &pivot.x, &pivot.y, &pivot.z);
            break;
          case 'M':            // 3ds pivot
            sscanf(pom + 1, "%f %f %f", &p_track->pivot.x, &p_track->pivot.y,
              &p_track->pivot.z);
            break;
          default:
            break;
        }
      }
    }
    p_track->pivot_sim = pivot;
  } while (end);
  fclose(f);

  assert(akt_track == objektu);

  /* Navazani animace na kontejner
   */
  memset(&root, 0, sizeof(root));
  for (i = 0; i < objektu; i++) {
    p_track = p_track_list[i];
    ob = p_track->objnum = lo_najdi_objekt_kont(p_kont, p_track->jmeno);
    if (ob == K_CHYBA) {
      kprintf(TRUE, "!!!! Nenalezen objekt '%s' v kontejneru '%s'",
        p_track->jmeno, p_kont->jmeno);
      continue;
    }
    else {
      kprintf(TRUE, "Objekt %s OK", p_track->jmeno);
    }
    p_track->p_obj = p_kont->p_obj[ob];

    if (p_track->pivot_sim.x != FLT_MAX &&
      p_track->pivot_sim.y != FLT_MAX && p_track->pivot_sim.z != FLT_MAX) {
      p_kont->p_obj[ob]->pivot = p_track->pivot_sim;
    }

    p_track->parentnum = lo_najdi_objekt_kont(p_kont, p_track->jmeno_otec);
    if (p_track->parentnum == K_CHYBA)
      p_track->parentnum = ROOT_NODE;
    key_konec_prochazeni = FALSE;
    key_root_node_pridej(&root, p_track);
    p_track->endtime = calc_endtime(framu);
  }
  root.framenum = framu;
  kprintf(TRUE, "Framu animace %d", framu);

  if (loop) {
    kprintf(TRUE, "Loop animace");
    root.flag |= GK_LOOP;
  }


  /* Prevod do sim-animaci
   */
  key_root_to_sim_indir(p_kont, p_kont->sim + cislo_anim, &root, float_scale);

  p_kont->kflag |=
    (float_scale) ? KONT_NORMAL_ANIM | KONT_KEYFRAME : KONT_KEYFRAME;
  p_kont->kflag &= ~KONT_STATIC;

  return (TRUE);
}

// aplikuje siple track do matrice
GLMATRIX *key_sim_to_matrix(SIMPLE_TRACK_INFO * p_sim, int time,
  GLMATRIX * p_m)
{
  float frame, t, t1;
  BOD *p1, *p2;
  QUAT q;
  int kn, lasttime;

  if (p_sim->p_all_matrix) {
    *p_m = *p_sim->p_all_matrix;

  }
  else {
    init_matrix(p_m);

    lasttime = (p_sim->keynum - 1) * SIM_KONSTI;
    if (time < lasttime) {
      t = (float) time / SIM_KONST;
      frame = (float) floor((float) t);
      t -= frame;
      kn = ftoi(frame);
      t1 = 1.0f - t;
      if (p_sim->p_pos) {
        p1 = p_sim->p_pos + kn;
        p2 = p_sim->p_pos + kn + 1;
        p_m->_41 = p1->x * t1 + p2->x * t;
        p_m->_42 = p1->y * t1 + p2->y * t;
        p_m->_43 = p1->z * t1 + p2->z * t;
      }
      if (p_sim->p_at) {
        quat_to_matrix(p_m, slerp(p_sim->p_at + kn, p_sim->p_at + kn + 1, t,
            &q));
      }
      if (p_sim->p_scale) {
        p1 = p_sim->p_scale + kn;
        p2 = p_sim->p_scale + kn + 1;
        scale_matrix(p_m, p1->x * t1 + p2->x * t, p1->y * t1 + p2->y * t,
          p1->z * t1 + p2->z * t);
      }
      if (p_sim->p_norm) {
        *p_sim->p_object_norm =
          p_sim->p_norm[kn] * t1 + p_sim->p_norm[kn + 1] * t;
      }
    }
    else {
      kn = p_sim->keynum - 1;
      if (p_sim->p_pos) {
        p1 = (BOD *) & p_m->_41;
        *p1 = p_sim->p_pos[kn];
      }
      if (p_sim->p_at) {
        quat_to_matrix(p_m, p_sim->p_at + kn);
      }
      if (p_sim->p_scale) {
        p1 = p_sim->p_scale + kn;
        scale_matrix(p_m, p1->x, p1->y, p1->z);
      }
      if (p_sim->p_norm) {
        *p_sim->p_object_norm = p_sim->p_norm[kn];
      }
    }
    pivotuj_matrix_tam(&p_sim->pivot3ds, p_m);
    pivotuj_matrix(p_m, &p_sim->pivot);
  }
  return (p_m);
}

void key_sim_root_to_matrix(EDIT_KONTEJNER * p_kont, HIERARCHY_SIM * p_sim,
  int time, GLMATRIX * p_m)
{
  int i;

  for (i = 0; i < p_sim->childnum; i++) {
    key_sim_animuj_strom(p_sim->p_child + i, time, p_m);
  }
  if (p_kont->kflag & KONT_NORMAL_ANIM) {
    key_kontejner_recalc_normal_anim(p_kont);
  }
}

void key_kontejner_recalc_normal_anim(EDIT_KONTEJNER * p_kont)
{
  EDIT_OBJEKT *p_obj;
  OBJ_VERTEX *p_vertex;
  BOD n;
  float last, akt, num, i;

  // pokud se last=aktualni - nic nedelam
  int o;

  for (o = 0; o < p_kont->objektu; o++) {
    if ((p_obj = p_kont->p_obj[o])) {
      if ((last = p_obj->float_scale_last) == (akt = p_obj->float_scale))
        continue;
      p_vertex = p_obj->p_vertex;
      num = p_obj->vertexnum;
      for (i = 0; i < num; i++, p_vertex++) {
        vektor_add((BOD *) & p_vertex->x,
          vektor_mult_skalar((BOD *) & p_vertex->nx, -akt, &n),
          (BOD *) & p_vertex->px);
      }
      p_obj->float_scale_last = akt;
    }
  }
}

/*
typedef struct _SIMPLE_TRACK_INFO {
  
  int      Objekt_ID;      // id objektu ke kteremu animace patri
  dword    flag;
  
  int      keynum;         // pocet klicu
  BOD     *p_pos;          // Mesh position keys
  BOD     *p_scale;        // Mesh scaling keys
  QUAT    *p_at;           // Absolutni traky
  BOD      pivot;          // pivot point animace -> kopiruje se do objektu
  BOD      pivot3ds;       // pivot 3ds animace

  GLMATRIX *p_m;            // kam to hazet
  
  int       childnum;      // pocet svistich traku
  struct   _SIMPLE_TRACK_INFO *p_child; // svisti traky
  struct   _SIMPLE_TRACK_INFO *p_otec; // otcovy traky
  
} SIMPLE_TRACK_INFO;

typedef struct _HIERARCHY_SIM {
  
  float     delka;         // delka casu animace (fps)
  char      stav;          // 0 = stop, 1 = run
  
  int       flag;          // flagy animace (GL_LOOP,GL_REMOVE)

  dword     time;          // aktualni cas animace
  dword     time_start;    // aktualni start
  dword     time_stop;     // aktualni stop
  dword     time_delka;    // aktualni delka animace
  
  dword     start;
  dword     stop;  
  
  int       keynum;         // pocet klicu
  char      jmeno[MAX_JMENO]; // jmeno animace
  int       childnum;         // pocet detskych traku
  SIMPLE_TRACK_INFO *p_child;

} HIERARCHY_SIM;
*/

void key_sim_root_to_sim_indir(HIERARCHY_SIM * p_root,
  SIMPLE_TRACK_INFO * p_sim)
{
  memset(p_sim, 0, sizeof(SIMPLE_TRACK_INFO));

  p_sim->flag = p_root->flag;
  p_sim->keynum = p_root->keynum;
  p_sim->childnum = p_root->childnum;
  p_sim->p_child = p_root->p_child;
  p_sim->Objekt_ID = K_CHYBA;
  memset(p_root, 0, sizeof(p_root[0]));
}

// aplikuje sim do matice a bodu
GLMATRIX *key_sim_to_matrix_param(SIMPLE_TRACK_INFO * p_sim, int time,
  GLMATRIX * p_m, BOD * p_pos, QUAT * p_quat, BOD * p_scale)
{
  float frame, t, t1;
  BOD *p1, *p2;
  int kn;
  int lasttime;


  init_matrix(p_m);

  lasttime = (p_sim->keynum - 1) * SIM_KONSTI;
  if (time < lasttime) {
    t = (float) time / SIM_KONST;
    frame = (float) floor((float) t);
    t -= frame;
    kn = ftoi(frame);
    t1 = 1.0f - t;
    if (p_sim->p_pos) {
      p1 = p_sim->p_pos + kn;
      p2 = p_sim->p_pos + kn + 1;
      p_pos->x = p_m->_41 = p1->x * t1 + p2->x * t;
      p_pos->y = p_m->_42 = p1->y * t1 + p2->y * t;
      p_pos->z = p_m->_43 = p1->z * t1 + p2->z * t;
    }
    else {
      vektor_set(p_pos, 0);
    }
    if (p_sim->p_at) {
      quat_to_matrix(p_m, slerp(p_sim->p_at + kn, p_sim->p_at + kn + 1, t,
          p_quat));
    }
    else {
      quat_set_zero(p_quat);
    }
    if (p_sim->p_scale) {
      p1 = p_sim->p_scale + kn;
      p2 = p_sim->p_scale + kn + 1;
      p_scale->x = p1->x * t1 + p2->x * t;
      p_scale->y = p1->y * t1 + p2->y * t;
      p_scale->z = p1->z * t1 + p2->z * t;
      scale_matrix(p_m, p_scale->x, p_scale->y, p_scale->z);
    }
    else {
      vektor_set(p_scale, 1);
    }
  }
  else {
    kn = p_sim->keynum - 1;
    if (p_sim->p_pos) {
      p1 = (BOD *) & p_m->_41;
      *p_pos = *p1 = p_sim->p_pos[kn];
    }
    else {
      vektor_set(p_pos, 0);
    }
    if (p_sim->p_at) {
      *p_quat = p_sim->p_at[kn];
      quat_to_matrix(p_m, p_quat);
    }
    else {
      quat_set_zero(p_quat);
    }
    if (p_sim->p_scale) {
      p1 = p_sim->p_scale + kn;
      *p_scale = *p1;
      scale_matrix(p_m, p1->x, p1->y, p1->z);
    }
    else {
      vektor_set(p_scale, 1);
    }
  }

  return (p_m);
}

/* Prevede animaci kamery do kamery
*/
void key_kan_to_kamera(KAMERA * p_kam, KAMERA_TRACK_INFO * p_track, int time)
{
  GLMATRIX m;
  int loop = p_track->flag & GK_LOOP;

  key_track_interpolace_bod(&p_kam->p, p_track->p_pos, p_track->p_pkeys, time,
    p_track->endtime, p_track->pos_keys, loop);
  key_track_interpolace_bod(&p_kam->t, p_track->p_trg, p_track->p_tkeys, time,
    p_track->endtime, p_track->trg_keys, loop);
  key_track_interpolace_float(&p_kam->roll, p_track->p_roll,
    p_track->p_rlkeys, time, p_track->endtime, p_track->roll_keys, loop);
  key_track_interpolace_float(&p_kam->fov, p_track->p_fov, p_track->p_fkeys,
    time, p_track->endtime, p_track->fov_keys, loop);
  calc_camera_3ds(&m, &p_kam->p_objekt->m, &p_kam->p, &p_kam->t, p_kam->roll);
}

/* Vyrobi animaci kamery
*/
int key_kamera_vyrob_indir(KAMERA_TRACK_INFO * p_track, int pos_keys,
  int trg_keys, int roll_keys, int fov_keys, int quat_keys)
{
  memset(p_track, 0, sizeof(*p_track));

  if ((p_track->pos_keys = pos_keys)) {
    p_track->p_pkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_pkeys[0]) * pos_keys);
    p_track->p_pos = (BOD *) mmalloc(sizeof(p_track->p_pos[0]) * pos_keys);
  }

  if ((p_track->trg_keys = trg_keys)) {
    p_track->p_tkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_tkeys[0]) * trg_keys);
    p_track->p_trg = (BOD *) mmalloc(sizeof(p_track->p_trg[0]) * trg_keys);
  }

  if ((p_track->roll_keys = roll_keys)) {
    p_track->p_rlkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_rlkeys[0]) * roll_keys);
    p_track->p_roll =
      (float *) mmalloc(sizeof(p_track->p_roll[0]) * roll_keys);
  }

  if ((p_track->fov_keys = fov_keys)) {
    p_track->p_fkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_fkeys[0]) * fov_keys);
    p_track->p_fov = (float *) mmalloc(sizeof(p_track->p_fov[0]) * fov_keys);
  }

  if ((p_track->quat_keys = quat_keys)) {
    p_track->p_qkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_track->p_qkeys[0]) * quat_keys);
    p_track->p_quat =
      (QUAT *) mmalloc(sizeof(p_track->p_quat[0]) * quat_keys);
  }

  return (TRUE);
}

/* Zrusi animaci kamery
*/
void key_kamera_zrus_indir(KAMERA_TRACK_INFO * p_track)
{
  if (p_track->fov_keys) {
    null_free((void **) &p_track->p_fkeys);
    null_free((void **) &p_track->p_fov);
  }
  if (p_track->pos_keys) {
    null_free((void **) &p_track->p_pkeys);
    null_free((void **) &p_track->p_pos);
  }
  if (p_track->roll_keys) {
    null_free((void **) &p_track->p_rlkeys);
    null_free((void **) &p_track->p_roll);
  }
  if (p_track->trg_keys) {
    null_free((void **) &p_track->p_tkeys);
    null_free((void **) &p_track->p_trg);
  }
  if (p_track->quat_keys) {
    null_free((void **) &p_track->p_qkeys);
    null_free((void **) &p_track->p_quat);
  }
  memset(p_track, 0, sizeof(*p_track));
}


/* Ulozi kameru
*/
int key_kamera_uloz(KAMERA_TRACK_INFO * p_track, char *p_jmeno_kamery,
  char *p_jmeno_anim, char *p_file, char *p_dir)
{
  FILE *f;
  int i, keynum;
  int p, t, r, fv;

  chdir((p_dir));

  if (!(f = fopen(p_file, "w"))) {
    ddw("File %s Line %d Chyba otevreni souboru '%s' v %s", __FILE__,
      __LINE__, p_file, (p_dir));
    return (FALSE);
  }

  keynum = calc_keynum(p_track->endtime);

  fprintf(f, "C %d\n", keynum);
  fprintf(f, "J %s\n", p_jmeno_kamery); // jmeno kamery
  fprintf(f, "A %s\n", p_jmeno_anim);   // jmeno animace

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

    p = key_je_frame_klic(p_track->p_pkeys, p_track->pos_keys, i);
    t = key_je_frame_klic(p_track->p_tkeys, p_track->trg_keys, i);
    r = key_je_frame_klic(p_track->p_rlkeys, p_track->roll_keys, i);
    fv = key_je_frame_klic(p_track->p_fkeys, p_track->fov_keys, i);

    if (p != K_CHYBA || t != K_CHYBA || r != K_CHYBA || fv != K_CHYBA) {
      fprintf(f, "F %d\n", i);

      /* uloz pozici
       */
      if (p != K_CHYBA) {
        fprintf(f, "P %f %f %f\n", p_track->p_pos[p].x, p_track->p_pos[p].y,
          p_track->p_pos[p].z);
        fprintf(f, "L %f %f %f\n", p_track->p_pkeys[p].tension,
          p_track->p_pkeys[p].continuity, p_track->p_pkeys[p].bias);
      }
      /* uloz cil
       */
      if (t != K_CHYBA) {
        fprintf(f, "D %f %f %f\n", p_track->p_trg[t].x, p_track->p_trg[t].y,
          p_track->p_trg[t].z);
        fprintf(f, "L %f %f %f\n", p_track->p_tkeys[t].tension,
          p_track->p_tkeys[t].continuity, p_track->p_tkeys[t].bias);
      }
      /* uloz roll
       */
      if (r != K_CHYBA) {
        fprintf(f, "D %f\n", RAD2DEG(p_track->p_roll[r]));
        fprintf(f, "L %f %f %f\n", p_track->p_rlkeys[r].tension,
          p_track->p_rlkeys[r].continuity, p_track->p_rlkeys[r].bias);
      }
      /* uloz fov
       */
      if (fv != K_CHYBA) {
        fprintf(f, "V %f\n", RAD2DEG(p_track->p_fov[fv]));
        fprintf(f, "L %f %f %f\n", p_track->p_fkeys[fv].tension,
          p_track->p_fkeys[fv].continuity, p_track->p_fkeys[fv].bias);
      }
    }
  }
  fclose(f);
  return (TRUE);
}

/* Nahraje kameru
*/
int key_kamera_nahraj(KAMERA_TRACK_INFO * p_track, char *p_jmeno_kamery,
  char *p_jmeno_anim, APAK_HANDLE * pHandle, char *p_file, char *p_dir)
{
  KEY_POINT_BRS *p_spline = NULL;
  char line[1000];
  char *p_pom;
  int p, t, r, fv, fr;
  float uhel;
  KFILE *f;
  char **p_line;
  int l, lmax;


  chdir((p_dir));
  if (!(f = kopen(pHandle, p_file, "r"))) {
    kprintf(TRUE, "File %s Line %d Chyba otevreni souboru '%s' v %s",
      __FILE__, __LINE__, p_file, (p_dir));
    return (FALSE);
  }

  p_line = (char **) mmalloc(sizeof(p_line[0]) * MAX_SIM_RADKU);
  l = 0;
  while (kgets(line, 999, f)) {
    assert(l < MAX_SIM_RADKU);
    if (line[0] && line[0] != '\n' && line[0] != ';') {
      p_line[l] =
        (char *) kopiruj_pole(line, sizeof(char) * (strlen(line) + 1));
      l++;
    }
  }
  kclose(f);
  lmax = l;

  p = t = r = fv = 0;
  for (l = 0; l < lmax; l++) {
    p_pom = p_line[l];
    switch (toupper(p_pom[0])) {
      case 'P':                // posun
        p++;
        break;
      case 'D':                // rotace
        t++;
        break;
      case 'R':                // roll
        r++;
        break;
      case 'V':                // fov
        fv++;
        break;
      default:
        break;
    }
  }

  key_kamera_vyrob_indir(p_track, p, t, r, fv, 0);

  p = r = t = fr = fv = 0;
  for (l = 0; l < lmax; l++) {
    p_pom = p_line[l];
    switch (toupper(p_pom[0])) {
      case 'F':                // frame
        sscanf(p_pom + 1, "%d", &fr);
        break;
      case 'P':                // posun
        p_spline = p_track->p_pkeys + p;        // nastaveni aktivniho splajnu
        p_track->p_pkeys[p].time = fr * SIM_KONSTI;
        sscanf(p_pom + 1, "%f %f %f", &p_track->p_pos[p].x,
          &p_track->p_pos[p].y, &p_track->p_pos[p].z);
        p++;
        break;
      case 'D':                // target
        p_track->p_tkeys[t].time = fr * SIM_KONSTI;
        p_spline = p_track->p_tkeys + t;        // nastaveni aktivniho splajnu
        sscanf(p_pom + 1, "%f %f %f", &p_track->p_trg[t].x,
          &p_track->p_trg[t].y, &p_track->p_trg[t].z);
        t++;
        break;
      case 'R':                // roll
        p_track->p_rlkeys[r].time = fr * SIM_KONSTI;
        p_spline = p_track->p_rlkeys + r;
        sscanf(p_pom + 1, "%f", &uhel);
        p_track->p_roll[r] = DEG2RAD(uhel);
        r++;
        break;

      case 'V':                // roll
        p_track->p_fkeys[fv].time = fr * SIM_KONSTI;
        p_spline = p_track->p_fkeys + fv;
        sscanf(p_pom + 1, "%f", &uhel);
        p_track->p_fov[fv] = DEG2RAD(uhel);
        fv++;
        break;

      case 'L':
        if (p_spline) {
          sscanf(p_pom + 1, "%f %f %f", &p_spline->tension,
            &p_spline->continuity, &p_spline->bias);
        }
        break;

      case 'T':
        if (p_spline) {
          sscanf(p_pom + 1, "%f", &p_spline->tension);
        }
        break;
      case 'O':
        if (p_spline) {
          sscanf(p_pom + 1, "%f", &p_spline->continuity);
        }
        break;
      case 'B':
        if (p_spline) {
          sscanf(p_pom + 1, "%f", &p_spline->bias);
        }
        break;

      case 'C':                // celkem framu
        sscanf(p_pom + 1, "%d", &p_track->endtime);
        p_track->endtime = calc_endtime(p_track->endtime);
        break;

      case 'J':                // jmeno kamery
        strcpy(p_jmeno_kamery, p_pom + 2);
        break;
      case 'A':                // jmeno animace          
        strcpy(p_track->jmeno, p_pom + 2);
        break;
    }
  }

  zamen_koncovku_znak(p_jmeno_kamery, '\n', NULL);
  zamen_koncovku_znak(p_track->jmeno, '\n', NULL);

  return (TRUE);
}

int key_kamera_track_cti(KAMERA_TRACK_INFO * p_track, BOD * p_p, BOD * p_t,
  float *p_roll, float *p_fov)
{

  if (p_track->pos_keys) {
    *p_p = p_track->p_pos[0];
  }
  else {
    p_p->x = 0.0f;
    p_p->y = 0.0f;
    p_p->z = 0.0f;
  }

  if (p_track->trg_keys) {
    *p_t = p_track->p_trg[0];
  }
  else {
    p_t->x = 0.0f;
    p_t->y = 0.0f;
    p_t->z = 0.0f;
  }

  if (p_track->roll_keys) {
    *p_roll = p_track->p_roll[0];
  }
  else {
    *p_roll = 0.0f;
  }

  if (p_track->fov_keys) {
    *p_fov = p_track->p_fov[0];
  }
  else {
    *p_fov = DEG2RAD(45.0f);
  }

  return (TRUE);
}

/*
  Animace t1-t2 materialu
*/
ANIM_TEXT *key_vyrob_material_animace(int poskey, int rotkey, int scalekey,
  int pivotkey)
{
  ANIM_TEXT *p_mat = (ANIM_TEXT *) mmalloc(sizeof(p_mat[0]));

  if (p_mat->pos_keys = poskey) {
    p_mat->p_pos = (BOD *) mmalloc(sizeof(BOD) * poskey);
    p_mat->p_pkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_pkeys[0]) * poskey);
  }
  if (p_mat->piv_keys = pivotkey) {
    p_mat->p_piv = (BOD *) mmalloc(sizeof(BOD) * pivotkey);
    p_mat->p_vkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_vkeys[0]) * pivotkey);
  }
  if (p_mat->rot_keys = rotkey) {
    p_mat->p_rot = (float *) mmalloc(sizeof(p_mat->p_rot[0]) * rotkey);
    p_mat->p_rkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_rkeys[0]) * rotkey);
  }
  if (p_mat->scs_keys = scalekey) {
    p_mat->p_scale = (BOD *) mmalloc(sizeof(BOD) * scalekey);
    p_mat->p_skeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_skeys[0]) * scalekey);
  }
  return (p_mat);
}

ANIM_TEXT *key_kopiruj_material_animace(ANIM_TEXT * p_src)
{
  ANIM_TEXT *p_mat = (ANIM_TEXT *) mmalloc(sizeof(p_mat[0]));
  int poskey = p_src->pos_keys;
  int pivkey = p_src->piv_keys;
  int rotkey = p_src->rot_keys;
  int scalekey = p_src->scs_keys;

  if (p_mat->pos_keys = poskey) {
    p_mat->p_pos = (BOD *) mmalloc(sizeof(p_mat->p_pos[0]) * poskey);
    p_mat->p_pkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_pkeys[0]) * poskey);
    memcpy(p_mat->p_pos, p_src->p_pos, sizeof(BOD) * poskey);
    memcpy(p_mat->p_pkeys, p_src->p_pkeys,
      sizeof(p_mat->p_pkeys[0]) * poskey);
  }

  if (p_mat->piv_keys = pivkey) {
    p_mat->p_piv = (BOD *) mmalloc(sizeof(p_mat->p_piv[0]) * pivkey);
    p_mat->p_vkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_vkeys[0]) * pivkey);
    memcpy(p_mat->p_piv, p_src->p_piv, sizeof(BOD) * pivkey);
    memcpy(p_mat->p_vkeys, p_src->p_vkeys,
      sizeof(p_mat->p_vkeys[0]) * pivkey);
  }

  if (p_mat->rot_keys = rotkey) {
    p_mat->p_rot = (float *) mmalloc(sizeof(p_mat->p_rot[0]) * rotkey);
    p_mat->p_rkeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_rkeys[0]) * rotkey);
    memcpy(p_mat->p_rot, p_src->p_rot, sizeof(p_mat->p_rot[0]) * rotkey);
    memcpy(p_mat->p_rkeys, p_src->p_rkeys,
      sizeof(p_mat->p_rkeys[0]) * rotkey);
  }
  if (p_mat->scs_keys = scalekey) {
    p_mat->p_scale = (BOD *) mmalloc(sizeof(p_mat->p_scale[0]) * scalekey);
    p_mat->p_skeys =
      (KEY_POINT_BRS *) mmalloc(sizeof(p_mat->p_skeys[0]) * scalekey);
    memcpy(p_mat->p_scale, p_src->p_scale,
      sizeof(p_src->p_scale[0]) * scalekey);
    memcpy(p_mat->p_skeys, p_src->p_skeys,
      sizeof(p_mat->p_skeys[0]) * scalekey);
  }
  return (p_mat);
}

void key_zrus_material_animace(ANIM_TEXT ** p_mat)
{
  null_free((void **) &(*p_mat)->p_pos);
  null_free((void **) &(*p_mat)->p_piv);
  null_free((void **) &(*p_mat)->p_rot);
  null_free((void **) &(*p_mat)->p_scale);
  null_free((void **) &(*p_mat));
}

/*
  Animace text-koordinatu materialu
*/
void key_sim_to_text_matrix(ANIM_TEXT * p_text, int time, GLMATRIX * p_ttext)
{
  BOD *p;

  init_matrix(p_ttext);

  if (p_text->p_piv) {
    key_track_interpolace_bod_linear(&p_text->pivot, p_text->p_piv,
      p_text->p_vkeys, time, p_text->endtime, p_text->piv_keys, FALSE);
  }

  if (p_text->p_pos) {
    key_track_interpolace_bod_linear(&p_text->pos, p_text->p_pos,
      p_text->p_pkeys, time, p_text->endtime, p_text->pos_keys, FALSE);
    p_ttext->_41 = p_text->pos.x;
    p_ttext->_42 = p_text->pos.y;
  }

  if (p_text->p_rot) {
    key_track_interpolace_float_linear(&p_text->rot, p_text->p_rot,
      p_text->p_rkeys, time, p_text->endtime, p_text->rot_keys, FALSE);
    float_to_matrix(p_ttext, p_text->rot,
      p_text->p_piv ? &p_text->pivot : NULL);
  }

  if (p_text->p_scale) {
    p = &p_text->scs;
    key_track_interpolace_bod_linear(p, p_text->p_scale, p_text->p_skeys,
      time, p_text->endtime, p_text->scs_keys, FALSE);
    p_ttext->_11 *= p->x;
    p_ttext->_21 *= p->x;
    p_ttext->_12 *= p->y;
    p_ttext->_22 *= p->y;
  }
}

void key_mat_to_text_matrix(GLMATRIX * p_ttext, BOD * p_pos, float uhel,
  BOD * p_scale, BOD * p_pivot)
{
  init_matrix(p_ttext);
  if (p_pos) {
    p_ttext->_41 = p_pos->x;
    p_ttext->_42 = p_pos->y;
  }
  if (uhel != 0.0f)
    float_to_matrix(p_ttext, uhel, p_pivot);
  if (p_scale) {
    p_ttext->_11 *= p_scale->x;
    p_ttext->_21 *= p_scale->x;

    p_ttext->_12 *= p_scale->y;
    p_ttext->_22 *= p_scale->y;
  }
}

// load text animace z text-file
ANIM_TEXT *key_text_nahraj(char *p_file, char *p_dir)
{
  ANIM_TEXT *p_track;
  KEY_POINT_BRS *p_spline = NULL;
  char pom[1000];
  FILE *f;
  int p, r, s, v, fr;
  float uhel;

  chdir((p_dir));
  if (!(f = fopen(p_file, "r"))) {
    ddw("File %s Line %d Chyba otevreni souboru '%s' v %s", __FILE__,
      __LINE__, p_file, (p_dir));
    return (FALSE);
  }

  p = r = s = v = 0;
  while (fgets(pom, 999, f)) {
    if (pom[0] && pom[0] != '\n' && pom[0] != ';') {
      switch (toupper(pom[0])) {
        case 'P':              // posun
          p++;
          break;
        case 'R':              // rotace
          r++;
          break;
        case 'S':              // scale
          s++;
          break;
        case 'V':              // pivot
          v++;
          break;
        case 'F':              // frame
        case 'C':              // celkem framu
        case 'L':              // spline-hodnoty
          break;
      }
    }
  }

  fseek(f, 0, SEEK_SET);
  p_track = key_vyrob_material_animace(p, r, s, v);

  p = r = s = v = fr = 0;
  while (fgets(pom, 999, f)) {
    if (pom[0] && pom[0] != '\n' && pom[0] != ';') {
      switch (toupper(pom[0])) {
        case 'F':              // frame
          sscanf(pom + 1, "%d", &fr);
          break;
        case 'P':              // posun
          p_track->p_pkeys[p].time = fr * SIM_KONSTI;
          p_spline = p_track->p_pkeys + p;
          sscanf(pom + 1, "%f %f %f", &p_track->p_pos[p].x,
            &p_track->p_pos[p].y);
          p++;
          break;
        case 'V':              // pivot
          p_track->p_vkeys[v].time = fr * SIM_KONSTI;
          p_spline = p_track->p_vkeys + v;
          sscanf(pom + 1, "%f %f %f", &p_track->p_piv[v].x,
            &p_track->p_piv[v].y);
          v++;
          break;
        case 'R':              // rotace
          p_track->p_rkeys[r].time = fr * SIM_KONSTI;
          p_spline = p_track->p_rkeys + r;
          sscanf(pom + 1, "%f", &uhel);
          p_track->p_rot[r] = DEG2RAD(uhel);
          r++;
          break;
        case 'S':              // scale
          p_track->p_skeys[s].time = fr * SIM_KONSTI;
          p_spline = p_track->p_skeys + s;
          sscanf(pom + 1, "%f %f %f", &p_track->p_scale[s].x,
            &p_track->p_scale[s].y);
          s++;
          break;
        case 'L':
          if (p_spline) {
            sscanf(pom + 1, "%f %f %f", &p_spline->tension,
              &p_spline->continuity, &p_spline->bias);
          }
          break;
        case 'T':
          if (p_spline) {
            sscanf(pom + 1, "%f", &p_spline->tension);
          }
          break;
        case 'O':
          if (p_spline) {
            sscanf(pom + 1, "%f", &p_spline->continuity);
          }
          break;
        case 'B':
          if (p_spline) {
            sscanf(pom + 1, "%f", &p_spline->bias);
          }
          break;
        case 'C':              // celkem framu
          sscanf(pom + 1, "%d", &p_track->endtime);
          p_track->endtime = calc_endtime(p_track->endtime);
          break;
      }
    }
  }
  fclose(f);
  return (p_track);
}

int key_text_uloz(ANIM_TEXT * p_track, char *p_file, char *p_dir)
{
  FILE *f;
  int i, p, r, s, v, frame;
  int keynum;
  dword time;

  chdir((p_dir));

  if (!(f = fopen(p_file, "w"))) {
    ddw("File %s Line %d Chyba otevreni souboru '%s' v %s", __FILE__,
      __LINE__, p_file, (p_dir));
    return (FALSE);
  }

  frame = p = r = s = v = 0;
  keynum = calc_keynum(p_track->endtime);
  fprintf(f, "C %d\n", keynum);
  for (i = 0; i < keynum; i++) {
    frame = 0;
    time = i * SIM_KONSTI;

    if (p < p_track->pos_keys && p_track->p_pkeys &&
      p_track->p_pkeys[p].time == time) {
      fprintf(f, "F %d\n", i);
      frame++;
      fprintf(f, "P %f %f\n", p_track->p_pos[p].x, p_track->p_pos[p].y);
      p++;
    }

    if (v < p_track->piv_keys && p_track->p_vkeys &&
      p_track->p_vkeys[v].time == time) {
      if (!frame) {
        fprintf(f, "F %d\n", i);
        frame++;
      }
      fprintf(f, "V %f %f\n", p_track->p_piv[v].x, p_track->p_piv[v].y);
      v++;
    }

    if (r < p_track->rot_keys && p_track->p_rkeys &&
      p_track->p_rkeys[r].time == time) {
      if (!frame) {
        fprintf(f, "F %d\n", i);
        frame++;
      }
      fprintf(f, "R %f\n", RAD2DEG(p_track->p_rot[r]));
      r++;
    }

    if (s < p_track->scs_keys && p_track->p_skeys &&
      p_track->p_skeys[s].time == time) {
      if (!frame) {
        fprintf(f, "F %d\n", i);
        frame++;
      }
      fprintf(f, "S %f %f\n", p_track->p_scale[s].x, p_track->p_scale[s].y);
      s++;
    }

  }
  fclose(f);
  return (TRUE);
}

void key_sim_root_vloz_pivoty_do_animace_rec(EDIT_KONTEJNER * p_kont,
  SIMPLE_TRACK_INFO * p_sim)
{
  int i, o = lo_najdi_objekt_kont_ID(p_kont, p_sim->Objekt_ID);

  if (o != K_CHYBA) {
    p_sim->pivot = p_kont->p_obj[o]->pivot;
  }
  for (i = 0; i < p_sim->childnum; i++) {
    key_sim_root_vloz_pivoty_do_animace_rec(p_kont, p_sim->p_child + i);
  }
}

void key_sim_root_vloz_pivoty_do_animace(EDIT_KONTEJNER * p_kont,
  HIERARCHY_SIM * p_root)
{
  int i;

  for (i = 0; i < p_root->childnum; i++) {
    key_sim_root_vloz_pivoty_do_animace_rec(p_kont, p_root->p_child + i);
  }
}

void key_sim_root_vloz_pivoty_do_animace_kont(EDIT_KONTEJNER * p_kont)
{
  int i;

  for (i = 0; i < KONT_MAX_ANIM; i++) {
    if (p_kont->sim[i].keynum)
      key_sim_root_vloz_pivoty_do_animace(p_kont, p_kont->sim + i);
  }
}

/* Transformuje lokalni OBB meshe do globalni OBB
   Pri posunu celeho objektu
*/
void key_mesh_transformuj_obalky(GAME_MESH_OLD * p_mesh, GLMATRIX * p_mat)
{
  OBB_OLD *p_src = p_mesh->p_obb_local;
  OBB_OLD *p_dst = p_mesh->p_obb_world;
  int i;

  for (i = 0; i < p_mesh->objektu; i++) {
    obb_transformuj(p_src + i, p_mat, p_dst + i);
  }
  obb_transformuj(&p_mesh->obb_local, p_mat, &p_mesh->obb_world);
}

/* Spocita pozuze obalku kontejneru - pri key-animaci kdy se obalky
   updatuji automaticky
*/
/*
void key_mesh_calc_global_obalku(GAME_MESH_OLD *p_mesh)
{  
  obb_slep_aabb(&p_mesh->obb_world, p_mesh->p_obb_world, p_mesh->objektu);
}
*/

void key_kont_updatuj_flagy(EDIT_KONTEJNER * p_kont)
{
  int i, anum = 0;

  for (i = 0; i < KONT_MAX_ANIM; i++) {
    if (p_kont->sim[i].keynum)
      anum++;
  }
  if (!anum) {
    p_kont->kflag &= ~(KONT_KEYFRAME | KONT_NORMAL_ANIM);
  }
}

JOINT_KEYS *key_kost_spline_vyrob(JOINT * p_joint)
{
  if (p_joint) {
    if (!p_joint->p_keys) {
      p_joint->p_keys = (JOINT_KEYS *) mmalloc(sizeof(p_joint->p_keys[0]));
    }
    return (p_joint->p_keys);
  }
  else {
    return (NULL);
  }
}

void key_kosti_updatuj_vertexy_rec(EDIT_OBJEKT * p_obj, JOINT * p_joint)
{
  int i, v;

  for (i = 0; i < p_joint->vertexnum; i++) {
    v = p_joint->p_vertexlist[i];
    if (v >= p_obj->vertexnum) {
      assert(v < p_obj->vertexnum);
      p_joint->p_vertexlist[i] = 0;
    }
    transformuj_bod_matici_bod((BOD *) (p_obj->p_vertex + v), &p_joint->m,
      p_obj->p_vertex_kosti + v);
  }

  // proved rekurzivni animace
  if (p_joint->p_next)
    key_kosti_updatuj_vertexy_rec(p_obj, p_joint->p_next);
  if (p_joint->p_child)
    key_kosti_updatuj_vertexy_rec(p_obj, p_joint->p_child);
}

void key_kosti_updatuj_vertexy(EDIT_OBJEKT * p_obj, JOINT_ANIMACE * p_animace)
{
  if (p_animace && p_animace->p_child) {
    if (!p_obj->p_vertex_kosti) {
      int i;

      p_obj->p_vertex_kosti =
        (BOD *) mmalloc(sizeof(p_obj->p_vertex_kosti[0]) * p_obj->vertexnum);
      for (i = 0; i < p_obj->vertexnum; i++) {
        mujbod2bod(p_obj->p_vertex_kosti + i, p_obj->p_vertex + i);
      }
    }
    key_kosti_updatuj_vertexy_rec(p_obj, p_animace->p_child);
  }
}

void key_kosti_interpoluj_rec(JOINT * p_joint, int framenum, int loop)
{
  JOINT_KEYS *p_key = p_joint->p_keys;
  int keynum = framenum;
  int endtime = calc_endtime(framenum);
  int i;

  init_matrix(&p_joint->m);

  if (p_joint->p_pos) {
    free(p_joint->p_pos);
    p_joint->p_pos = NULL;
    p_joint->pos_keys = 0;
  }
  if (p_joint->p_rot) {
    free(p_joint->p_rot);
    p_joint->p_rot = NULL;
    p_joint->rot_keys = 0;
  }
  if (p_joint->p_scs) {
    free(p_joint->p_scs);
    p_joint->p_scs = NULL;
    p_joint->scs_keys = 0;
  }

  if (p_key) {
    if (p_key->p_pos) {
      p_joint->p_pos = (BOD *) mmalloc(sizeof(p_joint->p_pos[0]) * keynum);
      p_joint->pos_keys = keynum;
      for (i = 0; i < keynum; i++)
        key_track_interpolace_bod(p_joint->p_pos + i, p_key->p_pos,
          p_key->p_pkeys, i * SIM_KONSTI, endtime, p_key->pos_keys, loop);
    }
    if (p_key->p_rot) {
      p_joint->p_rot = (QUAT *) mmalloc(sizeof(p_joint->p_rot[0]) * keynum);
      p_joint->rot_keys = keynum;
      for (i = 0; i < keynum; i++) {
        key_track_interpolace_quat(p_joint->p_rot + i, p_key->p_rot,
          p_key->p_rkeys, i * SIM_KONSTI, endtime, p_key->rot_keys, loop);
      }
    }
    if (p_key->p_scale) {
      p_joint->p_scs = (BOD *) mmalloc(sizeof(p_joint->p_scs[0]) * keynum);
      p_joint->scs_keys = keynum;
      for (i = 0; i < keynum; i++)
        key_track_interpolace_bod(p_joint->p_scs + i, p_key->p_scale,
          p_key->p_skeys, i * SIM_KONSTI, endtime, p_key->scs_keys, loop);
    }
  }

  // proved rekurzivni animace
  if (p_joint->p_next)
    key_kosti_interpoluj_rec(p_joint->p_next, framenum, loop);
  if (p_joint->p_child)
    key_kosti_interpoluj_rec(p_joint->p_child, framenum, loop);
}

// prepocita animace z klicu do linearni animace
void key_kosti_interpoluj(JOINT_ANIMACE * p_animace)
{
  if (p_animace) {
    key_kosti_interpoluj_rec(p_animace->p_child, p_animace->framenum, TRUE);
  }
}

void key_kosti_animuj_rec(JOINT * p_joint, GLMATRIX * p_top, int time,
  int keynum)
{
  float frame, t, t1;
  BOD *p1, *p2, pv;
  int kn, lasttime;
  GLMATRIX *p_m = &p_joint->m;

  init_matrix(p_m);

  lasttime = (keynum - 1) * SIM_KONSTI;
  if (time < lasttime) {
    t = (float) time / SIM_KONST;
    frame = (float) floor((float) t);
    t -= frame;
    kn = ftoi(frame);
    t1 = 1.0f - t;
    if (p_joint->p_pos) {
      p1 = p_joint->p_pos + kn;
      p2 = p_joint->p_pos + kn + 1;
      p_joint->p.x = p_m->_41 = p1->x * t1 + p2->x * t;
      p_joint->p.y = p_m->_42 = p1->y * t1 + p2->y * t;
      p_joint->p.z = p_m->_43 = p1->z * t1 + p2->z * t;
    }
    if (p_joint->p_rot) {
      quat_to_matrix(p_m, slerp(p_joint->p_rot + kn, p_joint->p_rot + kn + 1,
          t, &p_joint->r));
    }
    if (p_joint->p_scs) {
      p1 = p_joint->p_scs + kn;
      p2 = p_joint->p_scs + kn + 1;
      p_joint->s.x = p1->x * t1 + p2->x * t;
      p_joint->s.y = p1->y * t1 + p2->y * t;
      p_joint->s.z = p1->z * t1 + p2->z * t;
      scale_matrix(p_m, p_joint->s.x, p_joint->s.y, p_joint->s.z);
    }
  }
  else {
    kn = keynum - 1;
    if (p_joint->p_pos) {
      p1 = (BOD *) & p_m->_41;
      p_joint->p = *p1 = p_joint->p_pos[kn];
    }
    if (p_joint->p_rot) {
      p_joint->r = p_joint->p_rot[kn];
      quat_to_matrix(p_m, p_joint->p_rot + kn);
    }
    if (p_joint->p_scs) {
      p_joint->s = p_joint->p_scs[kn];
      p1 = &p_joint->s;
      scale_matrix(p_m, p1->x, p1->y, p1->z);
    }
  }

  if (p_top) {
    transformuj_bod_matici_bod(&p_joint->pivot, p_top, &pv);
    pivotuj_matrix(p_m, &pv);
  }
  else {
    pivotuj_matrix(p_m, &p_joint->pivot);
  }

  if (p_top) {
    mat_mult(p_top, p_m, p_m);
  }

  if (p_joint->p_next)
    key_kosti_animuj_rec(p_joint->p_next, p_m, time, keynum);
  if (p_joint->p_child)
    key_kosti_animuj_rec(p_joint->p_child, p_m, time, keynum);
}

void key_kosti_animuj(JOINT_ANIMACE * p_animace)
{
  if (p_animace) {
    key_kosti_animuj_rec(p_animace->p_child, NULL, p_animace->time,
      p_animace->framenum);
  }
}


#define MAX_TIME 0xfffffffe
#define NO_TIME  0xffffffff

void key_kosti_serad_klice(byte * p_hodnoty, KEY_POINT_BRS * p_skeys,
  int keynum, int size_of_hodnota)
{
  KEY_POINT_BRS *p_nkeys =
    (KEY_POINT_BRS *) mmalloc(sizeof(p_nkeys[0]) * keynum);
  byte *p_nhod = (byte *) mmalloc(sizeof(byte) * size_of_hodnota * keynum);
  dword min_time, min_klic;
  int i, new_akt = 0;

  while (1) {
    min_time = MAX_TIME;
    for (i = 0; i < keynum; i++) {
      if (p_skeys[i].time <= min_time) {
        min_time = p_skeys[i].time;
        min_klic = i;
      }
    }
    if (min_time == MAX_TIME)
      break;

    p_nkeys[new_akt] = p_skeys[min_klic];
    memcpy(p_nhod + new_akt * size_of_hodnota,
      p_hodnoty + min_klic * size_of_hodnota, sizeof(byte) * size_of_hodnota);
    new_akt++;
    p_skeys[min_klic].time = NO_TIME;
  }

  memcpy(p_hodnoty, p_nhod, sizeof(byte) * size_of_hodnota * keynum);
  memcpy(p_skeys, p_nkeys, sizeof(p_nkeys[0]) * keynum);

  free(p_nkeys);
  free(p_nhod);
}

/* 
   Streamovy animace vertexu
*/
void key_kosti_stream_animuj_rec(JOINT_ANIMACE * p_anim, JOINT * p_joint,
  GLMATRIX * p_top, int time, int keynum)
{
  float frame, t, t1, x1, y1, z1, x2, y2, z2;
  BOD *p1, *p2, pv;
  BOD *ps1in, *ps1out;
  BOD *ps2in, *ps2out;
  BOD *pv1, *pv2, *pv3, *pv4;
  int kn, lasttime, num, *p_ind, i, v;
  GLMATRIX *p_m;

  while (p_joint) {
    p_m = init_matrix(&p_joint->m);

    lasttime = (keynum - 1) * SIM_KONSTI;
    if (time < lasttime) {
      t = ((float) time) / SIM_KONST;
      frame = (float) floor((float) t);

      t -= frame;
      kn = ftoi(frame);
      t1 = 1.0f - t;

      if (p_joint->p_pos) {
        p1 = p_joint->p_pos + kn;
        p2 = p_joint->p_pos + kn + 1;
        p_m->_41 = p1->x * t1 + p2->x * t;
        p_m->_42 = p1->y * t1 + p2->y * t;
        p_m->_43 = p1->z * t1 + p2->z * t;
      }
      if (p_joint->p_rot) {
        quat_to_matrix(p_m, slerp(p_joint->p_rot + kn,
            p_joint->p_rot + kn + 1, t, &p_joint->r));
      }
      if (p_joint->p_scs) {
        p1 = p_joint->p_scs + kn;
        p2 = p_joint->p_scs + kn + 1;
        scale_matrix(p_m, p1->x * t1 + p2->x * t, p1->y * t1 + p2->y * t,
          p1->z * t1 + p2->z * t);
      }
    }
    else {
      kn = keynum - 1;
      if (p_joint->p_pos) {
        p1 = (BOD *) & p_m->_41;
        *p1 = p_joint->p_pos[kn];
      }
      if (p_joint->p_rot) {
        quat_to_matrix(p_m, p_joint->p_rot + kn);
      }
      if (p_joint->p_scs) {
        p1 = p_joint->p_scs + kn;
        scale_matrix(p_m, p1->x, p1->y, p1->z);
      }
    }

    if (p_top) {
      transformuj_bod_matici_bod(&p_joint->pivot, p_top, &pv);
      pivotuj_matrix(p_m, &pv);
    }
    else {
      pivotuj_matrix(p_m, &p_joint->pivot);
    }

    if (p_top) {
      mat_mult(p_top, p_m, p_m);
    }

    ps1in = p_anim->p_pos_in;
    ps1out = p_anim->p_pos_out;
    ps2in = p_anim->p_norm_in;
    ps2out = p_anim->p_norm_out;

    num = p_joint->vertexnum;
    p_ind = p_joint->p_vertexlist;

    if (ps1in && ps1out) {

      num = p_joint->vertexnum;
      p_ind = p_joint->p_vertexlist;

      for (i = 0; i < num; i++) {
        v = *p_ind++;

        pv1 = ps1in + v;
        pv2 = ps1out + v;
        pv3 = ps2in + v;
        pv4 = ps2out + v;

        x1 = pv1->x;
        y1 = pv1->y;
        z1 = pv1->z;

        x2 = pv3->x;
        y2 = pv3->y;
        z2 = pv3->z;

        pv2->x = p_m->_11 * x1 + p_m->_21 * y1 + p_m->_31 * z1 + p_m->_41;
        pv4->x = p_m->_11 * x2 + p_m->_21 * y2 + p_m->_31 * z2;

        pv2->y = p_m->_12 * x1 + p_m->_22 * y1 + p_m->_32 * z1 + p_m->_42;
        pv4->y = p_m->_12 * x2 + p_m->_22 * y2 + p_m->_32 * z2;

        pv2->z = p_m->_13 * x1 + p_m->_23 * y1 + p_m->_33 * z1 + p_m->_43;
        pv4->z = p_m->_13 * x2 + p_m->_23 * y2 + p_m->_33 * z2;
      }
    }

    if (p_joint->p_next)
      key_kosti_stream_animuj_rec(p_anim, p_joint->p_next, p_m, time, keynum);

    p_top = p_m;
    p_joint = p_joint->p_child;
  }
}

JOINT_KEYS *key_joint_kopiruj_spline(JOINT_KEYS * p_src)
{
  if (p_src) {
    JOINT_KEYS *p_new = (JOINT_KEYS *) kopiruj_pole(p_src, sizeof(p_src[0]));

    p_new->p_pkeys =
      (KEY_POINT_BRS *) kopiruj_pole(p_new->p_pkeys,
      sizeof(p_new->p_pkeys[0]) * p_new->pos_keys);
    p_new->p_pos =
      (BOD *) kopiruj_pole(p_new->p_pos,
      sizeof(p_new->p_pos[0]) * p_new->pos_keys);

    p_new->p_rkeys =
      (KEY_POINT_BRS *) kopiruj_pole(p_new->p_rkeys,
      sizeof(p_new->p_rkeys[0]) * p_new->rot_keys);
    p_new->p_rot =
      (QUAT *) kopiruj_pole(p_new->p_rot,
      sizeof(p_new->p_rot[0]) * p_new->rot_keys);

    p_new->p_skeys =
      (KEY_POINT_BRS *) kopiruj_pole(p_new->p_skeys,
      sizeof(p_new->p_skeys[0]) * p_new->scs_keys);
    p_new->p_scale =
      (BOD *) kopiruj_pole(p_new->p_scale,
      sizeof(p_new->p_scale[0]) * p_new->scs_keys);

    return (p_new);
  }
  else {
    return (NULL);
  }
}

JOINT *key_joint_kopiruj(JOINT * p_src)
{
  JOINT *p_new = (JOINT *) kopiruj_pole(p_src, sizeof(p_src[0]));

  p_new->p_vertexlist =
    (int *) kopiruj_pole(p_src->p_vertexlist,
    sizeof(p_new->p_vertexlist[0]) * p_new->vertexnum);
  p_new->p_pos =
    (BOD *) kopiruj_pole(p_src->p_pos,
    sizeof(p_new->p_pos[0]) * p_new->pos_keys);
  p_new->p_rot =
    (QUAT *) kopiruj_pole(p_src->p_rot,
    sizeof(p_new->p_rot[0]) * p_new->rot_keys);
  p_new->p_scs =
    (BOD *) kopiruj_pole(p_src->p_scs,
    sizeof(p_new->p_scs[0]) * p_new->scs_keys);

  p_new->p_keys = key_joint_kopiruj_spline(p_src->p_keys);
  return (p_new);
}

JOINT *key_joint_vyrob(void)
{
  JOINT *p_src = (JOINT *) mmalloc(sizeof(p_src[0]));

  p_src->r.w = 1;
  p_src->s.x = p_src->s.y = p_src->s.z = 1.0f;
  init_matrix(&p_src->m);
  return (p_src);
}

JOINT *key_kosti_kopiruj_rec(JOINT * p_src)
{
  JOINT *p_new = key_joint_kopiruj(p_src);

  if (p_src->p_next)
    p_new->p_next = key_kosti_kopiruj_rec(p_src->p_next);
  if (p_src->p_child)
    p_new->p_child = key_kosti_kopiruj_rec(p_src->p_child);
  return (p_new);
}

/* Skopiruje animace kosti
*/
JOINT_ANIMACE *key_kosti_kopiruj(JOINT_ANIMACE * p_src)
{
  JOINT_ANIMACE *p_new = (JOINT_ANIMACE *) mmalloc(sizeof(p_src[0]));

  memcpy(p_new, p_src, sizeof(p_src[0]));
  p_new->p_child = key_kosti_kopiruj_rec(p_new->p_child);
  return (p_new);
}

JOINT_ANIMACE *key_kosti_kopiruj_animace(JOINT_ANIMACE * p_prvni)
{
  JOINT_ANIMACE *p_tmp;
  JOINT_ANIMACE *p_frs = NULL;

  while (p_prvni) {
    if (!p_frs) {
      p_frs = p_tmp = key_kosti_kopiruj(p_prvni);
    }
    else {
      p_tmp->p_next = key_kosti_kopiruj(p_prvni);
    }
    p_prvni = p_prvni->p_next;
  }

  return (p_frs);
}