fteqw/engine/client/pr_skelobj.c

/*
Copyright (C) 2011 Id Software, Inc.

This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.

*/
/*
this file deals with qc builtins to apply custom skeletal blending (skeletal objects extension), as well as the logic required to perform realtime ragdoll, if I ever implement that.
*/

#include "quakedef.h"

#if defined(CSQC_DAT) || !defined(CLIENTONLY)
#define RAGDOLL

#include "pr_common.h"
#include "com_mesh.h"

#define MAX_SKEL_OBJECTS 1024

#ifdef RAGDOLL
/*this is the description of the ragdoll, it is how the doll flops around*/
typedef struct doll_s
{
	char *name;
	model_t *model;
	struct doll_s *next;

	int numbodies;
	int numjoints;
	struct
	{
		int bone;
		char *name;
	} body[32];
	struct
	{
		int type;
		int body[2];
	} joint[32];
} doll_t;

enum
{
	BF_ACTIVE, /*used to avoid traces if doll is stationary*/
	BF_INSOLID
};
typedef struct
{
	int jointo;	/*multiple of 12*/
	int flags;
	vec3_t vel;
} body_t;
#endif

/*this is the skeletal object*/
typedef struct skelobject_s
{
	int inuse;

	model_t *model;
	world_t *world; /*be it ssqc or csqc*/
	enum
	{
		SKOT_RELATIVE,
		SKOT_ABSOLUTE
	} type;

	unsigned int numbones;
	float *bonematrix;

#ifdef RAGDOLL
	struct skelobject_s *animsource;
	unsigned int numbodies;
	body_t *body;
	doll_t *doll;
#endif
} skelobject_t;

static doll_t *dolllist;
static skelobject_t skelobjects[MAX_SKEL_OBJECTS];
static int numskelobjectsused;

static void bonemat_fromidentity(float *out)
{
	out[0] = 1;
	out[1] = 0;
	out[2] = 0;
	out[3] = 0;

	out[4] = 0;
	out[5] = 1;
	out[6] = 0;
	out[7] = 0;

	out[8] = 0;
	out[9] = 0;
	out[10] = 1;
	out[11] = 0;
}
static void bonemat_fromqcvectors(float *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
{
	out[0] = vx[0];
	out[1] = -vy[0];
	out[2] = vz[0];
	out[3] = t[0];
	out[4] = vx[1];
	out[5] = -vy[1];
	out[6] = vz[1];
	out[7] = t[1];
	out[8] = vx[2];
	out[9] = -vy[2];
	out[10] = vz[2];
	out[11] = t[2];
}
static void bonemat_fromentity(world_t *w, wedict_t *ed, float *trans)
{
	vec3_t d[3], a;
	model_t *mod;
	mod = w->Get_CModel(w, ed->v->modelindex);
	if (!mod || mod->type == mod_alias)
		a[0] = -ed->v->angles[0];
	else
		a[0] = ed->v->angles[0];
	a[1] = ed->v->angles[1];
	a[2] = ed->v->angles[2];
	AngleVectors(a, d[0], d[1], d[2]);
	bonemat_fromqcvectors(trans, d[0], d[1], d[2], ed->v->origin);
}
static void bonemat_toqcvectors(const float *in, float vx[3], float vy[3], float vz[3], float t[3])
{
	vx[0] = in[0];
	vx[1] = in[4];
	vx[2] = in[8];
	vy[0] = -in[1];
	vy[1] = -in[5];
	vy[2] = -in[9];
	vz[0] = in[2];
	vz[1] = in[6];
	vz[2] = in[10];
	t [0] = in[3];
	t [1] = in[7];
	t [2] = in[11];
}

static void bonematident_toqcvectors(float vx[3], float vy[3], float vz[3], float t[3])
{
	vx[0] = 1;
	vx[1] = 0;
	vx[2] = 0;
	vy[0] = -0;
	vy[1] = -1;
	vy[2] = -0;
	vz[0] = 0;
	vz[1] = 0;
	vz[2] = 1;
	t [0] = 0;
	t [1] = 0;
	t [2] = 0;
}


static qboolean pendingkill; /*states that there is a skel waiting to be killed*/
#ifdef RAGDOLL
doll_t *rag_loaddoll(model_t *mod, char *fname)
{
	doll_t *d;
	void *fptr = NULL;
	char *file;
	int fsize;
	int i, j;

	for (d = dolllist; d; d = d->next)
	{
		if (d->model == mod)
			if (!strcmp(d->name, fname))
				return d;
	}

	fsize = FS_LoadFile(fname, &fptr);
	if (!fptr)
		return NULL;
	d = malloc(sizeof(*d));
	d->next = dolllist;
	dolllist = d;
	d->name = strdup(fname);
	d->model = mod;
	d->numbodies = 0;
	d->numjoints = 0;
	file = fptr;
	while(file)
	{
		file = COM_Parse(file);
		if (!strcmp(com_token, "body"))
		{
			file = COM_Parse(file);
			d->body[d->numbodies].name = strdup(com_token);
			file = COM_Parse(file);
			d->body[d->numbodies].bone = Mod_TagNumForName(d->model, com_token);
			d->numbodies++;
		}
		else if (!strcmp(com_token, "joint"))
		{
			for (i = 0; i < 2; i++)
			{
				file = COM_Parse(file);
				d->joint[d->numjoints].body[i] = 0;
				for (j = 0; j < d->numbodies; j++)
				{
					if (!strcmp(d->body[j].name, com_token))
					{
						d->joint[d->numjoints].body[i] = j;
						break;
					}
				}
			}
			d->numjoints++;
		}
	}
	FS_FreeFile(fptr);
	return d;
}

void skel_integrate(progfuncs_t *prinst, skelobject_t *sko, skelobject_t *skelobjsrc, float ft, float mmat[12])
{
	trace_t t;
	vec3_t npos, opos, wnpos, wopos;
	vec3_t move;
	float wantmat[12];
	world_t *w = prinst->parms->user;
	body_t *b;
	float gravity = 800;
	int bone, bno;
	int boffs;
	galiasbone_t *boneinfo = Mod_GetBoneInfo(sko->model);
	if (!boneinfo)
		return;

	for (bone = 0, bno = 0, b = sko->body; bone < sko->numbones; bone++)
	{
		boffs = bone*12;
		/*if this bone is positioned using a physical body...*/
		if (bno < sko->numbodies && b->jointo == boffs)
		{
			if (skelobjsrc)
			{
				/*attempt to move to target*/
				if (boneinfo[bone].parent >= 0)
				{
					Matrix3x4_Multiply(skelobjsrc->bonematrix+boffs, sko->bonematrix+12*boneinfo[bone].parent, wantmat);
				}
				else
				{
					Vector4Copy(skelobjsrc->bonematrix+boffs+0, wantmat+0);
					Vector4Copy(skelobjsrc->bonematrix+boffs+4, wantmat+4);
					Vector4Copy(skelobjsrc->bonematrix+boffs+8, wantmat+8);
				}
				b->vel[0] = (wantmat[3 ] - sko->bonematrix[b->jointo + 3 ])/ft;
				b->vel[1] = (wantmat[7 ] - sko->bonematrix[b->jointo + 7 ])/ft;
				b->vel[2] = (wantmat[11] - sko->bonematrix[b->jointo + 11])/ft;
			}
			else
			{
				/*handle gravity*/
				b->vel[2] = b->vel[2] - gravity * ft / 2;
			}

			VectorScale(b->vel, ft, move);

			opos[0] = sko->bonematrix[b->jointo + 3 ];
			opos[1] = sko->bonematrix[b->jointo + 7 ];
			opos[2] = sko->bonematrix[b->jointo + 11];
			npos[0] = opos[0] + move[0];
			npos[1] = opos[1] + move[1];
			npos[2] = opos[2] + move[2];

			Matrix3x4_RM_Transform3(mmat, opos, wopos);
			Matrix3x4_RM_Transform3(mmat, npos, wnpos);

			t = World_Move(w, wopos, vec3_origin, vec3_origin, wnpos, MOVE_NOMONSTERS, w->edicts);
			if (t.startsolid)
				t.fraction = 1;
			else if (t.fraction < 1)
			{
				/*clip the velocity*/
				float backoff = -DotProduct (b->vel, t.plane.normal) * 1.9; /*teehee, bouncy corpses*/
				VectorMA(b->vel, backoff, t.plane.normal, b->vel);
			}
			if (skelobjsrc)
			{
				VectorCopy(wantmat+0, sko->bonematrix+b->jointo+0);
				VectorCopy(wantmat+4, sko->bonematrix+b->jointo+4);
				VectorCopy(wantmat+8, sko->bonematrix+b->jointo+8);
			}

			sko->bonematrix[b->jointo + 3 ] += move[0] * t.fraction;
			sko->bonematrix[b->jointo + 7 ] += move[1] * t.fraction;
			sko->bonematrix[b->jointo + 11] += move[2] * t.fraction;

			if (!skelobjsrc)
				b->vel[2] = b->vel[2] - gravity * ft / 2;

			b++;
			bno++;
		}
		else if (skelobjsrc)
		{
			/*directly copy animation skeleton*/
			if (boneinfo[bone].parent >= 0)
			{
				Matrix3x4_Multiply(skelobjsrc->bonematrix+boffs, sko->bonematrix+12*boneinfo[bone].parent, sko->bonematrix+boffs);
			}
			else
			{
				Vector4Copy(skelobjsrc->bonematrix+boffs+0, sko->bonematrix+boffs+0);
				Vector4Copy(skelobjsrc->bonematrix+boffs+4, sko->bonematrix+boffs+4);
				Vector4Copy(skelobjsrc->bonematrix+boffs+8, sko->bonematrix+boffs+8);
			}
		}
		else
		{
			/*retain the old relation*/
			/*FIXME*/
		}
	}

	/*debugging*/
#if 0
	/*draw points*/
	for (bone = 0; p < sko->numbones; bone++)
	{
		opos[0] = sko->bonematrix[bone*12 + 3 ];
		opos[1] = sko->bonematrix[bone*12 + 7 ];
		opos[2] = sko->bonematrix[bone*12 + 11];
		Matrix3x4_RM_Transform3(mmat, opos, wopos);
		P_RunParticleEffectTypeString(wopos, vec3_origin, 1, "ragdolltest");
	}
#endif
}
#endif

/*destroys all skeletons*/
void skel_reset(progfuncs_t *prinst)
{
	while (numskelobjectsused > 0)
	{
		numskelobjectsused--;
		skelobjects[numskelobjectsused].numbones = 0;
		skelobjects[numskelobjectsused].inuse = false;
	}
}

/*deletes any skeletons marked for deletion*/
void skel_dodelete(progfuncs_t *prinst)
{
	int skelidx;
	if (!pendingkill)
		return;

	pendingkill = false;
	for (skelidx = 0; skelidx < numskelobjectsused; skelidx++)
	{
		if (skelobjects[skelidx].inuse == 2)
			skelobjects[skelidx].inuse = 0;
	}

	while (numskelobjectsused && !skelobjects[numskelobjectsused-1].inuse)
		numskelobjectsused--;
}

skelobject_t *skel_get(progfuncs_t *prinst, int skelidx, int bonecount)
{
	if (skelidx == 0)
	{
		//allocation
		if (!bonecount)
			return NULL;

		for (skelidx = 0; skelidx < numskelobjectsused; skelidx++)
		{
			if (!skelobjects[skelidx].inuse && skelobjects[skelidx].numbones == bonecount)
				return &skelobjects[skelidx];
		}

		for (skelidx = 0; skelidx <= numskelobjectsused; skelidx++)
		{
			if (!skelobjects[skelidx].inuse && !skelobjects[skelidx].numbones)
			{
				skelobjects[skelidx].numbones = bonecount;
				/*so bone matrix list can be mmapped some day*/
				skelobjects[skelidx].bonematrix = (float*)PR_AddString(prinst, "", sizeof(float)*12*bonecount);
				skelobjects[skelidx].world = prinst->parms->user;
				if (skelidx <= numskelobjectsused)
				{
					numskelobjectsused = skelidx + 1;
					skelobjects[skelidx].model = NULL;
					skelobjects[skelidx].inuse = 1;
				}
				return &skelobjects[skelidx];
			}
		}

		return NULL;
	}
	else
	{
		skelidx--;
		if ((unsigned int)skelidx >= numskelobjectsused)
			return NULL;
		if (skelobjects[skelidx].inuse != 1)
			return NULL;
		if (bonecount && skelobjects[skelidx].numbones != bonecount)
			return NULL;
		return &skelobjects[skelidx];
	}
}

void skel_lookup(progfuncs_t *prinst, int skelidx, framestate_t *out)
{
	skelobject_t *sko = skel_get(prinst, skelidx, 0);
	if (sko && sko->inuse)
	{
		out->boneabs = sko->type;
		out->bonecount = sko->numbones;
		out->bonestate = sko->bonematrix;
	}
}

void QCBUILTIN PF_skel_mmap(progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	int skelidx = G_FLOAT(OFS_PARM0);
	skelobject_t *sko = skel_get(prinst, skelidx, 0);
	if (!sko || sko->world != prinst->parms->user)
		G_INT(OFS_RETURN) = 0;
	else
		G_INT(OFS_RETURN) = PR_SetString(prinst, (void*)sko->bonematrix);
}

void QCBUILTIN PF_skel_ragedit(progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
#ifdef RAGDOLL
	int skelidx = G_FLOAT(OFS_PARM0);
	char *skelname = PR_GetStringOfs(prinst, OFS_PARM1);
	int parentskel = G_FLOAT(OFS_PARM2);
	float *entorg = G_VECTOR(OFS_PARM3);
	float *forward = G_VECTOR(OFS_PARM4);
	float *right = G_VECTOR(OFS_PARM5);
	float *up = G_VECTOR(OFS_PARM6);
	skelobject_t *sko, *psko;
	doll_t *doll;
	int i;
	float emat[12];

	bonemat_fromqcvectors(emat, forward, right, up, entorg);

	G_FLOAT(OFS_RETURN) = 0;

	sko = skel_get(prinst, skelidx, 0);
	if (!sko)
		return;

	if (*skelname)
	{
		doll = rag_loaddoll(sko->model, skelname);
		if (!doll)
			return;
	}
	else
	{
		/*no doll name makes it revert to a normal skeleton*/
		sko->doll = NULL;
		G_FLOAT(OFS_RETURN) = 1;
		return;
	}

	if (sko->doll != doll)
	{
		sko->doll = doll;
		free(sko->body);
		sko->numbodies = doll->numbodies;
		sko->body = malloc(sko->numbodies * sizeof(*sko->body));
		memset(sko->body, 0, sko->numbodies * sizeof(*sko->body));
		for (i = 0; i < sko->numbodies; i++)
			sko->body[i].jointo = doll->body[i].bone * 12;
	}

	psko = skel_get(prinst, parentskel, 0);
	skel_integrate(prinst, sko, psko, host_frametime, emat);

	G_FLOAT(OFS_RETURN) = 1;
#endif
}

//float(float modelindex) skel_create (FTE_CSQC_SKELETONOBJECTS)
void QCBUILTIN PF_skel_create (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;

	int numbones;
	skelobject_t *skelobj;
	model_t *model;
	int midx;
	int type;

	midx = G_FLOAT(OFS_PARM0);
	type = (*prinst->callargc > 1)?G_FLOAT(OFS_PARM1):SKOT_RELATIVE;

	//default to failure
	G_FLOAT(OFS_RETURN) = 0;

	model = w->Get_CModel(w, midx);
	if (!model)
		return; //no model set, can't get a skeleton

	numbones = Mod_GetNumBones(model, type != SKOT_RELATIVE);
	if (!numbones)
	{
//		isabs = true;
//		numbones = Mod_GetNumBones(model, isabs);
//		if (!numbones)
			return;	//this isn't a skeletal model.
	}

	skelobj = skel_get(prinst, 0, numbones);
	if (!skelobj)
		return;	//couldn't get one, ran out of memory or something?

	skelobj->model = model;
	skelobj->type = type;

	G_FLOAT(OFS_RETURN) = (skelobj - skelobjects) + 1;
}

//float(float skel, entity ent, float modelindex, float retainfrac, float firstbone, float lastbone) skel_build (FTE_CSQC_SKELETONOBJECTS)
void QCBUILTIN PF_skel_build(progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	int skelidx = G_FLOAT(OFS_PARM0);
	wedict_t *ent = (wedict_t*)G_EDICT(prinst, OFS_PARM1);
	int midx = G_FLOAT(OFS_PARM2);
	float retainfrac = G_FLOAT(OFS_PARM3);
	int firstbone = G_FLOAT(OFS_PARM4)-1;
	int lastbone = G_FLOAT(OFS_PARM5)-1;
	float addition = (*prinst->callargc>6)?G_FLOAT(OFS_PARM6):1-retainfrac;

	int i, j;
	int numbones;
	framestate_t fstate;
	skelobject_t *skelobj;
	model_t *model;

	//default to failure
	G_FLOAT(OFS_RETURN) = 0;

	model = w->Get_CModel(w, midx);
	if (!model)
		return; //invalid model, can't get a skeleton

	w->Get_FrameState(w, ent, &fstate);

	//heh... don't copy.
	fstate.bonecount = 0;
	fstate.bonestate = NULL;

	numbones = Mod_GetNumBones(model, false);
	if (!numbones)
	{
		return;	//this isn't a skeletal model.
	}

	skelobj = skel_get(prinst, skelidx, 0);
	if (!skelobj)
		return;	//couldn't get one, ran out of memory or something?

	if (lastbone < 0)
		lastbone = numbones;
	if (lastbone > numbones)
		lastbone = numbones;
	if (firstbone < 0)
		firstbone = 0;

	if (retainfrac == 0)
	{
		/*replace everything*/
		if (addition == 1)
			Mod_GetBoneRelations(model, firstbone, lastbone, &fstate, skelobj->bonematrix);
		else
		{
			//scale new
			float relationsbuf[MAX_BONES*12];
			Mod_GetBoneRelations(model, firstbone, lastbone, &fstate, relationsbuf);
			for (i = firstbone; i < lastbone; i++)
			{
				for (j = 0; j < 12; j++)
					skelobj->bonematrix[i*12+j] = addition*relationsbuf[i*12+j];
			}
		}
	}
	else
	{
		if (retainfrac != 1)
		{
			//rescale the existing bones
			for (i = firstbone; i < lastbone; i++)
			{
				for (j = 0; j < 12; j++)
					skelobj->bonematrix[i*12+j] *= retainfrac;
			}
		}
		if (addition == 1)
		{
			//just add
			float relationsbuf[MAX_BONES*12];
			Mod_GetBoneRelations(model, firstbone, lastbone, &fstate, relationsbuf);
			for (i = firstbone; i < lastbone; i++)
			{
				for (j = 0; j < 12; j++)
					skelobj->bonematrix[i*12+j] += relationsbuf[i*12+j];
			}
		}
		else if (addition)
		{
			//add+scale
			float relationsbuf[MAX_BONES*12];
			Mod_GetBoneRelations(model, firstbone, lastbone, &fstate, relationsbuf);
			for (i = firstbone; i < lastbone; i++)
			{
				for (j = 0; j < 12; j++)
					skelobj->bonematrix[i*12+j] += addition*relationsbuf[i*12+j];
			}
		}
	}

	G_FLOAT(OFS_RETURN) = (skelobj - skelobjects) + 1;
}

//float(float skel) skel_get_numbones (FTE_CSQC_SKELETONOBJECTS)
void QCBUILTIN PF_skel_get_numbones (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	int skelidx = G_FLOAT(OFS_PARM0);
	skelobject_t *skelobj;

	skelobj = skel_get(prinst, skelidx, 0);

	if (!skelobj)
		G_FLOAT(OFS_RETURN) = 0;
	else
		G_FLOAT(OFS_RETURN) = skelobj->numbones;
}

//string(float skel, float bonenum) skel_get_bonename (FTE_CSQC_SKELETONOBJECTS) (returns tempstring)
void QCBUILTIN PF_skel_get_bonename (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	int skelidx = G_FLOAT(OFS_PARM0);
	int boneidx = G_FLOAT(OFS_PARM1);
	skelobject_t *skelobj;

	skelobj = skel_get(prinst, skelidx, 0);

	if (!skelobj)
		G_INT(OFS_RETURN) = 0;
	else
	{
		RETURN_TSTRING(Mod_GetBoneName(skelobj->model, boneidx));
	}
}

//float(float skel, float bonenum) skel_get_boneparent (FTE_CSQC_SKELETONOBJECTS)
void QCBUILTIN PF_skel_get_boneparent (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	int skelidx = G_FLOAT(OFS_PARM0);
	int boneidx = G_FLOAT(OFS_PARM1);
	skelobject_t *skelobj;

	skelobj = skel_get(prinst, skelidx, 0);

	if (!skelobj)
		G_FLOAT(OFS_RETURN) = 0;
	else
		G_FLOAT(OFS_RETURN) = Mod_GetBoneParent(skelobj->model, boneidx);
}

//float(float skel, string tagname) skel_find_bone (FTE_CSQC_SKELETONOBJECTS)
void QCBUILTIN PF_skel_find_bone (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	int skelidx = G_FLOAT(OFS_PARM0);
	char *bname = PR_GetStringOfs(prinst, OFS_PARM1);
	skelobject_t *skelobj;

	skelobj = skel_get(prinst, skelidx, 0);
	if (!skelobj)
		G_FLOAT(OFS_RETURN) = 0;
	else
		G_FLOAT(OFS_RETURN) = Mod_TagNumForName(skelobj->model, bname);
}

//vector(float skel, float bonenum) skel_get_bonerel (FTE_CSQC_SKELETONOBJECTS) (sets v_forward etc)
void QCBUILTIN PF_skel_get_bonerel (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	int skelidx = G_FLOAT(OFS_PARM0);
	int boneidx = G_FLOAT(OFS_PARM1)-1;
	skelobject_t *skelobj = skel_get(prinst, skelidx, 0);
	if (!skelobj || (unsigned int)boneidx >= skelobj->numbones)
		bonematident_toqcvectors(w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_RETURN));
	else if (skelobj->type!=SKOT_RELATIVE)
	{
		float tmp[12];
		float invparent[12];
		int parent;
		/*invert the parent, multiply that against the child, we now know the transform required to go from parent to child. woo.*/
		parent = Mod_GetBoneParent(skelobj->model, boneidx+1)-1;
		Matrix3x4_Invert(skelobj->bonematrix+12*parent, invparent);
		Matrix3x4_Multiply(invparent, skelobj->bonematrix+12*boneidx, tmp);
		bonemat_toqcvectors(tmp, w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_RETURN));
	}
	else
		bonemat_toqcvectors(skelobj->bonematrix+12*boneidx, w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_RETURN));
}

//vector(float skel, float bonenum) skel_get_boneabs (FTE_CSQC_SKELETONOBJECTS) (sets v_forward etc)
void QCBUILTIN PF_skel_get_boneabs (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	int skelidx = G_FLOAT(OFS_PARM0);
	int boneidx = G_FLOAT(OFS_PARM1)-1;
	float workingm[12], tempmatrix[3][4];
	int i;
	skelobject_t *skelobj = skel_get(prinst, skelidx, 0);

	if (!skelobj || (unsigned int)boneidx >= skelobj->numbones)
		bonematident_toqcvectors(w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_RETURN));
	else if (skelobj->type != SKOT_RELATIVE)
	{
		//can just copy it out
		bonemat_toqcvectors(skelobj->bonematrix + boneidx*12, w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_RETURN));
	}
	else
	{
		//we need to work out the abs position

		//testme

		//set up an identity matrix
		for (i = 0;i < 12;i++)
			workingm[i] = 0;
		workingm[0] = 1;
		workingm[5] = 1;
		workingm[10] = 1;

		while(boneidx >= 0)
		{
			//copy out the previous working matrix, so we don't stomp on it
			memcpy(tempmatrix, workingm, sizeof(tempmatrix));
			R_ConcatTransforms((void*)(skelobj->bonematrix + boneidx*12), (void*)tempmatrix, (void*)workingm);

			boneidx = Mod_GetBoneParent(skelobj->model, boneidx+1)-1;
		}
		bonemat_toqcvectors(workingm, w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_RETURN));
	}
}

//void(entity ent, float bonenum, vector org, optional fwd, right, up) skel_set_bone_world (FTE_CSQC_SKELETONOBJECTS2) (reads v_forward etc)
void QCBUILTIN PF_skel_set_bone_world (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	wedict_t *ent = G_WEDICT(prinst, OFS_PARM0);
	unsigned int boneidx = G_FLOAT(OFS_PARM1)-1;
	float *matrix[3];
	skelobject_t *skelobj;
	float *bone;
	float childworld[12], parentinv[12];

	/*sort out the parameters*/
	if (*prinst->callargc == 4)
	{
		vec3_t d[3], a;
		a[0] = G_VECTOR(OFS_PARM3)[0] * -1; /*mod_alias bug*/
		a[1] = G_VECTOR(OFS_PARM3)[1];
		a[2] = G_VECTOR(OFS_PARM3)[2];
		AngleVectors(a, d[0], d[1], d[2]);
		bonemat_fromqcvectors(childworld, d[0], d[1], d[2], G_VECTOR(OFS_PARM2));
	}
	else
	{
		if (*prinst->callargc > 5)
		{
			matrix[0] = G_VECTOR(OFS_PARM3);
			matrix[1] = G_VECTOR(OFS_PARM4);
			matrix[2] = G_VECTOR(OFS_PARM5);
		}
		else
		{
			matrix[0] = w->g.v_forward;
			matrix[1] = w->g.v_right;
			matrix[2] = w->g.v_up;
		}
		bonemat_fromqcvectors(childworld, matrix[0], matrix[1], matrix[2], G_VECTOR(OFS_PARM2));
	}

	/*make sure the skeletal object is correct*/
	skelobj = skel_get(prinst, ent->xv->skeletonindex, 0);
	if (!skelobj || boneidx >= skelobj->numbones)
		return;

	/*get the inverse of the parent matrix*/
	{
		float parentabs[12];
		float parentw[12];
		float parentent[12];
		framestate_t fstate;
		w->Get_FrameState(w, ent, &fstate);
		if (skelobj->type == SKOT_ABSOLUTE || !Mod_GetTag(skelobj->model, Mod_GetBoneParent(skelobj->model, boneidx+1), &fstate, parentabs))
		{
			bonemat_fromentity(w, ent, parentw);
		}
		else
		{
			bonemat_fromentity(w, ent, parentent);
			Matrix3x4_Multiply(parentabs, parentent, parentw);
		}
		Matrix3x4_Invert(parentw, parentinv);
	}

	/*calc the result*/
	bone = skelobj->bonematrix+12*boneidx;
	Matrix3x4_Multiply(childworld, parentinv, bone);
}

//void(float skel, float bonenum, vector org) skel_set_bone (FTE_CSQC_SKELETONOBJECTS) (reads v_forward etc)
void QCBUILTIN PF_skel_set_bone (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	int skelidx = G_FLOAT(OFS_PARM0);
	unsigned int boneidx = G_FLOAT(OFS_PARM1)-1;
	float *matrix[3];
	skelobject_t *skelobj;
	float *bone;

	if (*prinst->callargc > 5)
	{
		matrix[0] = G_VECTOR(OFS_PARM3);
		matrix[1] = G_VECTOR(OFS_PARM4);
		matrix[2] = G_VECTOR(OFS_PARM5);
	}
	else
	{
		matrix[0] = w->g.v_forward;
		matrix[1] = w->g.v_right;
		matrix[2] = w->g.v_up;
	}

	skelobj = skel_get(prinst, skelidx, 0);
	if (!skelobj || boneidx >= skelobj->numbones)
		return;

	bone = skelobj->bonematrix+12*boneidx;
	bonemat_fromqcvectors(bone, matrix[0], matrix[1], matrix[2], G_VECTOR(OFS_PARM2));
}

//void(float skel, float bonenum, vector org [, vector fwd, vector right, vector up]) skel_mul_bone (FTE_CSQC_SKELETONOBJECTS) (reads v_forward etc)
void QCBUILTIN PF_skel_mul_bone (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	int skelidx = G_FLOAT(OFS_PARM0);
	int boneidx = G_FLOAT(OFS_PARM1)-1;
	float temp[3][4];
	float mult[3][4];
	skelobject_t *skelobj;
	if (*prinst->callargc > 5)
		bonemat_fromqcvectors((float*)mult, G_VECTOR(OFS_PARM3), G_VECTOR(OFS_PARM4), G_VECTOR(OFS_PARM5), G_VECTOR(OFS_PARM2));
	else
		bonemat_fromqcvectors((float*)mult, w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_PARM2));

	skelobj = skel_get(prinst, skelidx, 0);
	if (!skelobj || boneidx >= skelobj->numbones)
		return;
//testme
	Vector4Copy(skelobj->bonematrix+12*boneidx+0, temp[0]);
	Vector4Copy(skelobj->bonematrix+12*boneidx+4, temp[1]);
	Vector4Copy(skelobj->bonematrix+12*boneidx+8, temp[2]);
	R_ConcatTransforms(mult, temp, (float(*)[4])(skelobj->bonematrix+12*boneidx));
}

//void(float skel, float startbone, float endbone, vector org) skel_mul_bone (FTE_CSQC_SKELETONOBJECTS) (reads v_forward etc)
void QCBUILTIN PF_skel_mul_bones (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	int skelidx = G_FLOAT(OFS_PARM0);
	unsigned int startbone = G_FLOAT(OFS_PARM1)-1;
	unsigned int endbone = G_FLOAT(OFS_PARM2)-1;
	float temp[3][4];
	float mult[3][4];
	skelobject_t *skelobj;
	if (*prinst->callargc > 6)
		bonemat_fromqcvectors((float*)mult, G_VECTOR(OFS_PARM4), G_VECTOR(OFS_PARM5), G_VECTOR(OFS_PARM6), G_VECTOR(OFS_PARM3));
	else
		bonemat_fromqcvectors((float*)mult, w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_PARM3));

	skelobj = skel_get(prinst, skelidx, 0);
	if (!skelobj)
		return;

	if (startbone == -1)
		startbone = 0;
	if (endbone == -1)
		endbone = skelobj->numbones;
	else if (endbone > skelobj->numbones)
		endbone = skelobj->numbones;

	while(startbone < endbone)
	{
		Vector4Copy(skelobj->bonematrix+12*startbone+0, temp[0]);
		Vector4Copy(skelobj->bonematrix+12*startbone+4, temp[1]);
		Vector4Copy(skelobj->bonematrix+12*startbone+8, temp[2]);
		R_ConcatTransforms(mult, temp, (float(*)[4])(skelobj->bonematrix+12*startbone));

		startbone++;
	}
}

//void(float skeldst, float skelsrc, float startbone, float entbone) skel_copybones (FTE_CSQC_SKELETONOBJECTS)
void QCBUILTIN PF_skel_copybones (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	int skeldst = G_FLOAT(OFS_PARM0);
	int skelsrc = G_FLOAT(OFS_PARM1);
	int startbone = G_FLOAT(OFS_PARM2)-1;
	int endbone = G_FLOAT(OFS_PARM3)-1;

	skelobject_t *skelobjdst;
	skelobject_t *skelobjsrc;

	skelobjdst = skel_get(prinst, skeldst, 0);
	skelobjsrc = skel_get(prinst, skelsrc, 0);
	if (!skelobjdst || !skelobjsrc)
		return;
	if (startbone == -1)
		startbone = 0;
	if (endbone == -1)
		endbone = skelobjdst->numbones;
	if (endbone > skelobjdst->numbones)
		endbone = skelobjdst->numbones;
	if (endbone > skelobjsrc->numbones)
		endbone = skelobjsrc->numbones;

	if (skelobjsrc->type == skelobjdst->type)
	{
		while(startbone < endbone)
		{
			Vector4Copy(skelobjsrc->bonematrix+12*startbone+0, skelobjdst->bonematrix+12*startbone+0);
			Vector4Copy(skelobjsrc->bonematrix+12*startbone+4, skelobjdst->bonematrix+12*startbone+4);
			Vector4Copy(skelobjsrc->bonematrix+12*startbone+8, skelobjdst->bonematrix+12*startbone+8);

			startbone++;
		}
	}
	else if (skelobjsrc->type == SKOT_RELATIVE && skelobjdst->type == SKOT_ABSOLUTE)
	{
		/*copy from relative to absolute*/

		galiasbone_t *boneinfo = Mod_GetBoneInfo(skelobjsrc->model);
		if (!boneinfo)
			return;
		while(startbone < endbone)
		{
			if (boneinfo[startbone].parent >= 0)
			{
				Matrix3x4_Multiply(skelobjsrc->bonematrix+12*startbone, skelobjdst->bonematrix+12*boneinfo[startbone].parent, skelobjdst->bonematrix+12*startbone);
			}
			else
			{
				Vector4Copy(skelobjsrc->bonematrix+12*startbone+0, skelobjdst->bonematrix+12*startbone+0);
				Vector4Copy(skelobjsrc->bonematrix+12*startbone+4, skelobjdst->bonematrix+12*startbone+4);
				Vector4Copy(skelobjsrc->bonematrix+12*startbone+8, skelobjdst->bonematrix+12*startbone+8);
			}

			startbone++;
		}
	}
}

//void(float skel) skel_delete (FTE_CSQC_SKELETONOBJECTS)
void QCBUILTIN PF_skel_delete (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	int skelidx = G_FLOAT(OFS_PARM0);
	skelobject_t *skelobj;

	skelobj = skel_get(prinst, skelidx, 0);
	if (skelobj)
	{
		skelobj->inuse = 2;	//2 means don't reuse yet.
		skelobj->model = NULL;
		pendingkill = true;
	}
}

//vector(entity ent, float tag) gettaginfo (DP_MD3_TAGSINFO)
void QCBUILTIN PF_gettaginfo (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	wedict_t *ent = G_WEDICT(prinst, OFS_PARM0);
	int tagnum = G_FLOAT(OFS_PARM1);

	int modelindex = ent->v->modelindex;

	model_t *mod = w->Get_CModel(w, modelindex);

	float transent[12];
	float transforms[12];
	float result[12];

	framestate_t fstate;

	w->Get_FrameState(w, ent, &fstate);

	if (!Mod_GetTag(mod, tagnum, &fstate, transforms))
	{
		bonemat_fromidentity(transforms);
	}

	if (ent->xv->tag_entity)
	{
#ifdef warningmsg
		#pragma warningmsg("PF_gettaginfo: This function doesn't honour attachments")
#endif
		Con_Printf("bug: PF_gettaginfo doesn't support attachments\n");
	}

	bonemat_fromentity(w, ent, transent);
	R_ConcatTransforms((void*)transent, (void*)transforms, (void*)result);

	bonemat_toqcvectors(result, w->g.v_forward, w->g.v_right, w->g.v_up, G_VECTOR(OFS_RETURN));
}

//vector(entity ent, string tagname) gettagindex (DP_MD3_TAGSINFO)
void QCBUILTIN PF_gettagindex (progfuncs_t *prinst, struct globalvars_s *pr_globals)
{
	world_t *w = prinst->parms->user;
	wedict_t *ent = G_WEDICT(prinst, OFS_PARM0);
	char *tagname = PR_GetStringOfs(prinst, OFS_PARM1);
	model_t *mod = *tagname?w->Get_CModel(w, ent->v->modelindex):NULL;
	if (mod)
		G_FLOAT(OFS_RETURN) = Mod_TagNumForName(mod, tagname);
	else
		G_FLOAT(OFS_RETURN) = 0;
}
#endif