writescript.C

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/* file writescript.c    */

#define MODULE_WRITESCRIPT 1

#include "animate.h"
#include "callall.h"


static void PrepareSequenceFilename(char *tname, long id, char *filename){
 int ln;
 char *cp,*cp1,*cp2,extn[16],fmat[16],fsurf[256];
 strcpy(tname,filename); // just use first if anything goes wrong
 strcpy(fsurf,filename);
 cp1=strchr(fsurf,'0');
 cp2=strchr(fsurf,'.');
 if(cp1 == NULL || cp2 == NULL)return;
 strcpy(extn,cp2);
 ln=0; cp=cp1; while(cp != cp2){ln++; cp++; if(ln > 8)break;}
 *cp1='\0';
 sprintf(fmat,"%%s%%0%ldld%%s",ln);
 sprintf(tname,fmat,fsurf,id,extn);
}

BOOL MakeScript(long type, long nstep){
 FILE   *fs;
 node   *Np,*selected_camera;
 object *Op;
 sky    *Sp;
 XIP    *Ip;
 BOOL retval=TRUE;
 double dframe;
 long i,j,ccf,MakeFirst,MakeLast,ncount,Ropen=1,version=0,SkyImageFileID,GroundImageFileID;
 point p,tp;
 point TVP,TVC,TVclipMin,TVclipMax;
 short im,refl;
 double phi,theta,alpha,mratio,sx,sy,sz,ima,gamb,oamb,m2ratio;
 unsigned char sr,sg,sb,zr,zg,zb;
 char *spc,*sps,robot_name[255],filename[255];
 int ready=0;
 if     (type == 1){MakeFirst = MakeLast = CurrentFrame;}
 else if(type == 0){MakeFirst = 1; MakeLast=Nframes;}
 if     (type == 3){ /* script this frame to work file */
   MakeFirst = MakeLast = CurrentFrame;
   sprintf(filename,"%sw_$.scr",TempPath);
   ready=1;
 }
 else if(type == 4){ /* script whole animation to work file */
   MakeFirst = 1; MakeLast = Nframes;
   sprintf(filename,"%sw_$.scr",TempPath);
   ready=1;
 }
 else if(type == 5){ /* script this frame to work file */
   MakeFirst = MakeLast = CurrentFrame;
   sprintf(filename,"%sx_$.scr",TempPath);
   ready=1;
 }
 else if(type == 6){ /* script whole animation to work file */
   MakeFirst = 1; MakeLast = Nframes;
   sprintf(filename,"%sy_$.scr",TempPath);
   ready=1;
 }
 else{
  if(SelectSfxFileName(1,gszSCRfile,gszSCRdir,IDX_MISC_SCRIPTFILE,
                   "(*.SCR)|*.scr|",ghwnd_main) == TRUE){
    AppendFileExtension(gszSCRfile,".scr");
    strcpy(filename,gszSCRfile);
    ready=1;
  }
  else ready=0;
 }
 if(ready){
  ghcurSave=SetCursor(ghcurWait);
  if(Nrobots > 0)Ropen=OpenRobotDirectory(filename);
  if(Ropen && (fs=fopen(filename,"w")) != NULL){
   ccf=CurrentFrame;
   get_centre_stage(TVC,TVP,TVclipMin,TVclipMax);
   fprintf(fs,"RS2\n");
   if(type == 1 || type == 3 || type == 5)fprintf(fs,"1 %ld\n",MakeFirst);
   else                                   fprintf(fs,"%ld 1\n",Nframes);
   for(i=0;i<3;i++)fprintf(fs,"%ld %ld\n",TVclipMin[i],TVclipMax[i]);  // print out scene bounds
   SkyImageFileID=0; GroundImageFileID=0;
   for(CurrentFrame=MakeFirst; CurrentFrame<=MakeLast; CurrentFrame++){
    for(i=0;i<nstep;i++){                     // put sub (dframe loop here)
    dframe=1.0/(double)nstep*((double)i+1.0); //
    ncount=0;
    selected_camera=GetSelectedCamera(CurrentFrame,SelectedCamera);
    Np=FirstNp; while(Np!=NULL){
      if     (Np->type == CAMERA && Np == selected_camera){
        GetTransform(0,CurrentFrame,dframe,
                     Np,Np->fobj,p,tp,&phi,&theta,&alpha,
                     &sx,&sy,&sz,&im,&ima);
        //fprintf(fs,"e %.1f %.1f %.1f\n",(double)p[0],(double)p[1],(double)p[2]);  old script
        fprintf(fs,"E %.1f %.1f %.1f\n",(double)p[0],(double)p[1],(double)p[2]);
        fprintf(fs,"  %.1f %.1f %.1f\n",phi,theta,alpha);
        fprintf(fs,"  %.3f %.3f %.3f\n",sx,sy,sz);
        fprintf(fs,"  %d %d %.1f\n",0,im,ima);
        {
          cameraparam* cpa; 
          double focus_distance_ruler_units; 
          cpa=CalculateCameraProperties(Np,CurrentFrame,dframe); // get these from the Size Keyframer
          // focus distance should be in absolute (global (integer)) units to match the position units
          if(cpa == NULL){
            fprintf(fs," %.3lf %.3lf %.1lf\n",50.0,5.0,1.0);   
            fprintf(fs," %.3lf %.3lf %.1lf\n",1.0,1.0,0.0);
            fprintf(fs," %.3lf %.3lf %.3lf\n",1.0,100.0,0.0);
          }
          else{
            fprintf(fs," %.3lf %.3lf %.1lf\n",cpa->focal_length,cpa->f_number,cpa->focus_distance);   
            focus_distance_ruler_units=cpa->focus_distance/ruler;
            fprintf(fs," %.3lf %.3lf %.1lf\n",focus_distance_ruler_units,ruler,cpa->polar_type);
            fprintf(fs," %.3lf %.3lf %.3lf\n",cpa->stereo_separation,cpa->parallax_distance,0.0); //las parameter not used
          }
          // write extra camera params 
          for(j=0;j<7;j++)fprintf(fs,"  0.0 0.0 0.0\n");
        }   
      }
      else if(Np->type == SKY){
        if((Sp=Np->fsky) != NULL)while(Sp != NULL){
          if(CurrentFrame >= Sp->firstframe && CurrentFrame <= Sp->lastframe){
            if(Sp->last != NULL){
              mratio=(double)(Sp->lastframe - Sp->firstframe+1);
              mratio=((double)CurrentFrame - (double)Sp->firstframe+dframe)/mratio;
              sr=Sp->last->colour[0] +
                (Sp->colour[0] - Sp->last->colour[0])*mratio;
              sg=Sp->last->colour[1] +
                (Sp->colour[1] - Sp->last->colour[1])*mratio;
              sb=Sp->last->colour[2] +
                (Sp->colour[2] - Sp->last->colour[2])*mratio;
              zr=Sp->last->zcolour[0] +
                (Sp->zcolour[0] - Sp->last->zcolour[0])*mratio;
              zg=Sp->last->zcolour[1] +
                (Sp->zcolour[1] - Sp->last->zcolour[1])*mratio;
              zb=Sp->last->zcolour[2] +
                (Sp->zcolour[2] - Sp->last->zcolour[2])*mratio;
              oamb=Sp->last->oamb + (Sp->oamb - Sp->last->oamb)*mratio;
              gamb=Sp->last->gamb + (Sp->gamb - Sp->last->gamb)*mratio;
            }
            else{
              sr=Sp->colour[0];
              sg=Sp->colour[1];
              sb=Sp->colour[2];
              zr=Sp->zcolour[0];
              zg=Sp->zcolour[1];
              zb=Sp->zcolour[2];
              oamb=Sp->oamb;
              gamb=Sp->gamb;
            }
            // augmented Sky
            fprintf(fs,"S"); for(j=0;j<32;j++)fprintf(fs,"  %6.2lf",Sp->sky_params[j]); fprintf(fs,"\n");
            // basic sky
            fprintf(fs,"s %d %d %d\n",sr,sg,sb);
            fprintf(fs,"  %d %d %d\n",zr,zg,zb);
            mratio=0.0;  /* NB not needed now leave for compatibility */
            sr=0;sg=0;sb=0;zr=0;zg=0;zb=0;
            fprintf(fs,"  %.1f %.2lf %.2lf\n",mratio,oamb,gamb); /* sky blend, ambients */
            fprintf(fs,"  %d %d %d\n",sr,sg,sb);
            fprintf(fs,"  %d %d %d\n",zr,zg,zb);
            if(Sp->type == SKYANIMATED)fprintf(fs,"  %d\n",BACKDROP); // animated is backdrop
            else                       fprintf(fs,"  %d\n",Sp->type);
            if     (Sp->type == SKYANIMATED){
              long fid;
              char tname[256];
              fid=Sp->aff+(CurrentFrame-Sp->firstframe)*Sp->ast;
              while(fid > Sp->alf)fid -= Sp->alf;
              PrepareSequenceFilename(tname,fid,Sp->name);
              fprintf(fs,"  %s\n",tname);
            }
            else if(Sp->type >= 2){
              char temp_name[256];
              if(Sp->image.size > 0 && Sp->image.filename != NULL){
                WriteTemporaryFileForScript(TRUE,&(Sp->image),temp_name,
                                            &SkyImageFileID);
                fprintf(fs,"  %s\n",temp_name);
              }
              else fprintf(fs,"  %s\n",Sp->name);
            }
            break;
          }
        Sp=Sp->next;}
      }
      else{
        if((Op=Np->fobj) != NULL)while(Op != NULL){
          if(CurrentFrame >= Op->firstframe && CurrentFrame <= Op->lastframe){
            if     (Op->type == LIGHT){
              fprintf(fs,"l %d\n",Op->lighttype);
              if(Op->last != NULL){
                mratio=(double)(Op->lastframe - Op->firstframe+1);
                mratio=((double)CurrentFrame - (double)Op->firstframe+dframe)/mratio;
                sr=Op->last->colour[0] +
                  (Op->colour[0] - Op->last->colour[0])*mratio;
                sg=Op->last->colour[1] +
                  (Op->colour[1] - Op->last->colour[1])*mratio;
                sb=Op->last->colour[2] +
                  (Op->colour[2] - Op->last->colour[2])*mratio;
              }
              else{
                sr=Op->colour[0]; sg=Op->colour[1]; sb=Op->colour[2];
              }
              fprintf(fs,"  %d %d %d %.2lf\n",sr,sg,sb,Op->light_intensity);
              GetTransform(0,CurrentFrame,dframe,
                           Np,Op,p,tp,&phi,&theta,&alpha,
                           &sx,&sy,&sz,&im,&ima);
              fprintf(fs,"  %.1f %.1f %.1f\n",(double)p[0],(double)p[1]
                                       ,(double)p[2]);
              fprintf(fs,"  %.1f %.1f %.1f\n",phi,theta,alpha);
              fprintf(fs,"  %ld %d %.1f\n",(long)(Np->ID),im,ima);
              if(Op->depth_cue){
                fprintf(fs,"  %ld %.2f %.3le %.3le\n",
                  Op->depth_cue, Op->depth_cue_c,
                  ((Op->depth_cue_l)/((double)UNIT*sz)),
                  ((Op->depth_cue_q)/((double)UNIT*sz*(double)UNIT*sz)));
              }
              else fprintf(fs,"  0 1.0 0.0 0.0\n");
              if(Op->lighttype >= SPOTLIGHT)fprintf(fs,"  %.3f %.3f\n",
                 sx,sy); /* sz is cone angle sy is fall off angle */
            }
            else if(Op->type == PARTICLE){ 
              fprintf(fs,"p %d %d %d\n",Op->particles.id,Op->particles.iid,Op->particles.bSingle);
              fprintf(fs,"  %s\n",Op->particles.ImageName);  
              fprintf(fs,"  %d %d %d %d\n",Op->particles.particle_size_scale,Op->particles.particle_speed_scale,
                                          (long)Op->particles.bSteadyState,(long)Op->particles.bSpinOff);
              fprintf(fs,"  %d %d %d %d\n",Op->particles.NumP,Op->particles.burst,Op->particles.ground,Op->particles.blend_model );  
              fprintf(fs,"  %d %d %d\n",Op->particles.colour_start[0],Op->particles.colour_start[1]
                                       ,Op->particles.colour_start[2]);
              fprintf(fs,"  %d %d %d\n",Op->particles.colour_end[0],Op->particles.colour_end[1]
                                       ,Op->particles.colour_end[2]);
              fprintf(fs,"  %d %d %d %d\n",Op->particles.alpha_start,Op->particles.size_start,
                                           Op->particles.alpha_end,Op->particles.size_end);
              fprintf(fs,"  %d %d %d\n",Op->particles.life,Op->particles.speed,Op->particles.theta);
              fprintf(fs,"  %d %d %d %d %d\n",Op->particles.vcolour,Op->particles.valpha,
                                              Op->particles.vsize,Op->particles.vlife,Op->particles.vspeed);
              fprintf(fs,"  %d %d %d \n",Op->particles.ew_start,Op->particles.ud_start,Op->particles.ns_start);  
              fprintf(fs,"  %d %d %d \n",Op->particles.ew_end,Op->particles.ud_end,Op->particles.ns_end);  
              GetTransform(0,CurrentFrame,dframe,
                           Np,Op,p,tp,&phi,&theta,&alpha,
                           &sx,&sy,&sz,&im,&ima);
              fprintf(fs,"  %.1f %.1f %.1f\n",(double)p[0],(double)p[1]
                                       ,(double)p[2]);
              fprintf(fs,"  %.1f %.1f %.1f\n",phi,theta,alpha);
              fprintf(fs,"  %.3f %.3f %.3f\n",sx,sy,sz);
              fprintf(fs,"  %d %.1f\n",im,ima);
              mratio=(double)(Op->lastframe - Op->firstframe + 1);
              mratio=((double)CurrentFrame - (double)Op->firstframe + dframe)/mratio;
              fprintf(fs,"%d %.3f\n",(CurrentFrame-Op->firstframe),mratio);  // Dframe
              { point p1; // velocity
                long ffid;
                if(CurrentFrame == Op->firstframe)ffid=Op->firstframe+1; else ffid=CurrentFrame-1;
                GetTransform(0,ffid,dframe,
                             Np,Op,p1,tp,&phi,&theta,&alpha,
                             &sx,&sy,&sz,&im,&ima);
                if(CurrentFrame == Op->firstframe){point pt; VECCOPY(p,pt) VECCOPY(p1,p) VECCOPY(pt,p1)}
                fprintf(fs,"  %.1f %.1f %.1f\n",(double)(p[0]-p1[0]),(double)(p[1]-p1[1]),(double)(p[2]-p1[2]));
              }
              GetTransform(0,Op->firstframe,dframe,  // position at start of particle actor
                           Np,Op,p,tp,&phi,&theta,&alpha,
                           &sx,&sy,&sz,&im,&ima);
              fprintf(fs,"  %.1f %.1f %.1f\n",(double)p[0],(double)p[1]
                                       ,(double)p[2]);
              fprintf(fs,"  %.1f %.1f %.1f\n",phi,theta,alpha);
              fprintf(fs,"  %.3f %.3f %.3f\n",sx,sy,sz);
              fprintf(fs,"  %d %.1f\n",im,ima);
            }
            else if(Op->type == GROUND){
              fprintf(fs,"G %d\n",Op->groundtype);
              if(Op->last != NULL){
                mratio=(double)(Op->lastframe - Op->firstframe + 1);
                mratio=((double)CurrentFrame - (double)Op->firstframe + dframe)/mratio;
                sr=Op->last->colour[0] +
                  (Op->colour[0] - Op->last->colour[0])*mratio;
                sg=Op->last->colour[1] +
                  (Op->colour[1] - Op->last->colour[1])*mratio;
                sb=Op->last->colour[2] +
                  (Op->colour[2] - Op->last->colour[2])*mratio;
                zr=Op->last->acolour[0] +
                  (Op->acolour[0] - Op->last->acolour[0])*mratio;
                zg=Op->last->acolour[1] +
                  (Op->acolour[1] - Op->last->acolour[1])*mratio;
                zb=Op->last->acolour[2] +
                  (Op->acolour[2] - Op->last->acolour[2])*mratio;
                refl = Op->last->grefl +
                  (Op->grefl - Op->last->grefl)*mratio;
              }
              else{
                 sr=Op->colour[0];  sg=Op->colour[1];  sb=Op->colour[2];
                 zr=Op->acolour[0]; zg=Op->acolour[1]; zb=Op->acolour[2];
                 refl = Op->grefl;
              }
              fprintf(fs,"  %d %d %d\n",sr,sg,sb);
              if(Op->groundtype > 127){
                fprintf(fs,"  %d %d %d\n",zr,zg,zb);
              }
              if(Op->groundtype == BRUM || Op->groundtype == TBRUM ||
                 Op->groundtype == MBRUM){
                if(Op->image.size > 0 && Op->image.filename != NULL){
                  char temp_name[256];
                  WriteTemporaryFileForScript(FALSE,&(Op->image),temp_name,
                                            &GroundImageFileID);
                  fprintf(fs,"  %s\n",temp_name);
                }
                else fprintf(fs,"  %s\n",Op->name);
              }
              GetTransform(0,CurrentFrame,dframe,
                           Np,Op,p,tp,&phi,&theta,&alpha,
                           &sx,&sy,&sz,&im,&ima);
              fprintf(fs,"  %.1f %.1f %.1f\n",(double)p[0],(double)p[1]
                                       ,(double)p[2]);
              fprintf(fs,"  %.1f %.1f %.1f\n",phi,theta,alpha);
              fprintf(fs,"  %.3f %.3f %.3f\n",sx,sy,sz);
              fprintf(fs,"  %d %d %.1f %d\n",0,im,ima,refl);
              fprintf(fs,"  %.3f\n",Op->groundTemperature);
            }
            else if(Op->type == NORMAL || Op->type == ANIMOBJ ||
                    Op->type == ROBOT){
              if     (Op->bWireframe == 1)fprintf(fs,"w");
              else if(Op->bWireframe == 2)fprintf(fs,"h");
              else                        fprintf(fs,"o");
              fprintf(fs," %ld\n%s\n",(long)(Np->ID),Op->name);
              if(Op->type == ROBOT){
                fprintf(fs,"4");
                GetRobotScriptName(filename,ncount,
                                  Op->lastframe,
                                  robot_name);
                if(!RobotFileExists(robot_name))WriteRobot(Op,robot_name);
                fprintf(fs," %s\n",robot_name);
                if(Op->last != NULL){
                  GetRobotScriptName(filename,ncount,
                                    Op->last->lastframe,
                                    robot_name);
                  if(!RobotFileExists(robot_name))
                                           WriteRobot(Op->last,robot_name);
                }
                fprintf(fs,"  %s\n",robot_name);
                mratio=(double)(Op->lastframe - Op->firstframe + 1);
                mratio=((double)CurrentFrame - (double)Op->firstframe + dframe)/mratio;
                fprintf(fs,"%.3f\n",mratio);
              }
              else if(Op->morph == NO || Op->last == NULL){
                fprintf(fs,"0\n");
              }
              else{
                mratio=(double)(Op->lastframe - Op->firstframe + 1);
                if(Op->lastframe == Nframes)mratio += 1.0; /* for loop */
                mratio=((double)CurrentFrame - (double)Op->firstframe + dframe)/mratio;
                if((Op->morph == QMORPH) &&
                   (Op->last->last != NULL || Op->next != NULL)){
                   if(Op->last->last != NULL){
                     m2ratio=(double)(Op->lastframe - Op->firstframe);
                     if(m2ratio < 1.0){
                       fprintf(fs,"0\n");
                     }
                     else{
                       fprintf(fs,"2 ");
                       fprintf(fs,"%.3f\n",mratio);
                       fprintf(fs,"  %s\n",Op->last->name);
                       m2ratio=(double)(Op->last->lastframe -
                                        Op->last->firstframe)/m2ratio;
                       fprintf(fs,"%.3f\n",m2ratio);
                       fprintf(fs,"  %s\n",Op->last->last->name);
                     }
                   }
                   else if(Op->next != NULL){
                     m2ratio=(double)(Op->lastframe - Op->firstframe);
                     if(m2ratio < 1.0){
                       fprintf(fs,"0\n");
                     }
                     else{
                       fprintf(fs,"3 ");
                       fprintf(fs,"%.3f\n",mratio);
                       fprintf(fs,"  %s\n",Op->last->name);
                       m2ratio=(double)(Op->next->lastframe -
                                        Op->next->firstframe)/m2ratio;
                       fprintf(fs,"%.3f\n",m2ratio);
                       fprintf(fs,"  %s\n",Op->next->name);
                     }
                   }
                   else{ /* an error has occurred */
                     SendPrgmQuery(IDQ_SCRIPTFAIL,0);
                   }
                }
                else{
                  fprintf(fs,"1 ");
                  fprintf(fs,"%.3f\n",mratio);
                  fprintf(fs,"  %s\n",Op->last->name);
                }
              }
              GetTransform(0,CurrentFrame,dframe,
                           Np,Op,p,tp,&phi,&theta,&alpha,
                           &sx,&sy,&sz,&im,&ima);
              fprintf(fs,"  %.1f %.1f %.1f\n",(double)p[0],(double)p[1]
                                       ,(double)p[2]);
              fprintf(fs,"  %.1f %.1f %.1f\n",phi,theta,alpha);
              fprintf(fs,"  %.3f %.3f %.3f\n",sx,sy,sz);
              mratio=(double)(Op->lastframe - Op->firstframe + 1);/*effects*/
              mratio=((double)CurrentFrame - (double)Op->firstframe + dframe)/mratio;
              if(Op->effect == NULL)refl=0;
              else refl=21;
              fprintf(fs,"  %ld %d %.1f %d %.3f\n",version,im,ima,refl,mratio);
              fprintf(fs,"  %ld %ld %ld\n",Op->self_shadow,Op->cast_shadow,
                                           Op->show_shadow);
              if(Op->effect != NULL){
                fprintf(fs,"  %s ~\n",Op->effect);
              }
            }
            else if(Op->type == IMAGEP){
              if(Op->last != NULL && Op->last->xip != NULL && Op->morph == YES){
                mratio=(double)(Op->lastframe - Op->firstframe + 1);
                mratio=((double)CurrentFrame - (double)Op->firstframe + dframe)/mratio;
                im=1;
              }
              else {im=0; mratio=1.0;}
              if(Op->xip != NULL){
                fprintf(fs,"i %d %ld %ld %ld %.3f\n",
                        im,Op->firstframe,CurrentFrame,Op->lastframe,mratio);
                fprintf(fs," %s\n",Op->xip);
                if(im == 1)fprintf(fs," %s\n",Op->last->xip);
              }
            }
            break;
          }
          Op=Op->next;
        }
      }
      Np=Np->next; ncount++;
    }
    if(NimageProcesses > 0){
      Ip=FirstIp; while (Ip != NULL){
        if(Ip->p != NULL){
          fprintf(fs,"i 0 1 %ld %ld 0.0\n",CurrentFrame,Nframes);
          fprintf(fs,"  %s\n",Ip->p);
        }
        Ip=Ip->next;
      }
    }
    if(i < nstep-1)fprintf(fs,"b\n"); //
    }                                 // end sub loop
    fprintf(fs,"f\n");
   }
   CurrentFrame=ccf;
   fprintf(fs,"q\n");
   fclose(fs);
  }
  else{
    retval=FALSE;
  }
  SetCursor(ghcurSave);
 }
 return retval;
}

BOOL ExportRobotKeyframes(void){  // Must all be same Robot model - each instance is a different sequence
 FILE     *fs;
 object   *Op;
 node     *Np;
 position *Pp;
 point    PtStart,PtEnd,dP;
 BOOL retval=TRUE;
 long i,ccf,ncount,lff,fr;
 char *spc,*sps,robot_name[255],filename[255],anim_name[255];
 int ready=0,Ropen=1,seq;

 if(Nrobots == 0)return FALSE;
 if(SelectSfxFileName(1,gszSCRfile,gszSCRdir,IDX_MISC_SCRIPTFILE,
                   "(*.SCR)|*.scr|",ghwnd_main) == TRUE){
    AppendFileExtension(gszSCRfile,".scr");
    strcpy(filename,gszSCRfile);
    ready=1;
 }
 else ready=0;
 if(ready){
   ghcurSave=SetCursor(ghcurWait);
   Ropen=OpenRobotDirectory(filename);
   if(Ropen && (fs=fopen(filename,"w")) != NULL){
     ccf=CurrentFrame;
     ncount=0; Np=FirstNp; while(Np!=NULL){ Op=Np->fobj; if(Op->type == ROBOT)ncount++; Np=Np->next;}
     fprintf(fs,"%ld 20\n",ncount); // number of animations 
     strcpy(anim_name,FileInPath(filename)); *strchr(anim_name,'.') ='\0';
     fprintf(fs,"%s\n",anim_name);   // name of animation
     ncount=0; Np=FirstNp; while(Np!=NULL){
       Op=Np->fobj;
       if(Op->type == ROBOT){
         if((Pp=Np->fpos) != NULL){
           VECCOPY(Pp->finish,PtStart);
           while(Pp != NULL){VECCOPY(Pp->finish,PtEnd)   Pp=Pp->next;}
           VECSUB(PtEnd,PtStart,dP)
         }
         else {dP[0]=dP[1]=dP[2]=0;}
         seq=0; while(Op != NULL){seq++; lff=Op->lastframe; Op=Op->next;}
//         fprintf(fs,"%s\n%f %f\n",Np->actorname,(float)(lff)/30.0f,0.01);  
         fprintf(fs,"%s\n%f %f %f %f\n",Np->actorname,(float)(lff)/30.0f, //nameof animation and total time  
                 (double)dP[1]/(double)ruler*0.016666,   // in order for importer
                 (double)dP[0]/(double)ruler*0.016666,
                 (double)dP[2]/(double)ruler*0.016666);  
         fprintf(fs,"%ld\n",seq);  // number of robots 
         Op=Np->fobj;  while(Op != NULL){
           GetRobotScriptName(filename,ncount,Op->lastframe, robot_name);
           if(!RobotFileExists(robot_name))WriteRobot(Op,robot_name);
           if(Op->lastframe == 1)fr=0; else fr=Op->lastframe;
           fprintf(fs,"%f %s\n",(float)fr/30.0,robot_name);  // anim time
           Op=Op->next;
         }
         ncount++;
       }
       Np=Np->next;
     }
     if(ncount != Nrobots)MessageBox(NULL,"Not all animated sequences written",NULL,MB_OK);
     CurrentFrame=ccf;
     fclose(fs);
   }
   else retval=FALSE;
   SetCursor(ghcurSave);
 }
 return retval;
}