From: Mikko Rasa <tdb@tdb.fi>
Date: Sat, 8 Jun 2019 06:50:02 +0000 (+0300)
Subject: Merge branch 'animation-rework'
X-Git-Url: http://git.tdb.fi/?p=libs%2Fgl.git;a=commitdiff_plain;h=a126d48791f0ee697c11e44efaa17fe9dc6e07cf;hp=c5f011ef508d580f332e4bd6065a013b24de8840

Merge branch 'animation-rework'
---

diff --git a/blender/io_mspgl/export_scene.py b/blender/io_mspgl/export_scene.py
index 245d2d3e..abdd61b0 100644
--- a/blender/io_mspgl/export_scene.py
+++ b/blender/io_mspgl/export_scene.py
@@ -110,20 +110,23 @@ class SceneExporter:
 		for o in objs:
 			obj_res = resources[prototypes[o.name].name+".object"]
 			st = scene_res.create_reference_statement("object", obj_res, o.name)
-			# XXX Parent relationships screw up the location and rotation
-			st.sub.append(Statement("position", o.location[0], o.location[1], o.location[2]))
-			if o.rotation_mode=="AXIS_ANGLE":
-				angle = o.rotation_axis_angle[0]
-				axis = o.rotation_axis_angle[1:]
+
+			ss = Statement("transform")
+
+			loc = o.matrix_world.to_translation()
+			ss.sub.append(Statement("position", *tuple(loc)))
+
+			quat = o.matrix_world.to_quaternion()
+			if o.rotation_mode in ('XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX'):
+				angles = [a*180/math.pi for a in quat.to_euler()]
+				ss.sub.append(Statement("euler", *angles));
 			else:
-				if o.rotation_mode=="QUATERNION":
-					q = o.rotation_quaternion
-				else:
-					q = o.rotation_euler.to_quaternion()
-				angle = q.angle
-				axis = q.axis
-			st.sub.append(Statement("rotation", angle*180/math.pi, axis[0], axis[1], axis[2]))
-			st.sub.append(Statement("scale", o.scale[0], o.scale[1], o.scale[2]))
+				ss.sub.append(Statement("rotation", quat.angle*180/math.pi, *tuple(quat.axis)))
+
+			scale = o.matrix_world.to_scale()
+			ss.sub.append(Statement("scale", *tuple(scale)))
+
+			st.sub.append(ss)
 			scene_res.statements.append(st)
 
 		progress.set_progress(1.0)
diff --git a/source/animatedobject.cpp b/source/animatedobject.cpp
index 257e1368..390b90b8 100644
--- a/source/animatedobject.cpp
+++ b/source/animatedobject.cpp
@@ -77,8 +77,9 @@ void AnimatedObject::setup_render(Renderer &renderer, const Tag &) const
 
 
 AnimatedObject::Loader::Loader(AnimatedObject &o):
-	DataFile::ObjectLoader<AnimatedObject>(o)
+	DataFile::DerivedObjectLoader<AnimatedObject, ObjectInstance::Loader>(o)
 {
+	// Deprecated; Use the transform statement defined in ObjectInstance instead
 	add("position", &Loader::position);
 	add("rotation", &Loader::rotation);
 	add("scale", &Loader::scale);
diff --git a/source/animatedobject.h b/source/animatedobject.h
index 74e59fc8..2b640b76 100644
--- a/source/animatedobject.h
+++ b/source/animatedobject.h
@@ -16,7 +16,7 @@ An object instance that can be animated by an AnimationPlayer.
 class AnimatedObject: public ObjectInstance
 {
 public:
-	class Loader: public DataFile::ObjectLoader<AnimatedObject>
+	class Loader: public DataFile::DerivedObjectLoader<AnimatedObject, ObjectInstance::Loader>
 	{
 	public:
 		Loader(AnimatedObject &);
diff --git a/source/animation.cpp b/source/animation.cpp
index ab9d6e60..aa3e1b86 100644
--- a/source/animation.cpp
+++ b/source/animation.cpp
@@ -1,6 +1,7 @@
 #include <cmath>
 #include <msp/core/maputils.h>
 #include <msp/datafile/collection.h>
+#include <msp/interpolate/bezierspline.h>
 #include "animation.h"
 #include "animationeventobserver.h"
 #include "armature.h"
@@ -23,6 +24,8 @@ Animation::~Animation()
 
 void Animation::set_armature(const Armature &a)
 {
+	if(!keyframes.empty() && &a!=armature)
+		throw invalid_operation("Animation::set_armature");
 	armature = &a;
 }
 
@@ -43,68 +46,205 @@ const string &Animation::get_uniform_name(unsigned i) const
 
 void Animation::add_keyframe(const Time::TimeDelta &t, const KeyFrame &kf)
 {
-	add_keyframe(t, kf, 1.0f, 1.0f);
+	add_keyframe(t, &kf, false, false);
+	create_curves();
 }
 
 void Animation::add_keyframe(const Time::TimeDelta &t, const KeyFrame &kf, float slope)
 {
-	add_keyframe(t, kf, slope, slope);
+	add_keyframe(t, &kf, slope, slope, false);
+	create_curves();
 }
 
 void Animation::add_keyframe(const Time::TimeDelta &t, const KeyFrame &kf, float ss, float es)
 {
-	RefPtr<const KeyFrame> kfr(&kf);
-	kfr.keep();
-	add_keyframe(t, kfr, ss, es);
+	add_keyframe(t, &kf, ss, es, false);
+	create_curves();
 }
 
-void Animation::add_keyframe(const Time::TimeDelta &t, const RefPtr<const KeyFrame> &kf, float ss, float es)
+void Animation::add_control_keyframe(const KeyFrame &kf)
 {
+	if(keyframes.empty())
+		throw invalid_operation("Animation::add_control_keyframe");
+
+	add_keyframe(keyframes.back().time, &kf, true, false);
+}
+
+void Animation::add_keyframe(const Time::TimeDelta &t, const KeyFrame *kf, float ss, float es, bool owned)
+{
+	if(keyframes.empty())
+		return add_keyframe(t, kf, false, owned);
+
+	if(keyframes.back().control)
+		throw invalid_operation("Animation::add_keyframe");
+
+	const KeyFrame &last = *keyframes.back().keyframe;
+	const Transform &trn = kf->get_transform();
+	const Transform &last_trn = last.get_transform();
+	const KeyFrame::UniformMap &kf_unis = kf->get_uniforms();
+	const KeyFrame::UniformMap &last_unis = last.get_uniforms();
+	for(unsigned i=1; i<=2; ++i)
+	{
+		float x = (i==1 ? ss/3 : 1-es/3);
+		KeyFrame *ckf = new KeyFrame;
+		Transform ctrn;
+		ctrn.set_position(last_trn.get_position()*(1-x)+trn.get_position()*x);
+		const Transform::AngleVector3 &e1 = last_trn.get_euler();
+		const Transform::AngleVector3 &e2 = trn.get_euler();
+		ctrn.set_euler(Transform::AngleVector3(e1.x*(1-x)+e2.x*x, e1.y*(1-x)+e2.y*x, e1.z*(1-x)+e2.z*x));
+		ctrn.set_scale(last_trn.get_scale()*(1-x)+trn.get_scale()*x);
+		ckf->set_transform(ctrn);
+
+		for(KeyFrame::UniformMap::const_iterator j=kf_unis.begin(); j!=kf_unis.end(); ++j)
+		{
+			KeyFrame::UniformMap::const_iterator k = last_unis.find(j->first);
+			if(k==last_unis.end())
+				continue;
+
+			KeyFrame::AnimatedUniform uni(j->second.size, 0.0f);
+			for(unsigned c=0; c<uni.size; ++c)
+				uni.values[c] = k->second.values[c]*(1-x)+j->second.values[c]*x;
+
+			ckf->set_uniform(j->first, uni);
+		}
+
+		add_keyframe(t, ckf, true, true);
+	}
+
+	add_keyframe(t, kf, false, owned);
+}
+
+void Animation::add_keyframe(const Time::TimeDelta &t, const KeyFrame *kf, bool c, bool owned)
+{
+	if(c && keyframes.empty())
+		throw invalid_argument("Animation::add_keyframe");
 	if(keyframes.empty() && t!=Time::zero)
 		throw invalid_argument("Animation::add_keyframe");
 	if(!keyframes.empty() && t<keyframes.back().time)
 		throw invalid_argument("Animation::add_keyframe");
+	if(kf->get_pose() && armature && kf->get_pose()->get_armature()!=armature)
+		throw invalid_argument("Animation::add_keyframe");
+
+	const KeyFrame::UniformMap &kf_uniforms = kf->get_uniforms();
+	for(vector<UniformInfo>::const_iterator i=uniforms.begin(); i!=uniforms.end(); ++i)
+	{
+		KeyFrame::UniformMap::const_iterator j = kf_uniforms.find(i->name);
+		if(j!=kf_uniforms.end() && j->second.size!=i->size)
+			throw invalid_argument("Animation::add_keyframe");
+	}
 
-	bool realloc = (keyframes.size()>=keyframes.capacity());
+	if(kf->get_pose() && !armature)
+		armature = kf->get_pose()->get_armature();
 
-	keyframes.push_back(TimedKeyFrame());
-	TimedKeyFrame &tkf = keyframes.back();
+	TimedKeyFrame tkf;
 	tkf.time = t;
-	tkf.start_slope = ss;
-	tkf.end_slope = es;
 	tkf.keyframe = kf;
+	if(!owned)
+		tkf.keyframe.keep();
+	tkf.control = c;
 
-	if(realloc)
+	keyframes.push_back(tkf);
+
+	for(KeyFrame::UniformMap::const_iterator i=kf_uniforms.begin(); i!=kf_uniforms.end(); ++i)
 	{
-		for(unsigned i=1; i<keyframes.size(); ++i)
-			if(keyframes[i].prev)
-				keyframes[i].prev = &keyframes[i-1];
+		bool found = false;
+		for(vector<UniformInfo>::const_iterator j=uniforms.begin(); (!found && j!=uniforms.end()); ++j)
+			found = (j->name==i->first);
+
+		if(!found)
+			uniforms.push_back(UniformInfo(i->first, i->second.size));
 	}
-	if(keyframes.size()>1 && t>(&tkf-1)->time)
-		tkf.prev = &tkf-1;
+}
+
+void Animation::create_curves()
+{
+	for(vector<Curve *>::iterator i=curves.begin(); i!=curves.end(); ++i)
+		delete *i;
+	curves.clear();
+
+	curves.reserve(3+uniforms.size());
+	create_curve<3>(POSITION, &extract_position);
+	create_curve<3>(EULER, &extract_euler);
+	create_curve<3>(SCALE, &extract_scale);
 
-	prepare_keyframe(tkf);
+	for(vector<UniformInfo>::const_iterator i=uniforms.begin(); i!=uniforms.end(); ++i)
+	{
+		if(i->size==1)
+			create_curve<1>(UNIFORM, ExtractUniform<1>(i->name));
+		else if(i->size==2)
+			create_curve<2>(UNIFORM, ExtractUniform<2>(i->name));
+		else if(i->size==3)
+			create_curve<3>(UNIFORM, ExtractUniform<3>(i->name));
+		else if(i->size==4)
+			create_curve<4>(UNIFORM, ExtractUniform<4>(i->name));
+	}
 }
 
-void Animation::prepare_keyframe(TimedKeyFrame &tkf)
+template<unsigned N, typename T>
+void Animation::create_curve(CurveTarget target, const T &extract)
 {
-	const KeyFrame::UniformMap &kf_uniforms = tkf.keyframe->get_uniforms();
-	for(KeyFrame::UniformMap::const_iterator i=kf_uniforms.begin(); i!=kf_uniforms.end(); ++i)
+	typedef typename ValueCurve<N>::Knot Knot;
+
+	vector<Knot> knots;
+	unsigned n_control = 0;
+	for(vector<TimedKeyFrame>::const_iterator i=keyframes.begin(); i!=keyframes.end(); ++i)
 	{
-		bool found = false;
-		for(unsigned j=0; (!found && j<uniforms.size()); ++j)
-			if(uniforms[j].name==i->first)
+		if(i->control && knots.empty())
+			continue;
+
+		typename Interpolate::SplineValue<float, N>::Type value;
+		if(extract(*i->keyframe, value))
+		{
+			float x = i->time/Time::sec;
+			if(i->control)
 			{
-				if(uniforms[j].size!=i->second.size)
-					throw invalid_operation("Animation::prepare_keyframe");
-				found = true;
+				++n_control;
+				if(n_control>2)
+					throw logic_error("too many control keyframes");
 			}
-
-		if(!found)
-			uniforms.push_back(UniformInfo(i->first, i->second.size));
+			else
+			{
+				if(n_control==1)
+				{
+					typename Knot::Value cv = knots.back().y;
+					knots.back().y = (knots[knots.size()-2].y+cv*2.0f)/3.0f;
+					knots.push_back(Knot(x, (value+cv*2.0f)/3.0f));
+				}
+				else if(n_control==0 && !knots.empty())
+				{
+					typename Knot::Value prev = knots.back().y;
+					knots.push_back(Knot(knots.back().x, (prev*2.0f+value)/3.0f));
+					knots.push_back(Knot(x, (prev+value*2.0f)/3.0f));
+				}
+				n_control = 0;
+			}
+			knots.push_back(Knot(x, value));
+		}
 	}
+	
+	while(n_control--)
+		knots.pop_back();
 
-	tkf.prepare(*this);
+	curves.push_back(new ValueCurve<N>(target, knots));
+}
+
+bool Animation::extract_position(const KeyFrame &kf, Vector3 &value)
+{
+	value = kf.get_transform().get_position();
+	return true;
+}
+
+bool Animation::extract_euler(const KeyFrame &kf, Vector3 &value)
+{
+	const Transform::AngleVector3 &euler = kf.get_transform().get_euler();
+	value = Vector3(euler.x.radians(), euler.y.radians(), euler.z.radians());
+	return true;
+}
+
+bool Animation::extract_scale(const KeyFrame &kf, Vector3 &value)
+{
+	value = kf.get_transform().get_scale();
+	return true;
 }
 
 void Animation::add_event(const Time::TimeDelta &t, const string &n, const Variant &v)
@@ -130,133 +270,61 @@ void Animation::set_looping(bool l)
 }
 
 
-Animation::AxisInterpolation::AxisInterpolation():
-	slope(0),
-	scale(0)
+Animation::Curve::Curve(CurveTarget t):
+	target(t)
 { }
 
-Animation::AxisInterpolation::AxisInterpolation(const float *axis1, const float *axis2)
-{
-	// Compute a normalized vector halfway between the two endpoints
-	float a1_len = 0;
-	float h_len = 0;
-	float cos_half = 0;
-	for(unsigned i=0; i<3; ++i)
-	{
-		float half_i = (axis1[i]+axis2[i])/2;
-		cos_half += axis1[i]*half_i;
-		a1_len += axis1[i]*axis1[i];
-		h_len += half_i*half_i;
-	}
-
-	// Compute correction factors for smooth interpolation
-	cos_half = min(max(cos_half/sqrt(a1_len*h_len), -1.0f), 1.0f);
-	float angle = acos(cos_half);
-	slope = (angle ? angle/tan(angle) : 1);
-	scale = cos_half;
-}
-
 
-Animation::MatrixInterpolation::MatrixInterpolation():
-	matrix1(0),
-	matrix2(0)
+template<unsigned N>
+Animation::ValueCurve<N>::ValueCurve(CurveTarget t, const vector<Knot> &k):
+	Curve(t),
+	spline(Interpolate::BezierSpline<float, 3, N>(k))
 { }
 
-Animation::MatrixInterpolation::MatrixInterpolation(const Matrix &m1, const Matrix &m2):
-	matrix1(&m1),
-	matrix2(&m2)
+template<unsigned N>
+void Animation::ValueCurve<N>::apply(float, Matrix &) const
 {
-	const float *m1_data = matrix1->data();
-	const float *m2_data = matrix2->data();
-	for(unsigned i=0; i<3; ++i)
-		axes[i] = AxisInterpolation(m1_data+i*4, m2_data+i*4);
+	throw invalid_operation("ValueCurve::apply");
 }
 
-Matrix Animation::MatrixInterpolation::get(float t) const
+template<>
+void Animation::ValueCurve<3>::apply(float x, Matrix &matrix) const
 {
-	float u = t*2.0f-1.0f;
-
-	float matrix[16];
-	for(unsigned i=0; i<4; ++i)
+	Vector3 value = spline(x);
+	if(target==POSITION)
+		matrix.translate(value);
+	else if(target==EULER)
 	{
-		const float *m1_col = matrix1->data()+i*4;
-		const float *m2_col = matrix2->data()+i*4;
-		float *out_col = matrix+i*4;
-
-		if(i<3)
-		{
-			/* Linear interpolation will produce vectors that fall on the line
-			between the two endpoints, and has a higher angular velocity near the
-			middle.  We compensate for the velocity by interpolating the angle
-			around the halfway point and computing its tangent.  This is
-			approximated by a third degree polynomial, scaled so that the result
-			will be in the range [-1, 1]. */
-			float w = (axes[i].slope+(1-axes[i].slope)*u*u)*u*0.5f+0.5f;
-
-			/* The interpolated vectors will also be shorter than unit length.  At
-			the halfway point the length will be equal to the cosine of half the
-			angle, which was computed earlier.  Use a second degree polynomial to
-			approximate. */
-			float n = (axes[i].scale+(1-axes[i].scale)*u*u);
-
-			for(unsigned j=0; j<3; ++j)
-				out_col[j] = ((1-w)*m1_col[j]+w*m2_col[j])/n;
-		}
-		else
-		{
-			for(unsigned j=0; j<3; ++j)
-				out_col[j] = (1-t)*m1_col[j]+t*m2_col[j];
-		}
+		matrix.rotate(value.z, Vector3(0, 0, 1));
+		matrix.rotate(value.y, Vector3(0, 1, 0));
+		matrix.rotate(value.x, Vector3(1, 0, 0));
 	}
-
-	matrix[3] = 0;
-	matrix[7] = 0;
-	matrix[11] = 0;
-	matrix[15] = 1;
-
-	return matrix;
+	else if(target==SCALE)
+		matrix.scale(value);
+	else
+		throw invalid_operation("ValueCurve::apply");
 }
 
-
-Animation::TimedKeyFrame::TimedKeyFrame():
-	prev(0),
-	start_slope(1),
-	end_slope(1)
-{ }
-
-void Animation::TimedKeyFrame::prepare(const Animation &animation)
+template<unsigned N>
+void Animation::ValueCurve<N>::apply(float x, KeyFrame::AnimatedUniform &uni) const
 {
-	const KeyFrame::UniformMap &kf_uniforms = keyframe->get_uniforms();
-	for(KeyFrame::UniformMap::const_iterator i=kf_uniforms.begin(); i!=kf_uniforms.end(); ++i)
-	{
-		unsigned j = animation.get_slot_for_uniform(i->first);
-		uniforms.reserve(j+1);
-		for(unsigned k=uniforms.size(); k<=j; ++k)
-			uniforms.push_back(KeyFrame::AnimatedUniform(animation.uniforms[k].size, 0.0f));
-
-		uniforms[j] = i->second;
-	}
+	uni.size = N;
+	typename Interpolate::Spline<float, 3, N>::Value value = spline(x);
+	for(unsigned i=0; i<N; ++i)
+		uni.values[i] = Interpolate::SplineValue<float, N>::get(value, i);
+}
 
-	if(!prev)
-		return;
 
-	delta_t = time-prev->time;
-	matrix = MatrixInterpolation(prev->keyframe->get_matrix(), keyframe->get_matrix());
+template<unsigned N>
+bool Animation::ExtractUniform<N>::operator()(const KeyFrame &kf, typename Interpolate::SplineValue<float, N>::Type &value) const
+{
+	const KeyFrame::UniformMap &kf_uniforms = kf.get_uniforms();
+	const KeyFrame::UniformMap::const_iterator i = kf_uniforms.find(name);
+	if(i==kf_uniforms.end())
+		return false;
 
-	if(animation.armature)
-	{
-		unsigned max_index = animation.armature->get_max_link_index();
-		pose_matrices.resize(max_index+1);
-		const Pose *pose1 = prev->keyframe->get_pose();
-		const Pose *pose2 = keyframe->get_pose();
-		static Matrix identity;
-		for(unsigned i=0; i<=max_index; ++i)
-		{
-			const Matrix &matrix1 = (pose1 ? pose1->get_link_matrix(i) : identity);
-			const Matrix &matrix2 = (pose2 ? pose2->get_link_matrix(i) : identity);
-			pose_matrices[i] = MatrixInterpolation(matrix1, matrix2);
-		}
-	}
+	value = Interpolate::SplineValue<float, N>::make(i->second.values);
+	return true;
 }
 
 
@@ -268,85 +336,54 @@ Animation::UniformInfo::UniformInfo(const string &n, unsigned s):
 
 Animation::Iterator::Iterator(const Animation &a):
 	animation(&a),
-	iter(animation->keyframes.begin()),
 	event_iter(animation->events.begin()),
-	x(0),
 	end(false)
 {
-	if(iter==animation->keyframes.end())
-		throw invalid_argument("Animation::Iterator::Iterator");
 }
 
 Animation::Iterator &Animation::Iterator::operator+=(const Time::TimeDelta &t)
 {
-	time_since_keyframe += t;
-	while(time_since_keyframe>iter->delta_t)
-	{
-		vector<TimedKeyFrame>::const_iterator next = iter;
-		++next;
-		if(next==animation->keyframes.end())
-		{
-			if(animation->looping)
-				next = animation->keyframes.begin();
-			else
-			{
-				end = true;
-				time_since_keyframe = iter->delta_t;
-				break;
-			}
-		}
+	const Time::TimeDelta &duration = animation->get_duration();
+	if(!duration)
+		return *this;
 
-		time_since_keyframe -= iter->delta_t;
-		iter = next;
+	elapsed += t;
+	if(animation->looping)
+	{
+		while(elapsed>=duration)
+			elapsed -= duration;
+	}
+	else if(elapsed>=duration)
+	{
+		end = true;
+		elapsed = duration;
 	}
-
-	x = time_since_keyframe/iter->delta_t;
-	x += (iter->start_slope-1)*((x-2)*x+1)*x + (1-iter->end_slope)*(1-x)*x*x;
 
 	return *this;
 }
 
 void Animation::Iterator::dispatch_events(AnimationEventObserver &observer)
 {
-	vector<Event>::const_iterator events_end = animation->events.end();
-	if(end)
-	{
-		for(; event_iter!=events_end; ++event_iter)
-			observer.animation_event(0, event_iter->name, event_iter->value);
-	}
-	else if(event_iter!=events_end)
-	{
-		Time::TimeDelta t = time_since_keyframe;
-		if(iter->prev)
-			t += iter->prev->time;
-		for(; (event_iter!=events_end && event_iter->time<=t); ++event_iter)
-			observer.animation_event(0, event_iter->name, event_iter->value);
-	}
+	for(; (event_iter!=animation->events.end() && event_iter->time<=elapsed); ++event_iter)
+		observer.animation_event(0, event_iter->name, event_iter->value);
 }
 
 Matrix Animation::Iterator::get_matrix() const
 {
-	if(!iter->prev)
-		return iter->keyframe->get_matrix();
-
-	return iter->matrix.get(x);
+	Matrix matrix;
+	for(unsigned i=0; i<3; ++i)
+		animation->curves[i]->apply(elapsed/Time::sec, matrix);
+	return matrix;
 }
 
 KeyFrame::AnimatedUniform Animation::Iterator::get_uniform(unsigned i) const
 {
-	if(!iter->prev)
-	{
-		if(iter->uniforms.size()>i)
-			return iter->uniforms[i];
-		else
-			return KeyFrame::AnimatedUniform(animation->uniforms[i].size, 0.0f);
-	}
+	if(i>=animation->uniforms.size())
+		throw out_of_range("Animation::Iterator::get_uniform");
 
-	unsigned size = animation->uniforms[i].size;
-	KeyFrame::AnimatedUniform result(size, 0.0f);
-	for(unsigned j=0; j<size; ++j)
-		result.values[j] = iter->prev->uniforms[i].values[j]*(1-x)+iter->uniforms[i].values[j]*x;
-	return result;
+	KeyFrame::AnimatedUniform uni(animation->uniforms[i].size, 0.0f);
+	animation->curves[3+i]->apply(elapsed/Time::sec, uni);
+	return uni;
 }
 
 Matrix Animation::Iterator::get_pose_matrix(unsigned link) const
@@ -356,21 +393,7 @@ Matrix Animation::Iterator::get_pose_matrix(unsigned link) const
 	if(link>animation->armature->get_max_link_index())
 		throw out_of_range("Animation::Iterator::get_pose_matrix");
 
-	if(!iter->prev)
-	{
-		if(const Pose *pose = iter->keyframe->get_pose())
-			return pose->get_link_matrix(link);
-		else
-			return Matrix();
-	}
-
-	// We must redo the base point correction since interpolation throws it off
-	// XXX This should probably be done on local matrices
-	Matrix result = iter->pose_matrices[link].get(x);
-	const Vector3 &base = animation->armature->get_link(link).get_base();
-	Vector3 new_base = result*base;
-	result = Matrix::translation(base-new_base)*result;
-	return result;
+	throw logic_error("pose animations are currently unimplemented");
 }
 
 
@@ -390,7 +413,10 @@ void Animation::Loader::init()
 {
 	start_slope = 1;
 	end_slope = 1;
+	slopes_set = 0;
 	add("armature", &Animation::armature);
+	add("control_keyframe", &Loader::control_keyframe);
+	add("control_keyframe", &Loader::control_keyframe_inline);
 	add("event", &Loader::event);
 	add("event", &Loader::event1i);
 	add("event", &Loader::event1f);
@@ -404,6 +430,60 @@ void Animation::Loader::init()
 	add("slopes", &Loader::slopes);
 }
 
+void Animation::Loader::finish()
+{
+	obj.create_curves();
+}
+
+void Animation::Loader::check_slopes_and_control(bool s, bool c)
+{
+	if(s && c)
+		throw logic_error("can't use both slopes and control keyframes in same segment");
+}
+
+void Animation::Loader::add_kf(const KeyFrame *kf, bool c, bool owned)
+{
+	if(slopes_set && !c)
+		obj.add_keyframe(current_time, kf, start_slope, end_slope, owned);
+	else
+		obj.add_keyframe(current_time, kf, c, owned);
+
+	start_slope = end_slope;
+	end_slope = 1;
+	slopes_set = (slopes_set<<1)&3;
+}
+
+void Animation::Loader::load_kf(const string &n, bool c)
+{
+	add_kf(&get_collection().get<KeyFrame>(n), c, false);
+}
+
+void Animation::Loader::load_kf_inline(bool c)
+{
+	RefPtr<KeyFrame> kf = new KeyFrame;
+	if(coll)
+		load_sub(*kf, get_collection());
+	else
+		load_sub(*kf);
+
+	add_kf(kf.get(), c, true);
+	kf.release();
+}
+
+void Animation::Loader::control_keyframe(const string &n)
+{
+	slopes_set &= 1;
+	check_slopes_and_control(slopes_set, true);
+	load_kf(n, true);
+}
+
+void Animation::Loader::control_keyframe_inline()
+{
+	slopes_set &= 1;
+	check_slopes_and_control(slopes_set, true);
+	load_kf_inline(true);
+}
+
 void Animation::Loader::event(const string &n)
 {
 	obj.add_event(current_time, n);
@@ -441,28 +521,21 @@ void Animation::Loader::interval(float t)
 
 void Animation::Loader::keyframe(const string &n)
 {
-	obj.add_keyframe(current_time, get_collection().get<KeyFrame>(n), start_slope, end_slope);
-	start_slope = end_slope;
-	end_slope = 1;
+	load_kf(n, false);
 }
 
 void Animation::Loader::keyframe_inline()
 {
-	RefPtr<KeyFrame> kf = new KeyFrame;
-	if(coll)
-		load_sub(*kf, get_collection());
-	else
-		load_sub(*kf);
-
-	obj.add_keyframe(current_time, kf, start_slope, end_slope);
-	start_slope = end_slope;
-	end_slope = 1;
+	load_kf_inline(false);
 }
 
 void Animation::Loader::slopes(float s, float e)
 {
+	check_slopes_and_control(true, (!obj.keyframes.empty() && obj.keyframes.back().control));
+
 	start_slope = s;
 	end_slope = e;
+	slopes_set = 1;
 }
 
 } // namespace GL
diff --git a/source/animation.h b/source/animation.h
index b9e9fe1f..7c277f43 100644
--- a/source/animation.h
+++ b/source/animation.h
@@ -3,6 +3,7 @@
 
 #include <msp/core/refptr.h>
 #include <msp/datafile/objectloader.h>
+#include <msp/interpolate/spline.h>
 #include <msp/time/timedelta.h>
 #include "keyframe.h"
 
@@ -27,13 +28,22 @@ public:
 		Time::TimeDelta current_time;
 		float start_slope;
 		float end_slope;
+		int slopes_set;
 
 	public:
 		Loader(Animation &);
 		Loader(Animation &, Collection &);
 	private:
 		void init();
+		virtual void finish();
 
+		void check_slopes_and_control(bool, bool);
+		void add_kf(const KeyFrame *, bool, bool);
+		void load_kf(const std::string &, bool);
+		void load_kf_inline(bool);
+
+		void control_keyframe(const std::string &);
+		void control_keyframe_inline();
 		void event(const std::string &);
 		void event1i(const std::string &, int);
 		void event1f(const std::string &, float);
@@ -47,41 +57,58 @@ public:
 	};
 
 private:
-	struct AxisInterpolation
+	enum CurveTarget
+	{
+		POSITION,
+		EULER,
+		SCALE,
+		UNIFORM
+	};
+
+	class Curve
+	{
+	protected:
+		CurveTarget target;
+
+		Curve(CurveTarget);
+	public:
+		virtual ~Curve() { }
+
+		virtual void apply(float, Matrix &) const = 0;
+		virtual void apply(float, KeyFrame::AnimatedUniform &) const = 0;
+	};
+
+	template<unsigned N>
+	class ValueCurve: public Curve
 	{
-		float slope;
-		float scale;
+	public:
+		typedef typename Interpolate::SplineKnot<float, N> Knot;
 
-		AxisInterpolation();
-		AxisInterpolation(const float *, const float *);
+	private:
+		Interpolate::Spline<float, 3, N> spline;
+
+	public:
+		ValueCurve(CurveTarget, const std::vector<Knot> &);
+
+		virtual void apply(float, Matrix &) const;
+		virtual void apply(float, KeyFrame::AnimatedUniform &) const;
 	};
 
-	struct MatrixInterpolation
+	template<unsigned N>
+	struct ExtractUniform
 	{
-		const Matrix *matrix1;
-		const Matrix *matrix2;
-		AxisInterpolation axes[3];
+		const std::string &name;
 
-		MatrixInterpolation();
-		MatrixInterpolation(const Matrix &, const Matrix &);
+		ExtractUniform(const std::string &n): name(n) { }
 
-		Matrix get(float) const;
+		bool operator()(const KeyFrame &, typename Interpolate::SplineValue<float, N>::Type &) const;
 	};
 
 	struct TimedKeyFrame
 	{
-		const TimedKeyFrame *prev;
 		Time::TimeDelta time;
-		Time::TimeDelta delta_t;
-		float start_slope;
-		float end_slope;
 		RefPtr<const KeyFrame> keyframe;
-		MatrixInterpolation matrix;
-		std::vector<KeyFrame::AnimatedUniform> uniforms;
-		std::vector<MatrixInterpolation> pose_matrices;
-
-		TimedKeyFrame();
-		void prepare(const Animation &);
+		bool control;
 	};
 
 	struct Event
@@ -104,10 +131,8 @@ public:
 	{
 	private:
 		const Animation *animation;
-		std::vector<TimedKeyFrame>::const_iterator iter;
+		Time::TimeDelta elapsed;
 		std::vector<Event>::const_iterator event_iter;
-		Time::TimeDelta time_since_keyframe;
-		float x;
 		bool end;
 
 	public:
@@ -128,6 +153,7 @@ private:
 	std::vector<Event> events;
 	bool looping;
 	std::vector<UniformInfo> uniforms;
+	std::vector<Curve *> curves;
 
 public:
 	Animation();
@@ -141,11 +167,19 @@ public:
 	const std::string &get_uniform_name(unsigned) const;
 
 	void add_keyframe(const Time::TimeDelta &, const KeyFrame &);
-	void add_keyframe(const Time::TimeDelta &, const KeyFrame &, float);
-	void add_keyframe(const Time::TimeDelta &, const KeyFrame &, float, float);
+	DEPRECATED void add_keyframe(const Time::TimeDelta &, const KeyFrame &, float);
+	DEPRECATED void add_keyframe(const Time::TimeDelta &, const KeyFrame &, float, float);
+	void add_control_keyframe(const KeyFrame &);
 private:
-	void add_keyframe(const Time::TimeDelta &, const RefPtr<const KeyFrame> &, float, float);
+	void add_keyframe(const Time::TimeDelta &, const KeyFrame *, float, float, bool);
+	void add_keyframe(const Time::TimeDelta &, const KeyFrame *, bool, bool);
 	void prepare_keyframe(TimedKeyFrame &);
+	void create_curves();
+	template<unsigned N, typename T>
+	void create_curve(CurveTarget target, const T &);
+	static bool extract_position(const KeyFrame &, Vector3 &);
+	static bool extract_euler(const KeyFrame &, Vector3 &);
+	static bool extract_scale(const KeyFrame &, Vector3 &);
 public:
 	void add_event(const Time::TimeDelta &, const std::string &, const Variant & = Variant());
 
diff --git a/source/keyframe.cpp b/source/keyframe.cpp
index dd4adf16..856b85d6 100644
--- a/source/keyframe.cpp
+++ b/source/keyframe.cpp
@@ -14,9 +14,20 @@ KeyFrame::KeyFrame()
 KeyFrame::~KeyFrame()
 { }
 
+void KeyFrame::set_transform(const Transform &t)
+{
+	transform = t;
+}
+
 void KeyFrame::set_matrix(const Matrix &m)
 {
-	matrix = m;
+	transform = Transform::from_matrix(m);
+}
+
+void KeyFrame::set_uniform(const string &n, const AnimatedUniform &u)
+{
+	uniforms.erase(n);
+	uniforms.insert(UniformMap::value_type(n, u));
 }
 
 void KeyFrame::set_pose(const Pose &p)
@@ -52,11 +63,14 @@ void KeyFrame::Loader::init()
 {
 	add("pose", &Loader::pose);
 	add("pose", &Loader::pose_inline);
+	add("transform", &Loader::transform);
+	add("uniforms", &Loader::uniforms);
+
+	// Deprecated; use the transform statement instead
 	add("position", &Loader::position);
 	add("rotation", &Loader::rotation);
 	add("scaling", &Loader::scaling_uniform);
 	add("scaling", &Loader::scaling);
-	add("uniforms", &Loader::uniforms);
 }
 
 void KeyFrame::Loader::pose(const string &n)
@@ -74,22 +88,27 @@ void KeyFrame::Loader::pose_inline()
 
 void KeyFrame::Loader::position(float x, float y, float z)
 {
-	obj.matrix.translate(x, y, z);
+	obj.transform.set_position(Vector3(x, y, z));
 }
 
 void KeyFrame::Loader::rotation(float a, float x, float y, float z)
 {
-	obj.matrix.rotate_deg(a, x, y, z);
+	obj.transform.set_rotation(Transform::Angle::from_degrees(a), Vector3(x, y, z));
 }
 
 void KeyFrame::Loader::scaling_uniform(float s)
 {
-	obj.matrix.scale(s);
+	obj.transform.set_scale(s);
 }
 
 void KeyFrame::Loader::scaling(float x, float y, float z)
 {
-	obj.matrix.scale(x, y, z);
+	obj.transform.set_scale(Vector3(x, y, z));
+}
+
+void KeyFrame::Loader::transform()
+{
+	load_sub(obj.transform);
 }
 
 void KeyFrame::Loader::uniforms()
diff --git a/source/keyframe.h b/source/keyframe.h
index 7854a928..5b748add 100644
--- a/source/keyframe.h
+++ b/source/keyframe.h
@@ -4,6 +4,7 @@
 #include <msp/core/refptr.h>
 #include <msp/datafile/objectloader.h>
 #include "matrix.h"
+#include "transform.h"
 
 namespace Msp {
 namespace GL {
@@ -30,6 +31,7 @@ public:
 		void rotation(float, float, float, float);
 		void scaling_uniform(float);
 		void scaling(float, float, float);
+		void transform();
 		void uniforms();
 	};
 
@@ -56,7 +58,7 @@ public:
 	typedef std::map<std::string, AnimatedUniform> UniformMap;
 
 private:
-	Matrix matrix;
+	Transform transform;
 	UniformMap uniforms;
 	RefPtr<const Pose> pose;
 
@@ -64,9 +66,12 @@ public:
 	KeyFrame();
 	~KeyFrame();
 
+	void set_transform(const Transform &);
 	void set_matrix(const Matrix &);
+	void set_uniform(const std::string &, const AnimatedUniform &);
 	void set_pose(const Pose &);
-	const Matrix &get_matrix() const { return matrix; }
+	const Transform &get_transform() const { return transform; }
+	Matrix get_matrix() const { return transform.to_matrix(); }
 	const UniformMap &get_uniforms() const { return uniforms; }
 	const Pose *get_pose() const { return pose.get(); }
 };
diff --git a/source/objectinstance.cpp b/source/objectinstance.cpp
index 912ec05f..450c8106 100644
--- a/source/objectinstance.cpp
+++ b/source/objectinstance.cpp
@@ -1,5 +1,6 @@
 #include "objectinstance.h"
 #include "renderer.h"
+#include "transform.h"
 
 using namespace std;
 
@@ -26,5 +27,19 @@ void ObjectInstance::setup_render(Renderer &renderer, const Tag &) const
 	renderer.transform(matrix);
 }
 
+
+ObjectInstance::Loader::Loader(ObjectInstance &o):
+	DataFile::ObjectLoader<ObjectInstance>(o)
+{
+	add("transform", &Loader::transform);
+}
+
+void ObjectInstance::Loader::transform()
+{
+	Transform trn;
+	load_sub(trn);
+	obj.matrix = trn.to_matrix();
+}
+
 } // namespace GL
 } // namespaec Msp
diff --git a/source/objectinstance.h b/source/objectinstance.h
index 906ba2f3..7c2cc9a7 100644
--- a/source/objectinstance.h
+++ b/source/objectinstance.h
@@ -18,6 +18,16 @@ render all instances of the same object consecutively.
 */
 class ObjectInstance: public PlacedRenderable
 {
+public:
+	class Loader: public DataFile::ObjectLoader<ObjectInstance>
+	{
+	public:
+		Loader(ObjectInstance &);
+
+	private:
+		void transform();
+	};
+
 protected:
 	const Object &object;
 
diff --git a/source/pose.h b/source/pose.h
index 41fc3de5..cbd8137b 100644
--- a/source/pose.h
+++ b/source/pose.h
@@ -48,6 +48,7 @@ public:
 	Pose(const Armature &);
 
 	void set_armature(const Armature &);
+	const Armature *get_armature() const { return armature; }
 	void rotate_link(unsigned, float, const Vector3 &);
 	const Matrix &get_link_matrix(unsigned) const;
 };
diff --git a/source/transform.cpp b/source/transform.cpp
new file mode 100644
index 00000000..4b67bf91
--- /dev/null
+++ b/source/transform.cpp
@@ -0,0 +1,102 @@
+#include "transform.h"
+
+namespace Msp {
+namespace GL {
+
+Transform::Transform():
+	position(0.0f, 0.0f, 0.0f),
+	euler(Angle::zero(), Angle::zero(), Angle::zero()),
+	scale(1.0f, 1.0f, 1.0f)
+{ }
+
+Transform Transform::from_matrix(const Matrix &matrix)
+{
+	Transform trn;
+	trn.position = matrix.column(3).slice<3>(0);
+
+	trn.euler.z = Geometry::atan2<float>(matrix(1, 0), matrix(0, 0));
+	Matrix m = Matrix::rotation(-trn.euler.z, Vector3(0.0f, 0.0f, 1.0f))*matrix;
+	trn.euler.y = Geometry::atan2<float>(m(2, 0), m(0, 0));
+	m = Matrix::rotation(-trn.euler.y, Vector3(0.0f, 1.0f, 0.0f))*m;
+	trn.euler.x = Geometry::atan2<float>(m(2, 1), m(1, 1));
+	m = Matrix::rotation(-trn.euler.x, Vector3(1.0f, 0.0f, 0.0f))*m;
+
+	trn.scale = Vector3(m(0, 0), m(1, 1), m(2, 2));
+
+	return trn;
+}
+
+void Transform::set_position(const Vector3 &p)
+{
+	position = p;
+}
+
+void Transform::set_euler(const AngleVector3 &e)
+{
+	euler = e;
+}
+
+void Transform::set_rotation(const Angle &angle, const Vector3 &axis)
+{
+	euler = from_matrix(Matrix::rotation(angle, axis)).euler;
+}
+
+void Transform::set_scale(float s)
+{
+	set_scale(Vector3(s, s, s));
+}
+
+void Transform::set_scale(const Vector3 &s)
+{
+	scale = s;
+}
+
+Matrix Transform::to_matrix() const
+{
+	Matrix result;
+	result.translate(position);
+	result.rotate(euler.z, Vector3(0.0f, 0.0f, 1.0f));
+	result.rotate(euler.y, Vector3(0.0f, 1.0f, 0.0f));
+	result.rotate(euler.x, Vector3(1.0f, 0.0f, 0.0f));
+	result.scale(scale);
+	return result;
+}
+
+
+Transform::Loader::Loader(Transform &t):
+	DataFile::ObjectLoader<Transform>(t)
+{
+	add("position", &Loader::position);
+	add("euler", &Loader::euler);
+	add("rotation", &Loader::rotation);
+	add("scale_uniform", &Loader::scale_uniform);
+	add("scale", &Loader::scale);
+}
+
+void Transform::Loader::position(float x, float y, float z)
+{
+	obj.set_position(Vector3(x, y, z));
+}
+
+void Transform::Loader::euler(float x, float y, float z)
+{
+	obj.set_euler(AngleVector3(Angle::from_degrees(x), Angle::from_degrees(y), Angle::from_degrees(z)));
+}
+
+void Transform::Loader::rotation(float a, float x, float y, float z)
+{
+	obj.set_rotation(Angle::from_degrees(a), Vector3(x, y, z));
+}
+
+void Transform::Loader::scale_uniform(float s)
+{
+	obj.set_scale(s);
+}
+
+void Transform::Loader::scale(float x, float y, float z)
+{
+	obj.set_scale(Vector3(x, y, z));
+}
+
+} // namespace GL
+} // namespace Msp
diff --git a/source/transform.h b/source/transform.h
new file mode 100644
index 00000000..01c783bd
--- /dev/null
+++ b/source/transform.h
@@ -0,0 +1,59 @@
+#ifndef MSP_GL_TRANSFORM_H_
+#define MSP_GL_TRANSFORM_H_
+
+#include <msp/datafile/objectloader.h>
+#include "matrix.h"
+
+namespace Msp {
+namespace GL {
+
+/**
+Stores a coordinate space transform as individual components.  Primarily
+intended for loading data from external sources.  At runtime transforms
+should generally be stored as matrices.
+*/
+class Transform
+{
+public:
+	class Loader: public DataFile::ObjectLoader<Transform>
+	{
+	public:
+		Loader(Transform &);
+
+	private:
+		void position(float, float, float);
+		void euler(float, float, float);
+		void rotation(float, float, float, float);
+		void scale_uniform(float);
+		void scale(float, float, float);
+	};
+
+	typedef Geometry::Angle<float> Angle;
+	typedef LinAl::Vector<Angle, 3> AngleVector3;
+
+private:
+	Vector3 position;
+	AngleVector3 euler;
+	Vector3 scale;
+
+public:
+	Transform();
+
+	static Transform from_matrix(const Matrix &);
+
+	void set_position(const Vector3 &);
+	void set_euler(const AngleVector3 &);
+	void set_rotation(const Angle &, const Vector3 &);
+	void set_scale(float);
+	void set_scale(const Vector3 &);
+	const Vector3 &get_position() const { return position; }
+	const AngleVector3 &get_euler() const { return euler; }
+	const Vector3 &get_scale() const { return scale; }
+
+	Matrix to_matrix() const;
+};
+
+} // namespace GL
+} // namespace Msp
+
+#endif