+#define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
+
+typedef struct character_pose character_pose;
+struct character_pose
+{
+ v3f b0, b1, p, fr, fl, pl, pr, hl, hr, apl, apr, cam;
+};
+
+static character_pose pose_aero =
+{
+ .b0 = {0.0721f, 0.8167f, 0.1365f},
+ .b1 = {-0.0773f, 1.1559f, -0.1699f},
+ .p = {0.0421f, 1.1430f, 0.2803f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {-0.0605f, 0.1464f, 0.2917f},
+ .pl = {-0.1704f, 0.6889f, -0.4017f},
+ .pr = {0.0672f, 0.7598f, -0.5963f},
+ .hl = {-0.2153f, 0.7195f, -0.1345f},
+ .hr = {0.1974f, 0.7940f, -0.3522f},
+ .apl = {-0.2008f, 0.9546f, 0.3687f},
+ .apr = {0.3133f, 0.9299f, 0.0181f},
+ .cam = {-0.3394f, 1.2661f, 0.2936f}
+};
+
+static character_pose pose_slide =
+{
+ .b0 = {0.6732f, 0.5565f, -0.0000f},
+ .b1 = {0.8116f, 1.0547f, 0.0613f},
+ .p = {1.0404f, 0.7907f, 0.0186f},
+ .fr = {-0.0030f, 0.1366f, -0.4461f},
+ .fl = {-0.0030f, 0.1366f, 0.3480f},
+ .pl = {-0.0887f, 0.8229f, 0.3826f},
+ .pr = {-0.0887f, 0.8229f, -0.4621f},
+ .hl = {0.7749f, 0.5545f, 0.5310f},
+ .hr = {0.5844f, 1.2445f, -0.5456f},
+ .apl = {1.0999f, 0.5390f, 0.2398f},
+ .apr = {0.9816f, 0.9536f, -0.5463f},
+ .cam = {0.9888f, 1.4037f, 0.6081f}
+};
+
+static character_pose pose_slide1 =
+{
+ .b0 = {-0.2385f, 0.6403f, 0.1368f},
+ .b1 = {-0.5151f, 1.1351f, 0.1380f},
+ .p = {-0.1158f, 1.2118f, 0.3895f},
+ .fr = {-0.0030f, 0.1323f, -0.3190f},
+ .fl = {-0.0030f, 0.1323f, 0.5797f},
+ .pl = {-0.6568f, 0.4305f, 0.2069f},
+ .pr = {-0.6850f, 0.2740f, -0.2969f},
+ .hl = {-0.7029f, 0.6132f, 0.2972f},
+ .hr = {-0.2572f, 1.0104f, -0.4770f},
+ .apl = {-0.4808f, 0.8480f, 0.3731f},
+ .apr = {-0.0836f, 1.0480f, -0.1201f},
+ .cam = {-1.0508f, 1.0769f, 0.0528f}
+};
+
+static character_pose pose_aero_reverse =
+{
+ .b0 = {0.0616f, 0.8167f, -0.1415f},
+ .b1 = {0.0148f, 1.1559f, 0.1861f},
+ .p = {0.0558f, 1.1430f, -0.2779f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0730f, 0.1464f, 0.2917f},
+ .pl = {-0.2073f, 0.6889f, 0.3839f},
+ .pr = {-0.3584f, 0.4069f, 0.1032f},
+ .hl = {0.1567f, 0.7195f, 0.1997f},
+ .hr = {-0.3055f, 0.7940f, 0.2639f},
+ .apl = {0.3143f, 0.9546f, -0.2784f},
+ .apr = {-0.2885f, 0.9299f, -0.1236f},
+ .cam = {-0.3394f, 1.2661f, -0.2936f}
+};
+
+static character_pose pose_stand =
+{
+ .b0 = {0.1877f, 1.0663f, 0.0063f},
+ .b1 = {0.0499f, 1.5564f, -0.0584f},
+ .p = {0.5982f, 1.2810f, 0.0842f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0354f, 0.1464f, 0.2917f},
+ .pl = {-0.4325f, 0.6889f, 0.1823f},
+ .pr = {-0.4794f, 0.7598f, -0.3610f},
+ .hl = {0.0498f, 1.0058f, 0.2317f},
+ .hr = {0.0188f, 0.9786f, -0.2725f},
+ .apl = {0.2898f, 1.3453f, 0.2303f},
+ .apr = {0.5273f, 1.2876f, -0.1848f},
+ .cam = {-0.3477f, 1.5884f, -0.0019f}
+};
+
+static character_pose pose_stand_reverse =
+{
+ .b0 = {0.1624f, 1.0688f, -0.0632f},
+ .b1 = {0.0499f, 1.5564f, -0.0013f},
+ .p = {0.5423f, 1.2810f, -0.2368f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0354f, 0.1464f, 0.2917f},
+ .pl = {-0.4325f, 0.6889f, 0.4591f},
+ .pr = {-0.4794f, 0.7598f, -0.0842f},
+ .hl = {0.0498f, 1.0058f, 0.2317f},
+ .hr = {0.0188f, 0.9786f, -0.2725f},
+ .apl = {0.2898f, 1.3453f, 0.0695f},
+ .apr = {0.4715f, 1.2876f, -0.4982f},
+ .cam = {-0.3477f, 1.5884f, -0.0730f}
+};
+
+static character_pose pose_fly =
+{
+ .b0 = {0.2995f, 0.6819f, -0.1369f},
+ .b1 = {0.1618f, 1.1720f, -0.2016f},
+ .p = {0.7477f, 0.9173f, -0.1885f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0354f, 0.1464f, 0.2917f},
+ .pl = {-0.2930f, 0.4849f, 0.5307f},
+ .pr = {-0.4754f, 0.4124f, -0.4874f},
+ .hl = {0.2650f, 1.1897f, 0.4626f},
+ .hr = {0.2494f, 1.2059f, -0.7985f},
+ .apl = {0.5165f, 1.0990f, 0.1655f},
+ .apr = {0.6759f, 1.0661f, -0.6014f},
+ .cam = {-0.2727f, 1.2606f, 0.3564f}
+};
+
+static
+void character_pose_blend( struct character *ch, character_pose *pose, float q )
+{
+ v3_muladds( ch->ik_body.base, pose->b0, q, ch->ik_body.base );
+ v3_muladds( ch->ik_body.end, pose->b1, q, ch->ik_body.end );
+ v3_muladds( ch->ik_body.pole, pose->p, q, ch->ik_body.pole );
+ v3_muladds( ch->ik_leg_l.end, pose->fl, q, ch->ik_leg_l.end );
+ v3_muladds( ch->ik_leg_l.pole, pose->pl, q, ch->ik_leg_l.pole );
+ v3_muladds( ch->ik_leg_r.end, pose->fr, q, ch->ik_leg_r.end );
+ v3_muladds( ch->ik_leg_r.pole, pose->pr, q, ch->ik_leg_r.pole );
+ v3_muladds( ch->ik_arm_l.pole, pose->apl, q, ch->ik_arm_l.pole );
+ v3_muladds( ch->ik_arm_r.pole, pose->apr, q, ch->ik_arm_r.pole );
+ v3_muladds( ch->ik_arm_l.end, pose->hl, q, ch->ik_arm_l.end );
+ v3_muladds( ch->ik_arm_r.end, pose->hr, q, ch->ik_arm_r.end );
+ v3_muladds( ch->cam_pos, pose->cam, q, ch->cam_pos );
+}
+
+#if 1
+static
+void character_final_pose( struct character *ch, v3f cog,
+ character_pose *pose, float q )
+{
+ character_pose npose;
+ float dip = vg_clampf(cog[1], -1.0f, 0.3f) * 0.5f,
+ tilt = vg_clampf(cog[2], -1.0f, 1.0f) * 0.3f;
+
+ v4f rz; m4x3f tr;
+ q_axis_angle( rz, (v3f){0.0f,0.0f,1.0f}, -cog[0]*0.3f );
+ q_m3x3( rz, tr );
+ m3x3_identity( tr );
+ //v3_copy( (v3f){0.0f,dip,tilt}, tr[3] );
+ v3_copy( cog, tr[3] );
+
+ v3_muladd( pose->b0, tr[3], (v3f){0.85f,1.0f,1.0f}, npose.b0 );
+ //m4x3_mulv( tr, pose->b0, npose.b0 );
+ m4x3_mulv( tr, pose->b1, npose.b1 );
+ m4x3_mulv( tr, pose->p, npose.p );
+ m4x3_mulv( tr, pose->pl, npose.pl );
+ m4x3_mulv( tr, pose->pr, npose.pr );
+ m4x3_mulv( tr, pose->hl, npose.hl );
+ m4x3_mulv( tr, pose->hr, npose.hr );
+ m4x3_mulv( tr, pose->apl, npose.apl );
+ m4x3_mulv( tr, pose->apr, npose.apr );
+
+ v3_copy( pose->fr, npose.fr );
+ v3_copy( pose->fl, npose.fl );
+ v3_copy( pose->cam, npose.cam );
+
+ character_pose_blend( ch, &npose, q );
+}
+#else
+static
+void character_final_pose( struct character *ch, v4f rot,
+ character_pose *pose, float q )
+{
+ character_pose npose;
+
+ m4x3f tr;
+ q_m3x3( rot, tr );
+ v3_zero( tr[3] );
+
+ m4x3_mulv( tr, pose->b0, npose.b0 );
+ m4x3_mulv( tr, pose->b1, npose.b1 );
+ m4x3_mulv( tr, pose->p, npose.p );
+ m4x3_mulv( tr, pose->pl, npose.pl );
+ m4x3_mulv( tr, pose->pr, npose.pr );
+ m4x3_mulv( tr, pose->hl, npose.hl );
+ m4x3_mulv( tr, pose->hr, npose.hr );
+ m4x3_mulv( tr, pose->apl, npose.apl );
+ m4x3_mulv( tr, pose->apr, npose.apr );
+
+ v3_copy( pose->fr, npose.fr );
+ v3_copy( pose->fl, npose.fl );
+ v3_copy( pose->cam, npose.cam );
+
+ character_pose_blend( ch, &npose, q );
+}
+#endif
+
+static void character_yaw_upper( struct character *ch, float yaw )
+{
+ m3x3f r;
+ v4f q;
+
+ q_axis_angle( q, (v3f){0.0f,1.0f,0.0f}, yaw );
+ q_m3x3( q, r );
+
+ m3x3_mulv( r, ch->ik_body.pole, ch->ik_body.pole );
+ m3x3_mulv( r, ch->ik_body.end, ch->ik_body.end );
+}
+
+static void zero_ik_basic( struct ik_basic *ik )
+{
+ v3_zero( ik->base );
+ v3_zero( ik->end );
+ v3_zero( ik->pole );
+}
+
+static void character_pose_reset( struct character *ch )
+{
+ zero_ik_basic( &ch->ik_body );
+ zero_ik_basic( &ch->ik_leg_l );
+ zero_ik_basic( &ch->ik_leg_r );
+ zero_ik_basic( &ch->ik_arm_l );
+ zero_ik_basic( &ch->ik_arm_r );
+ v3_zero( ch->cam_pos );
+}
+