Cessen Rigging Request: "Copy Transforms" Constraint

This constraint simply copies the transformation matrix of the target, and assigns it to the owner.
This commit is contained in:
Joshua Leung 2010-01-02 04:14:17 +00:00
parent bbac520987
commit a7d268d38e
7 changed files with 220 additions and 108 deletions

@ -89,6 +89,7 @@ class DATA_PT_display(DataButtonsPanel):
def draw(self, context):
layout = self.layout
ob = context.object
arm = context.armature
wide_ui = context.region.width > narrowui
@ -108,6 +109,7 @@ class DATA_PT_display(DataButtonsPanel):
col = split.column()
col.prop(arm, "draw_group_colors", text="Colors")
col.prop(arm, "delay_deform", text="Delay Refresh")
col.prop(ob, "x_ray", text="X-Ray (Object)")
class DATA_PT_bone_groups(DataButtonsPanel):

@ -460,6 +460,12 @@ class ConstraintButtonsPanel(bpy.types.Panel):
layout.prop(con, "use_offset")
self.space_template(layout, con, wide_ui)
def COPY_TRANSFORMS(self, context, layout, con, wide_ui):
self.target_template(layout, con, wide_ui)
self.space_template(layout, con, wide_ui)
#def SCRIPT(self, context, layout, con):

@ -1690,8 +1690,8 @@ static void sizelike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *t
if (VALID_CONS_TARGET(ct)) {
float obsize[3], size[3];
mat4_to_size( size,ct->matrix);
mat4_to_size( obsize,cob->matrix);
mat4_to_size(size, ct->matrix);
mat4_to_size(obsize, cob->matrix);
if ((data->flag & SIZELIKE_X) && (obsize[0] != 0)) {
if (data->flag & SIZELIKE_OFFSET) {
@ -1735,6 +1735,58 @@ static bConstraintTypeInfo CTI_SIZELIKE = {
sizelike_evaluate /* evaluate */
};
/* ----------- Copy Transforms ------------- */
static int translike_get_tars (bConstraint *con, ListBase *list)
{
if (con && list) {
bTransLikeConstraint *data= con->data;
bConstraintTarget *ct;
/* standard target-getting macro for single-target constraints */
SINGLETARGET_GET_TARS(con, data->tar, data->subtarget, ct, list)
return 1;
}
return 0;
}
static void translike_flush_tars (bConstraint *con, ListBase *list, short nocopy)
{
if (con && list) {
bTransLikeConstraint *data= con->data;
bConstraintTarget *ct= list->first;
/* the following macro is used for all standard single-target constraints */
SINGLETARGET_FLUSH_TARS(con, data->tar, data->subtarget, ct, list, nocopy)
}
}
static void translike_evaluate (bConstraint *con, bConstraintOb *cob, ListBase *targets)
{
bConstraintTarget *ct= targets->first;
if (VALID_CONS_TARGET(ct)) {
/* just copy the entire transform matrix of the target */
copy_m4_m4(cob->matrix, ct->matrix);
}
}
static bConstraintTypeInfo CTI_TRANSLIKE = {
CONSTRAINT_TYPE_TRANSLIKE, /* type */
sizeof(bTransLikeConstraint), /* size */
"Copy Transforms", /* name */
"bTransLikeConstraint", /* struct name */
NULL, /* free data */
NULL, /* relink data */
NULL, /* copy data */
NULL, /* new data */
translike_get_tars, /* get constraint targets */
translike_flush_tars, /* flush constraint targets */
default_get_tarmat, /* get target matrix */
translike_evaluate /* evaluate */
};
/* ----------- Python Constraint -------------- */
@ -3565,6 +3617,7 @@ static void constraints_init_typeinfo () {
constraintsTypeInfo[20]= &CTI_SHRINKWRAP; /* Shrinkwrap Constraint */
constraintsTypeInfo[21]= &CTI_DAMPTRACK; /* Damped TrackTo Constraint */
constraintsTypeInfo[22]= &CTI_SPLINEIK; /* Spline IK Constraint */
constraintsTypeInfo[23]= &CTI_TRANSLIKE; /* Copy Transforms Constraint */
}
/* This function should be used for getting the appropriate type-info when only

@ -2302,6 +2302,13 @@ static void lib_link_constraints(FileData *fd, ID *id, ListBase *conlist)
data->tar = newlibadr(fd, id->lib, data->tar);
}
break;
case CONSTRAINT_TYPE_TRANSLIKE:
{
bTransLikeConstraint *data;
data= ((bTransLikeConstraint*)con->data);
data->tar = newlibadr(fd, id->lib, data->tar);
}
break;
case CONSTRAINT_TYPE_NULL:
break;
}
@ -11154,6 +11161,12 @@ static void expand_constraints(FileData *fd, Main *mainvar, ListBase *lb)
expand_doit(fd, mainvar, data->tar);
}
break;
case CONSTRAINT_TYPE_TRANSLIKE:
{
bTransLikeConstraint *data = (bTransLikeConstraint*)curcon->data;
expand_doit(fd, mainvar, data->tar);
}
break;
default:
break;
}

@ -200,6 +200,20 @@ typedef struct bLocateLikeConstraint {
char subtarget[32];
} bLocateLikeConstraint;
/* Copy Scale Constraint */
typedef struct bSizeLikeConstraint {
Object *tar;
int flag;
int reserved1;
char subtarget[32];
} bSizeLikeConstraint;
/* Copy Transform Constraint */
typedef struct bTransLikeConstraint {
Object *tar;
char subtarget[32];
} bTransLikeConstraint;
/* Floor Constraint */
typedef struct bMinMaxConstraint {
Object *tar;
@ -211,14 +225,6 @@ typedef struct bMinMaxConstraint {
char subtarget[32];
} bMinMaxConstraint;
/* Copy Scale Constraint */
typedef struct bSizeLikeConstraint {
Object *tar;
int flag;
int reserved1;
char subtarget[32];
} bSizeLikeConstraint;
/* Action Constraint */
typedef struct bActionConstraint {
Object *tar;
@ -401,6 +407,7 @@ typedef enum eBConstraint_Types {
CONSTRAINT_TYPE_SHRINKWRAP, /* shrinkwrap (loc/rot) constraint */
CONSTRAINT_TYPE_DAMPTRACK, /* New Tracking constraint that minimises twisting */
CONSTRAINT_TYPE_SPLINEIK, /* Spline-IK - Align 'n' bones to a curve */
CONSTRAINT_TYPE_TRANSLIKE, /* Copy transform matrix */
/* NOTE: no constraints are allowed to be added after this */
NUM_CONSTRAINT_TYPES

@ -167,6 +167,7 @@ extern StructRNA RNA_Controller;
extern StructRNA RNA_CopyLocationConstraint;
extern StructRNA RNA_CopyRotationConstraint;
extern StructRNA RNA_CopyScaleConstraint;
extern StructRNA RNA_CopyTransformsConstraint;
extern StructRNA RNA_Curve;
extern StructRNA RNA_CurveMap;
extern StructRNA RNA_CurveMapping;

@ -43,6 +43,7 @@ EnumPropertyItem constraint_type_items[] ={
{CONSTRAINT_TYPE_LOCLIKE, "COPY_LOCATION", ICON_CONSTRAINT_DATA, "Copy Location", ""},
{CONSTRAINT_TYPE_ROTLIKE, "COPY_ROTATION", ICON_CONSTRAINT_DATA, "Copy Rotation", ""},
{CONSTRAINT_TYPE_SIZELIKE, "COPY_SCALE", ICON_CONSTRAINT_DATA, "Copy Scale", ""},
{CONSTRAINT_TYPE_TRANSLIKE, "COPY_TRANSFORMS", ICON_CONSTRAINT_DATA, "Copy Transforms", ""},
{CONSTRAINT_TYPE_DISTLIMIT, "LIMIT_DISTANCE", ICON_CONSTRAINT_DATA, "Limit Distance", ""},
{CONSTRAINT_TYPE_LOCLIMIT, "LIMIT_LOCATION", ICON_CONSTRAINT_DATA, "Limit Location", ""},
{CONSTRAINT_TYPE_ROTLIMIT, "LIMIT_ROTATION", ICON_CONSTRAINT_DATA, "Limit Rotation", ""},
@ -151,6 +152,8 @@ static StructRNA *rna_ConstraintType_refine(struct PointerRNA *ptr)
return &RNA_DampedTrackConstraint;
case CONSTRAINT_TYPE_SPLINEIK:
return &RNA_SplineIKConstraint;
case CONSTRAINT_TYPE_TRANSLIKE:
return &RNA_CopyTransformsConstraint;
default:
return &RNA_UnknownType;
}
@ -647,62 +650,6 @@ static void rna_def_constraint_track_to(BlenderRNA *brna)
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}
static void rna_def_constraint_rotate_like(BlenderRNA *brna)
{
StructRNA *srna;
PropertyRNA *prop;
srna= RNA_def_struct(brna, "CopyRotationConstraint", "Constraint");
RNA_def_struct_ui_text(srna, "Copy Rotation Constraint", "Copies the rotation of the target.");
RNA_def_struct_sdna_from(srna, "bRotateLikeConstraint", "data");
prop= RNA_def_property(srna, "target", PROP_POINTER, PROP_NONE);
RNA_def_property_pointer_sdna(prop, NULL, "tar");
RNA_def_property_ui_text(prop, "Target", "Target Object");
RNA_def_property_flag(prop, PROP_EDITABLE);
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "subtarget", PROP_STRING, PROP_NONE);
RNA_def_property_string_sdna(prop, NULL, "subtarget");
RNA_def_property_ui_text(prop, "Sub-Target", "");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "use_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_X);
RNA_def_property_ui_text(prop, "Copy X", "Copy the target's X rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Y);
RNA_def_property_ui_text(prop, "Copy Y", "Copy the target's Y rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Z);
RNA_def_property_ui_text(prop, "Copy Z", "Copy the target's Z rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "invert_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_X_INVERT);
RNA_def_property_ui_text(prop, "Invert X", "Invert the X rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "invert_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Y_INVERT);
RNA_def_property_ui_text(prop, "Invert Y", "Invert the Y rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "invert_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Z_INVERT);
RNA_def_property_ui_text(prop, "Invert Z", "Invert the Z rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_offset", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_OFFSET);
RNA_def_property_ui_text(prop, "Offset", "Add original rotation into copied rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}
static void rna_def_constraint_locate_like(BlenderRNA *brna)
{
StructRNA *srna;
@ -766,6 +713,130 @@ static void rna_def_constraint_locate_like(BlenderRNA *brna)
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}
static void rna_def_constraint_rotate_like(BlenderRNA *brna)
{
StructRNA *srna;
PropertyRNA *prop;
srna= RNA_def_struct(brna, "CopyRotationConstraint", "Constraint");
RNA_def_struct_ui_text(srna, "Copy Rotation Constraint", "Copies the rotation of the target.");
RNA_def_struct_sdna_from(srna, "bRotateLikeConstraint", "data");
prop= RNA_def_property(srna, "target", PROP_POINTER, PROP_NONE);
RNA_def_property_pointer_sdna(prop, NULL, "tar");
RNA_def_property_ui_text(prop, "Target", "Target Object");
RNA_def_property_flag(prop, PROP_EDITABLE);
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "subtarget", PROP_STRING, PROP_NONE);
RNA_def_property_string_sdna(prop, NULL, "subtarget");
RNA_def_property_ui_text(prop, "Sub-Target", "");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "use_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_X);
RNA_def_property_ui_text(prop, "Copy X", "Copy the target's X rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Y);
RNA_def_property_ui_text(prop, "Copy Y", "Copy the target's Y rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Z);
RNA_def_property_ui_text(prop, "Copy Z", "Copy the target's Z rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "invert_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_X_INVERT);
RNA_def_property_ui_text(prop, "Invert X", "Invert the X rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "invert_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Y_INVERT);
RNA_def_property_ui_text(prop, "Invert Y", "Invert the Y rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "invert_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_Z_INVERT);
RNA_def_property_ui_text(prop, "Invert Z", "Invert the Z rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_offset", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", ROTLIKE_OFFSET);
RNA_def_property_ui_text(prop, "Offset", "Add original rotation into copied rotation.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}
static void rna_def_constraint_size_like(BlenderRNA *brna)
{
StructRNA *srna;
PropertyRNA *prop;
srna= RNA_def_struct(brna, "CopyScaleConstraint", "Constraint");
RNA_def_struct_ui_text(srna, "Copy Scale Constraint", "Copies the scale of the target.");
RNA_def_struct_sdna_from(srna, "bSizeLikeConstraint", "data");
prop= RNA_def_property(srna, "target", PROP_POINTER, PROP_NONE);
RNA_def_property_pointer_sdna(prop, NULL, "tar");
RNA_def_property_flag(prop, PROP_EDITABLE);
RNA_def_property_ui_text(prop, "Target", "Target Object");
RNA_def_property_flag(prop, PROP_EDITABLE);
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "subtarget", PROP_STRING, PROP_NONE);
RNA_def_property_string_sdna(prop, NULL, "subtarget");
RNA_def_property_ui_text(prop, "Sub-Target", "");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "use_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_X);
RNA_def_property_ui_text(prop, "Copy X", "Copy the target's X scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_Y);
RNA_def_property_ui_text(prop, "Copy Y", "Copy the target's Y scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_Z);
RNA_def_property_ui_text(prop, "Copy Z", "Copy the target's Z scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_offset", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_OFFSET);
RNA_def_property_ui_text(prop, "Offset", "Add original scale into copied scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}
static void rna_def_constraint_transform_like(BlenderRNA *brna)
{
StructRNA *srna;
PropertyRNA *prop;
srna= RNA_def_struct(brna, "CopyTransformsConstraint", "Constraint");
RNA_def_struct_ui_text(srna, "Copy Transforms Constraint", "Copies all the transforms of the target.");
RNA_def_struct_sdna_from(srna, "bTransLikeConstraint", "data");
prop= RNA_def_property(srna, "head_tail", PROP_FLOAT, PROP_FACTOR);
RNA_def_property_float_sdna(prop, "bConstraint", "headtail");
RNA_def_property_ui_text(prop, "Head/Tail", "Target along length of bone: Head=0, Tail=1.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "target", PROP_POINTER, PROP_NONE);
RNA_def_property_pointer_sdna(prop, NULL, "tar");
RNA_def_property_ui_text(prop, "Target", "Target Object");
RNA_def_property_flag(prop, PROP_EDITABLE);
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "subtarget", PROP_STRING, PROP_NONE);
RNA_def_property_string_sdna(prop, NULL, "subtarget");
RNA_def_property_ui_text(prop, "Sub-Target", "");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
}
static void rna_def_constraint_minmax(BlenderRNA *brna)
{
StructRNA *srna;
@ -817,48 +888,6 @@ static void rna_def_constraint_minmax(BlenderRNA *brna)
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}
static void rna_def_constraint_size_like(BlenderRNA *brna)
{
StructRNA *srna;
PropertyRNA *prop;
srna= RNA_def_struct(brna, "CopyScaleConstraint", "Constraint");
RNA_def_struct_ui_text(srna, "Copy Scale Constraint", "Copies the scale of the target.");
RNA_def_struct_sdna_from(srna, "bSizeLikeConstraint", "data");
prop= RNA_def_property(srna, "target", PROP_POINTER, PROP_NONE);
RNA_def_property_pointer_sdna(prop, NULL, "tar");
RNA_def_property_flag(prop, PROP_EDITABLE);
RNA_def_property_ui_text(prop, "Target", "Target Object");
RNA_def_property_flag(prop, PROP_EDITABLE);
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "subtarget", PROP_STRING, PROP_NONE);
RNA_def_property_string_sdna(prop, NULL, "subtarget");
RNA_def_property_ui_text(prop, "Sub-Target", "");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_dependency_update");
prop= RNA_def_property(srna, "use_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_X);
RNA_def_property_ui_text(prop, "Copy X", "Copy the target's X scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_Y);
RNA_def_property_ui_text(prop, "Copy Y", "Copy the target's Y scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_Z);
RNA_def_property_ui_text(prop, "Copy Z", "Copy the target's Z scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_offset", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", SIZELIKE_OFFSET);
RNA_def_property_ui_text(prop, "Offset", "Add original scale into copied scale.");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}
static void rna_def_constraint_action(BlenderRNA *brna)
{
StructRNA *srna;
@ -1869,6 +1898,7 @@ void RNA_def_constraint(BlenderRNA *brna)
rna_def_constraint_size_like(brna);
rna_def_constraint_locate_like(brna);
rna_def_constraint_rotate_like(brna);
rna_def_constraint_transform_like(brna);
rna_def_constraint_minmax(brna);
rna_def_constraint_track_to(brna);
rna_def_constraint_kinematic(brna);