diff --git a/dust3d.pro b/dust3d.pro
index 3e748574..e1666491 100644
--- a/dust3d.pro
+++ b/dust3d.pro
@@ -131,6 +131,21 @@ HEADERS += src/skeletonbonemark.h
 SOURCES += src/intermediateboneremover.cpp
 HEADERS += src/intermediateboneremover.h
 
+SOURCES += src/animationpanelwidget.cpp
+HEADERS += src/animationpanelwidget.h
+
+SOURCES += src/rigcontroller.cpp
+HEADERS += src/rigcontroller.h
+
+SOURCES += src/jointnodetree.cpp
+HEADERS += src/jointnodetree.h
+
+SOURCES += src/animationclipgenerator.cpp
+HEADERS += src/animationclipgenerator.h
+
+SOURCES += src/skinnedmesh.cpp
+HEADERS += src/skinnedmesh.h
+
 HEADERS += src/qtlightmapper.h
 
 SOURCES += src/main.cpp
diff --git a/src/animationclipgenerator.cpp b/src/animationclipgenerator.cpp
new file mode 100644
index 00000000..9cbdff15
--- /dev/null
+++ b/src/animationclipgenerator.cpp
@@ -0,0 +1,49 @@
+#include <QGuiApplication>
+#include "animationclipgenerator.h"
+#include "skinnedmesh.h"
+
+AnimationClipGenerator::AnimationClipGenerator(const MeshResultContext &resultContext,
+        const QString &motionName, const std::map<QString, QString> &parameters) :
+    m_resultContext(resultContext),
+    m_motionName(motionName),
+    m_parameters(parameters)
+{
+}
+
+AnimationClipGenerator::~AnimationClipGenerator()
+{
+    for (auto &mesh: m_frameMeshes) {
+        delete mesh.second;
+    }
+}
+
+std::vector<std::pair<int, MeshLoader *>> AnimationClipGenerator::takeFrameMeshes()
+{
+    std::vector<std::pair<int, MeshLoader *>> result = m_frameMeshes;
+    m_frameMeshes.clear();
+    return result;
+}
+
+void AnimationClipGenerator::generate()
+{
+    SkinnedMesh skinnedMesh(m_resultContext);
+    skinnedMesh.startRig();
+    
+    RigController *rigController = skinnedMesh.rigController();
+    
+    for (float amount = 0.0; amount <= 0.5; amount += 0.05) {
+        rigController->squat(amount);
+        RigFrame frame;
+        rigController->saveFrame(frame);
+        skinnedMesh.applyRigFrameToMesh(frame);
+        m_frameMeshes.push_back(std::make_pair(10, skinnedMesh.toMeshLoader()));
+    }
+}
+
+void AnimationClipGenerator::process()
+{
+    generate();
+    
+    this->moveToThread(QGuiApplication::instance()->thread());
+    emit finished();
+}
diff --git a/src/animationclipgenerator.h b/src/animationclipgenerator.h
new file mode 100644
index 00000000..a8ee70d3
--- /dev/null
+++ b/src/animationclipgenerator.h
@@ -0,0 +1,29 @@
+#ifndef ANIMATION_CLIP_GENERATOR_H
+#define ANIMATION_CLIP_GENERATOR_H
+#include <QObject>
+#include <map>
+#include <QString>
+#include "meshresultcontext.h"
+#include "meshloader.h"
+
+class AnimationClipGenerator : public QObject
+{
+    Q_OBJECT
+signals:
+    void finished();
+public slots:
+    void process();
+public:
+    AnimationClipGenerator(const MeshResultContext &resultContext,
+        const QString &motionName, const std::map<QString, QString> &parameters);
+    ~AnimationClipGenerator();
+    std::vector<std::pair<int, MeshLoader *>> takeFrameMeshes();
+    void generate();
+private:
+    MeshResultContext m_resultContext;
+    QString m_motionName;
+    std::map<QString, QString> m_parameters;
+    std::vector<std::pair<int, MeshLoader *>> m_frameMeshes;
+};
+
+#endif
diff --git a/src/animationpanelwidget.cpp b/src/animationpanelwidget.cpp
new file mode 100644
index 00000000..e5531c19
--- /dev/null
+++ b/src/animationpanelwidget.cpp
@@ -0,0 +1,166 @@
+#include <QHBoxLayout>
+#include <QPushButton>
+#include "animationpanelwidget.h"
+#include "version.h"
+
+AnimationPanelWidget::AnimationPanelWidget(SkeletonDocument *document, QWidget *parent) :
+    QWidget(parent),
+    m_document(document),
+    m_animationClipGenerator(nullptr),
+    m_lastFrameMesh(nullptr),
+    m_sourceMeshReady(false)
+{
+    QHBoxLayout *moveControlButtonLayout = new QHBoxLayout;
+    QHBoxLayout *fightControlButtonLayout = new QHBoxLayout;
+    
+    QPushButton *resetButton = new QPushButton(tr("Reset"));
+    connect(resetButton, &QPushButton::clicked, [=] {
+        m_lastMotionName.clear();
+        emit panelClosed();
+    });
+    
+    QPushButton *walkButton = new QPushButton(tr("Walk"));
+    connect(walkButton, &QPushButton::clicked, [=] {
+        generateClip("Walk");
+    });
+    
+    QPushButton *runButton = new QPushButton(tr("Run"));
+    connect(runButton, &QPushButton::clicked, [=] {
+        generateClip("Run");
+    });
+    
+    QPushButton *attackButton = new QPushButton(tr("Attack"));
+    connect(attackButton, &QPushButton::clicked, [=] {
+        generateClip("Attack");
+    });
+    
+    QPushButton *hurtButton = new QPushButton(tr("Hurt"));
+    connect(hurtButton, &QPushButton::clicked, [=] {
+        generateClip("Hurt");
+    });
+    
+    QPushButton *dieButton = new QPushButton(tr("Die"));
+    connect(dieButton, &QPushButton::clicked, [=] {
+        generateClip("Die");
+    });
+    
+    moveControlButtonLayout->addStretch();
+    moveControlButtonLayout->addWidget(resetButton);
+    moveControlButtonLayout->addWidget(walkButton);
+    moveControlButtonLayout->addWidget(runButton);
+    moveControlButtonLayout->addStretch();
+    
+    fightControlButtonLayout->addStretch();
+    fightControlButtonLayout->addWidget(attackButton);
+    fightControlButtonLayout->addWidget(hurtButton);
+    fightControlButtonLayout->addWidget(dieButton);
+    fightControlButtonLayout->addStretch();
+    
+    QVBoxLayout *controlLayout = new QVBoxLayout;
+    controlLayout->setSpacing(0);
+    controlLayout->setContentsMargins(0, 0, 0, 0);
+    controlLayout->addLayout(moveControlButtonLayout);
+    controlLayout->addLayout(fightControlButtonLayout);
+    
+    QVBoxLayout *mainLayout = new QVBoxLayout;
+    mainLayout->addLayout(controlLayout);
+    
+    setLayout(mainLayout);
+    
+    m_countForFrame.start();
+    
+    setWindowTitle(APP_NAME);
+}
+
+AnimationPanelWidget::~AnimationPanelWidget()
+{
+    delete m_lastFrameMesh;
+    for (auto &it: m_frameMeshes) {
+        delete it.second;
+    }
+}
+
+void AnimationPanelWidget::sourceMeshChanged()
+{
+    m_sourceMeshReady = true;
+    if (m_nextMotionName.isEmpty())
+        return;
+        
+    generateClip(m_nextMotionName);
+}
+
+void AnimationPanelWidget::hideEvent(QHideEvent *event)
+{
+    m_lastMotionName.clear();
+    emit panelClosed();
+}
+
+void AnimationPanelWidget::generateClip(QString motionName)
+{
+    if (nullptr != m_animationClipGenerator || !m_sourceMeshReady) {
+        m_nextMotionName = motionName;
+        return;
+    }
+    m_lastMotionName = motionName;
+    m_nextMotionName.clear();
+    
+    qDebug() << "Animation clip generating..";
+    
+    QThread *thread = new QThread;
+    
+    std::map<QString, QString> parameters;
+    m_animationClipGenerator = new AnimationClipGenerator(m_document->currentPostProcessedResultContext(),
+        m_nextMotionName, parameters);
+    m_animationClipGenerator->moveToThread(thread);
+    connect(thread, &QThread::started, m_animationClipGenerator, &AnimationClipGenerator::process);
+    connect(m_animationClipGenerator, &AnimationClipGenerator::finished, this, &AnimationPanelWidget::clipReady);
+    connect(m_animationClipGenerator, &AnimationClipGenerator::finished, thread, &QThread::quit);
+    connect(thread, &QThread::finished, thread, &QThread::deleteLater);
+    thread->start();
+}
+
+void AnimationPanelWidget::clipReady()
+{
+    m_frameMeshes = m_animationClipGenerator->takeFrameMeshes();
+
+    delete m_animationClipGenerator;
+    m_animationClipGenerator = nullptr;
+    
+    m_countForFrame.restart();
+    
+    if (!m_frameMeshes.empty())
+        QTimer::singleShot(m_frameMeshes[0].first, this, &AnimationPanelWidget::frameReadyToShow);
+
+    qDebug() << "Animation clip generation done";
+    
+    if (!m_nextMotionName.isEmpty())
+        generateClip(m_nextMotionName);
+}
+
+MeshLoader *AnimationPanelWidget::takeFrameMesh()
+{
+    if (m_lastMotionName.isEmpty())
+        return m_document->takeResultMesh();
+    
+    if (m_frameMeshes.empty()) {
+        if (nullptr != m_lastFrameMesh)
+            return new MeshLoader(*m_lastFrameMesh);
+        return nullptr;
+    }
+    int millis = m_frameMeshes[0].first - m_countForFrame.elapsed();
+    if (millis > 0) {
+        QTimer::singleShot(millis, this, &AnimationPanelWidget::frameReadyToShow);
+        if (nullptr != m_lastFrameMesh)
+            return new MeshLoader(*m_lastFrameMesh);
+        return nullptr;
+    }
+    MeshLoader *mesh = m_frameMeshes[0].second;
+    m_frameMeshes.erase(m_frameMeshes.begin());
+    m_countForFrame.restart();
+    if (!m_frameMeshes.empty()) {
+        QTimer::singleShot(m_frameMeshes[0].first, this, &AnimationPanelWidget::frameReadyToShow);
+    }
+    delete m_lastFrameMesh;
+    m_lastFrameMesh = new MeshLoader(*mesh);
+    return mesh;
+}
diff --git a/src/animationpanelwidget.h b/src/animationpanelwidget.h
new file mode 100644
index 00000000..1bcf928f
--- /dev/null
+++ b/src/animationpanelwidget.h
@@ -0,0 +1,37 @@
+#ifndef ANIMATION_PANEL_WIDGET_H
+#define ANIMATION_PANEL_WIDGET_H
+#include <QWidget>
+#include <QTime>
+#include <QTimer>
+#include "skeletondocument.h"
+#include "animationclipgenerator.h"
+
+class AnimationPanelWidget : public QWidget
+{
+    Q_OBJECT
+signals:
+    void frameReadyToShow();
+    void panelClosed();
+public:
+    AnimationPanelWidget(SkeletonDocument *document, QWidget *parent=nullptr);
+    ~AnimationPanelWidget();
+    MeshLoader *takeFrameMesh();
+protected:
+    void hideEvent(QHideEvent *event);
+public slots:
+    void generateClip(QString motionName);
+    void clipReady();
+    void sourceMeshChanged();
+private:
+    SkeletonDocument *m_document;
+    AnimationClipGenerator *m_animationClipGenerator;
+    MeshLoader *m_lastFrameMesh;
+    bool m_sourceMeshReady;
+private:
+    std::vector<std::pair<int, MeshLoader *>> m_frameMeshes;
+    QTime m_countForFrame;
+    QString m_nextMotionName;
+    QString m_lastMotionName;
+};
+
+#endif
diff --git a/src/ccdikresolver.cpp b/src/ccdikresolver.cpp
index 08fae987..aa75915b 100644
--- a/src/ccdikresolver.cpp
+++ b/src/ccdikresolver.cpp
@@ -1,11 +1,13 @@
 #include <QtGlobal>
 #include <QMatrix4x4>
 #include <QDebug>
+#include <cmath>
 #include "ccdikresolver.h"
 
 CCDIKSolver::CCDIKSolver() :
-    m_maxRound(5),
-    m_distanceThreshold2(0.001 * 0.001)
+    m_maxRound(4),
+    m_distanceThreshold2(0.01 * 0.01),
+    m_distanceCeaseThreshold2(0.01 * 0.01)
 {
 }
 
@@ -39,7 +41,7 @@ void CCDIKSolver::solveTo(const QVector3D &position)
         qDebug() << "Round:" << i << " distance2:" << distance2;
         if (distance2 <= m_distanceThreshold2)
             break;
-        if (lastDistance2 > 0 && distance2 >= lastDistance2)
+        if (lastDistance2 > 0 && abs(distance2 - lastDistance2) <= m_distanceCeaseThreshold2)
             break;
         lastDistance2 = distance2;
         iterate();
@@ -48,7 +50,7 @@ void CCDIKSolver::solveTo(const QVector3D &position)
 
 const QVector3D &CCDIKSolver::getNodeSolvedPosition(int index)
 {
-    Q_ASSERT(index >= 0 && index < m_nodes.size());
+    Q_ASSERT(index >= 0 && index < (int)m_nodes.size());
     return m_nodes[index].position;
 }
 
@@ -62,13 +64,13 @@ void CCDIKSolver::iterate()
     for (int i = m_nodes.size() - 2; i >= 0; i--) {
         const auto &origin = m_nodes[i];
         const auto &endEffector = m_nodes[m_nodes.size() - 1];
-        QVector3D from = endEffector.position - origin.position;
-        QVector3D to = m_destination - origin.position;
+        QVector3D from = (endEffector.position - origin.position).normalized();
+        QVector3D to = (m_destination - origin.position).normalized();
         auto quaternion = QQuaternion::rotationTo(from, to);
         for (size_t j = i + 1; j <= m_nodes.size() - 1; j++) {
             auto &next = m_nodes[j];
             const auto offset = next.position - origin.position;
-            next.position = origin.position + quaternion.rotatedVector(offset).normalized() * offset.length();
+            next.position = origin.position + quaternion.rotatedVector(offset);
         }
     }
 }
diff --git a/src/ccdikresolver.h b/src/ccdikresolver.h
index c5af0bbc..0485aafb 100644
--- a/src/ccdikresolver.h
+++ b/src/ccdikresolver.h
@@ -26,6 +26,7 @@ private:
     QVector3D m_destination;
     int m_maxRound;
     float m_distanceThreshold2;
+    float m_distanceCeaseThreshold2;
 };
 
 #endif
diff --git a/src/gltffile.cpp b/src/gltffile.cpp
index 5b16e55d..175c3ded 100644
--- a/src/gltffile.cpp
+++ b/src/gltffile.cpp
@@ -7,6 +7,7 @@
 #include "gltffile.h"
 #include "version.h"
 #include "dust3dutil.h"
+#include "jointnodetree.h"
 
 // Play with glTF online:
 // https://gltf-viewer.donmccurdy.com/
@@ -32,60 +33,34 @@ GLTFFileWriter::GLTFFileWriter(MeshResultContext &resultContext, const QString &
     QFileInfo nameInfo(filename);
     QString textureFilenameWithoutPath = nameInfo.completeBaseName() + ".png";
     m_textureFilename = nameInfo.path() + QDir::separator() + textureFilenameWithoutPath;
-
-    JointInfo rootHandleJoint;
-    {
-        rootHandleJoint.jointIndex = m_tracedJoints.size();
-        QMatrix4x4 localMatrix;
-        rootHandleJoint.translation = QVector3D(0, - 1, 0);
-        localMatrix.translate(rootHandleJoint.translation);
-        rootHandleJoint.worldMatrix = localMatrix;
-        rootHandleJoint.inverseBindMatrix = rootHandleJoint.worldMatrix.inverted();
-        m_tracedJoints.push_back(rootHandleJoint);
-    }
     
-    JointInfo rootCenterJoint;
-    {
-        rootCenterJoint.jointIndex = m_tracedJoints.size();
-        QMatrix4x4 localMatrix;
-        rootCenterJoint.translation = QVector3D(rootNode->origin.x(), rootNode->origin.y() + 1, rootNode->origin.z());
-        localMatrix.translate(rootCenterJoint.translation);
-        rootCenterJoint.worldMatrix = rootHandleJoint.worldMatrix * localMatrix;
-        rootCenterJoint.direction = QVector3D(0, 1, 0);
-        rootCenterJoint.inverseBindMatrix = rootCenterJoint.worldMatrix.inverted();
-        m_tracedJoints[rootHandleJoint.jointIndex].children.push_back(rootCenterJoint.jointIndex);
-        m_tracedJoints.push_back(rootCenterJoint);
-    }
-    
-    std::set<std::pair<int, int>> visitedNodes;
-    std::set<std::pair<std::pair<int, int>, std::pair<int, int>>> connections;
-    m_tracedNodeToJointIndexMap[std::make_pair(rootNode->bmeshId, rootNode->nodeId)] = rootCenterJoint.jointIndex;
-    traceBoneFromJoint(resultContext, std::make_pair(rootNode->bmeshId, rootNode->nodeId), visitedNodes, connections, rootCenterJoint.jointIndex);
+    JointNodeTree jointNodeTree(resultContext);
+    const std::vector<JointInfo> &tracedJoints = jointNodeTree.joints();
     
     m_json["asset"]["version"] = "2.0";
     m_json["asset"]["generator"] = APP_NAME " " APP_HUMAN_VER;
     m_json["scenes"][0]["nodes"] = {0};
-    m_json["nodes"][0]["children"] = {1, 2};
     
-    m_json["nodes"][1]["mesh"] = 0;
-    m_json["nodes"][1]["skin"] = 0;
+    m_json["nodes"][0]["mesh"] = 0;
+    m_json["nodes"][0]["skin"] = 0;
+    m_json["nodes"][0]["children"] = {1};
     
-    int skeletonNodeStartIndex = 2;
+    int skeletonNodeStartIndex = 1;
 
-    for (auto i = 0u; i < m_tracedJoints.size(); i++) {
-        m_json["nodes"][skeletonNodeStartIndex + i]["translation"] = {m_tracedJoints[i].translation.x(),
-            m_tracedJoints[i].translation.y(),
-            m_tracedJoints[i].translation.z()
+    for (auto i = 0u; i < tracedJoints.size(); i++) {
+        m_json["nodes"][skeletonNodeStartIndex + i]["translation"] = {tracedJoints[i].translation.x(),
+            tracedJoints[i].translation.y(),
+            tracedJoints[i].translation.z()
         };
-        m_json["nodes"][skeletonNodeStartIndex + i]["rotation"] = {m_tracedJoints[i].rotation.x(),
-            m_tracedJoints[i].rotation.y(),
-            m_tracedJoints[i].rotation.z(),
-            m_tracedJoints[i].rotation.scalar()
+        m_json["nodes"][skeletonNodeStartIndex + i]["rotation"] = {tracedJoints[i].rotation.x(),
+            tracedJoints[i].rotation.y(),
+            tracedJoints[i].rotation.z(),
+            tracedJoints[i].rotation.scalar()
         };
-        if (m_tracedJoints[i].children.empty())
+        if (tracedJoints[i].children.empty())
             continue;
         m_json["nodes"][skeletonNodeStartIndex + i]["children"] = {};
-        for (const auto &it: m_tracedJoints[i].children) {
+        for (const auto &it: tracedJoints[i].children) {
             m_json["nodes"][skeletonNodeStartIndex + i]["children"] += skeletonNodeStartIndex + it;
         }
     }
@@ -93,7 +68,7 @@ GLTFFileWriter::GLTFFileWriter(MeshResultContext &resultContext, const QString &
     m_json["skins"][0]["inverseBindMatrices"] = 0;
     m_json["skins"][0]["skeleton"] = skeletonNodeStartIndex;
     m_json["skins"][0]["joints"] = {};
-    for (auto i = 0u; i < m_tracedJoints.size(); i++) {
+    for (auto i = 0u; i < tracedJoints.size(); i++) {
         m_json["skins"][0]["joints"] += skeletonNodeStartIndex + i;
     }
     
@@ -115,13 +90,13 @@ GLTFFileWriter::GLTFFileWriter(MeshResultContext &resultContext, const QString &
     m_json["accessors"][bufferViewIndex]["bufferView"] = bufferViewIndex;
     m_json["accessors"][bufferViewIndex]["byteOffset"] = 0;
     m_json["accessors"][bufferViewIndex]["componentType"] = 5126;
-    m_json["accessors"][bufferViewIndex]["count"] = m_tracedJoints.size();
+    m_json["accessors"][bufferViewIndex]["count"] = tracedJoints.size();
     m_json["accessors"][bufferViewIndex]["type"] = "MAT4";
     m_json["bufferViews"][bufferViewIndex]["buffer"] = 0;
     m_json["bufferViews"][bufferViewIndex]["byteOffset"] = (int)binaries.size();
     int bufferViews0FromOffset = (int)binaries.size();
-    for (auto i = 0u; i < m_tracedJoints.size(); i++) {
-        const float *floatArray = m_tracedJoints[i].inverseBindMatrix.constData();
+    for (auto i = 0u; i < tracedJoints.size(); i++) {
+        const float *floatArray = tracedJoints[i].inverseBindMatrix.constData();
         for (auto j = 0u; j < 16; j++) {
             stream << (float)floatArray[j];
         }
@@ -254,7 +229,7 @@ GLTFFileWriter::GLTFFileWriter(MeshResultContext &resultContext, const QString &
         for (const auto &it: part.second.weights) {
             auto i = 0u;
             for (; i < it.size() && i < MAX_WEIGHT_NUM; i++) {
-                stream << (quint16)m_tracedNodeToJointIndexMap[it[i].sourceNode];
+                stream << (quint16)jointNodeTree.nodeToJointIndex(it[i].sourceNode.first, it[i].sourceNode.second);
             }
             for (; i < MAX_WEIGHT_NUM; i++) {
                 stream << (quint16)0;
@@ -277,7 +252,7 @@ GLTFFileWriter::GLTFFileWriter(MeshResultContext &resultContext, const QString &
         for (const auto &it: part.second.weights) {
             auto i = 0u;
             for (; i < it.size() && i < MAX_WEIGHT_NUM; i++) {
-                stream << (quint16)it[i].weight;
+                stream << (float)it[i].weight;
             }
             for (; i < MAX_WEIGHT_NUM; i++) {
                 stream << (float)0.0;
@@ -321,68 +296,6 @@ const QString &GLTFFileWriter::textureFilenameInGltf()
     return m_textureFilename;
 }
 
-void GLTFFileWriter::traceBoneFromJoint(MeshResultContext &resultContext, std::pair<int, int> node, std::set<std::pair<int, int>> &visitedNodes, std::set<std::pair<std::pair<int, int>, std::pair<int, int>>> &connections, int parentIndex)
-{
-    if (visitedNodes.find(node) != visitedNodes.end())
-        return;
-    visitedNodes.insert(node);
-    const auto &neighbors = resultContext.nodeNeighbors().find(node);
-    if (neighbors == resultContext.nodeNeighbors().end()) {
-        return;
-    }
-    for (const auto &it: neighbors->second) {
-        if (connections.find(std::make_pair(std::make_pair(node.first, node.second), std::make_pair(it.first, it.second))) != connections.end())
-            continue;
-        connections.insert(std::make_pair(std::make_pair(node.first, node.second), std::make_pair(it.first, it.second)));
-        connections.insert(std::make_pair(std::make_pair(it.first, it.second), std::make_pair(node.first, node.second)));
-        const auto &fromNode = resultContext.bmeshNodeMap().find(std::make_pair(node.first, node.second));
-        if (fromNode == resultContext.bmeshNodeMap().end()) {
-            qDebug() << "bmeshNodeMap find failed:" << node.first << node.second;
-            continue;
-        }
-        const auto &toNode = resultContext.bmeshNodeMap().find(std::make_pair(it.first, it.second));
-        if (toNode == resultContext.bmeshNodeMap().end()) {
-            qDebug() << "bmeshNodeMap find failed:" << it.first << it.second;
-            continue;
-        }
-        QVector3D boneDirect = toNode->second->origin - fromNode->second->origin;
-        QVector3D normalizedBoneDirect = boneDirect.normalized();
-        QMatrix4x4 translateMat;
-        translateMat.translate(boneDirect);
-        
-        QQuaternion rotation;
-        QMatrix4x4 rotateMat;
-        
-        QVector3D cross = QVector3D::crossProduct(normalizedBoneDirect, m_tracedJoints[parentIndex].direction).normalized();
-        float dot = QVector3D::dotProduct(normalizedBoneDirect, m_tracedJoints[parentIndex].direction);
-        float angle = acos(dot);
-        rotation = QQuaternion::fromAxisAndAngle(cross, angle);
-        rotateMat.rotate(rotation);
-        
-        QMatrix4x4 localMatrix;
-        localMatrix = translateMat * rotateMat;
-        
-        QMatrix4x4 worldMatrix;
-        worldMatrix = m_tracedJoints[parentIndex].worldMatrix * localMatrix;
-        
-        JointInfo joint;
-        joint.position = toNode->second->origin;
-        joint.direction = normalizedBoneDirect;
-        joint.translation = boneDirect;
-        joint.rotation = rotation;
-        joint.jointIndex = m_tracedJoints.size();
-        joint.worldMatrix = worldMatrix;
-        joint.inverseBindMatrix = worldMatrix.inverted();
-        
-        m_tracedNodeToJointIndexMap[std::make_pair(it.first, it.second)] = joint.jointIndex;
-        
-        m_tracedJoints.push_back(joint);
-        m_tracedJoints[parentIndex].children.push_back(joint.jointIndex);
-        
-        traceBoneFromJoint(resultContext, it, visitedNodes, connections, joint.jointIndex);
-    }
-}
-
 bool GLTFFileWriter::save()
 {
     QFile file(m_filename);
diff --git a/src/gltffile.h b/src/gltffile.h
index 79339e10..61e199aa 100644
--- a/src/gltffile.h
+++ b/src/gltffile.h
@@ -8,31 +8,15 @@
 #include "meshresultcontext.h"
 #include "json.hpp"
 
-struct JointInfo
-{
-    int jointIndex;
-    QVector3D position;
-    QVector3D direction;
-    QVector3D translation;
-    QQuaternion rotation;
-    QMatrix4x4 worldMatrix;
-    QMatrix4x4 inverseBindMatrix;
-    std::vector<int> children;
-};
-
 class GLTFFileWriter : public QObject
 {
     Q_OBJECT
 public:
     GLTFFileWriter(MeshResultContext &resultContext, const QString &filename);
     bool save();
-    void traceBones(MeshResultContext &resultContext);
-    void traceBoneFromJoint(MeshResultContext &resultContext, std::pair<int, int> node, std::set<std::pair<int, int>> &visitedNodes, std::set<std::pair<std::pair<int, int>, std::pair<int, int>>> &connections, int parentIndex);
     const QString &textureFilenameInGltf();
 private:
     QByteArray m_data;
-    std::vector<JointInfo> m_tracedJoints;
-    std::map<std::pair<int, int>, int> m_tracedNodeToJointIndexMap;
     QString getMatrixStringInColumnOrder(const QMatrix4x4 &mat);
     QString m_filename;
     QString m_textureFilename;
diff --git a/src/jointnodetree.cpp b/src/jointnodetree.cpp
new file mode 100644
index 00000000..a2d1896c
--- /dev/null
+++ b/src/jointnodetree.cpp
@@ -0,0 +1,126 @@
+#include <cmath>
+#include "jointnodetree.h"
+
+JointNodeTree::JointNodeTree(MeshResultContext &resultContext)
+{
+    const BmeshNode *rootNode = resultContext.centerBmeshNode();
+    if (!rootNode) {
+        qDebug() << "Cannot construct JointNodeTree because lack of root node";
+        return;
+    }
+    
+    JointInfo rootCenterJoint;
+    {
+        rootCenterJoint.jointIndex = m_tracedJoints.size();
+        QMatrix4x4 localMatrix;
+        rootCenterJoint.partId = rootNode->bmeshId;
+        rootCenterJoint.nodeId = rootNode->nodeId;
+        rootCenterJoint.position = rootNode->origin;
+        rootCenterJoint.boneMark = rootNode->boneMark;
+        m_tracedJoints.push_back(rootCenterJoint);
+    }
+    
+    //qDebug() << "Root node partId:" << rootNode->bmeshId << "nodeId:" << rootNode->nodeId;
+    
+    std::set<std::pair<int, int>> visitedNodes;
+    std::set<std::pair<std::pair<int, int>, std::pair<int, int>>> connections;
+    m_tracedNodeToJointIndexMap[std::make_pair(rootNode->bmeshId, rootNode->nodeId)] = rootCenterJoint.jointIndex;
+    traceBoneFromJoint(resultContext, std::make_pair(rootNode->bmeshId, rootNode->nodeId), visitedNodes, connections, rootCenterJoint.jointIndex);
+    
+    calculateMatrices();
+}
+
+void JointNodeTree::traceBoneFromJoint(MeshResultContext &resultContext, std::pair<int, int> node, std::set<std::pair<int, int>> &visitedNodes, std::set<std::pair<std::pair<int, int>, std::pair<int, int>>> &connections, int parentIndex)
+{
+    if (visitedNodes.find(node) != visitedNodes.end())
+        return;
+    visitedNodes.insert(node);
+    const auto &neighbors = resultContext.nodeNeighbors().find(node);
+    if (neighbors == resultContext.nodeNeighbors().end())
+        return;
+    for (const auto &it: neighbors->second) {
+        if (connections.find(std::make_pair(std::make_pair(node.first, node.second), std::make_pair(it.first, it.second))) != connections.end())
+            continue;
+        connections.insert(std::make_pair(std::make_pair(node.first, node.second), std::make_pair(it.first, it.second)));
+        connections.insert(std::make_pair(std::make_pair(it.first, it.second), std::make_pair(node.first, node.second)));
+        const auto &fromNode = resultContext.bmeshNodeMap().find(std::make_pair(node.first, node.second));
+        if (fromNode == resultContext.bmeshNodeMap().end()) {
+            qDebug() << "bmeshNodeMap find failed:" << node.first << node.second;
+            continue;
+        }
+        const auto &toNode = resultContext.bmeshNodeMap().find(std::make_pair(it.first, it.second));
+        if (toNode == resultContext.bmeshNodeMap().end()) {
+            qDebug() << "bmeshNodeMap find failed:" << it.first << it.second;
+            continue;
+        }
+        
+        JointInfo joint;
+        joint.position = toNode->second->origin;
+        joint.jointIndex = m_tracedJoints.size();
+        joint.partId = toNode->second->bmeshId;
+        joint.nodeId = toNode->second->nodeId;
+        joint.boneMark = toNode->second->boneMark;
+        
+        m_tracedNodeToJointIndexMap[std::make_pair(it.first, it.second)] = joint.jointIndex;
+        
+        m_tracedJoints.push_back(joint);
+        m_tracedJoints[parentIndex].children.push_back(joint.jointIndex);
+        
+        traceBoneFromJoint(resultContext, it, visitedNodes, connections, joint.jointIndex);
+    }
+}
+
+std::vector<JointInfo> &JointNodeTree::joints()
+{
+    return m_tracedJoints;
+}
+
+int JointNodeTree::nodeToJointIndex(int partId, int nodeId)
+{
+    const auto &findIt = m_tracedNodeToJointIndexMap.find(std::make_pair(partId, nodeId));
+    if (findIt == m_tracedNodeToJointIndexMap.end())
+        return 0;
+    return findIt->second;
+}
+
+void JointNodeTree::calculateMatrices()
+{
+    if (joints().empty())
+        return;
+    calculateMatricesFrom(0, QVector3D(), QVector3D(), QMatrix4x4());
+}
+
+void JointNodeTree::calculateMatricesFrom(int jointIndex, const QVector3D &parentPosition, const QVector3D &parentDirection, const QMatrix4x4 &parentMatrix)
+{
+    auto &joint = joints()[jointIndex];
+    QVector3D translation = joint.position - parentPosition;
+    QVector3D direction = translation.normalized();
+    
+    QMatrix4x4 translateMatrix;
+    translateMatrix.translate(translation);
+    
+    QMatrix4x4 rotateMatrix;
+    QVector3D cross = QVector3D::crossProduct(parentDirection, direction).normalized();
+    float dot = QVector3D::dotProduct(parentDirection, direction);
+    float angle = acos(dot);
+    QQuaternion rotation = QQuaternion::fromAxisAndAngle(cross, angle);
+    rotateMatrix.rotate(QQuaternion::fromAxisAndAngle(cross, angle));
+    
+    QMatrix4x4 localMatrix = translateMatrix * rotateMatrix;
+    QMatrix4x4 bindMatrix = parentMatrix * localMatrix;
+    
+    joint.localMatrix = localMatrix;
+    joint.translation = translation;
+    joint.rotation = rotation;
+    joint.bindMatrix = bindMatrix;
+    joint.inverseBindMatrix = joint.bindMatrix.inverted();
+    
+    for (const auto &child: joint.children) {
+        calculateMatricesFrom(child, joint.position, direction, bindMatrix);
+    }
+}
+
+void JointNodeTree::recalculateMatricesAfterPositionsUpdated()
+{
+    calculateMatrices();
+}
diff --git a/src/jointnodetree.h b/src/jointnodetree.h
new file mode 100644
index 00000000..5056e573
--- /dev/null
+++ b/src/jointnodetree.h
@@ -0,0 +1,39 @@
+#ifndef JOINT_NODE_TREE_H
+#define JOINT_NODE_TREE_H
+#include <QVector3D>
+#include <QMatrix4x4>
+#include <vector>
+#include "meshresultcontext.h"
+#include "skeletonbonemark.h"
+
+struct JointInfo
+{
+    int jointIndex = 0;
+    int partId = 0;
+    int nodeId = 0;
+    SkeletonBoneMark boneMark = SkeletonBoneMark::None;
+    QVector3D position;
+    QVector3D translation;
+    QQuaternion rotation;
+    QMatrix4x4 localMatrix;
+    QMatrix4x4 bindMatrix;
+    QMatrix4x4 inverseBindMatrix;
+    std::vector<int> children;
+};
+
+class JointNodeTree
+{
+public:
+    JointNodeTree(MeshResultContext &resultContext);
+    std::vector<JointInfo> &joints();
+    int nodeToJointIndex(int partId, int nodeId);
+    void recalculateMatricesAfterPositionsUpdated();
+private:
+    void calculateMatrices();
+    void calculateMatricesFrom(int jointIndex, const QVector3D &parentPosition, const QVector3D &parentDirection, const QMatrix4x4 &parentMatrix);
+    std::vector<JointInfo> m_tracedJoints;
+    std::map<std::pair<int, int>, int> m_tracedNodeToJointIndexMap;
+    void traceBoneFromJoint(MeshResultContext &resultContext, std::pair<int, int> node, std::set<std::pair<int, int>> &visitedNodes, std::set<std::pair<std::pair<int, int>, std::pair<int, int>>> &connections, int parentIndex);
+};
+
+#endif
diff --git a/src/meshgenerator.cpp b/src/meshgenerator.cpp
index 06ad3a7a..a34119cf 100644
--- a/src/meshgenerator.cpp
+++ b/src/meshgenerator.cpp
@@ -326,12 +326,15 @@ void MeshGenerator::process()
         //qDebug() << "bmeshId[" << bmeshId << "] add lonely node[" << bmeshNodeId << "]" << radius << x << y << z;
         bmeshNodeMap[nodeIt.first] = bmeshNodeId;
         
+        SkeletonBoneMark boneMark = SkeletonBoneMarkFromString(valueOfKeyInMapOrEmpty(nodeIt.second, "boneMark").toUtf8().constData());
+        
         BmeshNode bmeshNode;
         bmeshNode.bmeshId = bmeshId;
         bmeshNode.origin = QVector3D(x, y, z);
         bmeshNode.radius = radius;
         bmeshNode.nodeId = bmeshNodeId;
         bmeshNode.color = partColorMap[partId];
+        bmeshNode.boneMark = boneMark;
         m_meshResultContext->bmeshNodes.push_back(bmeshNode);
         
         if (partMirrorFlagMap[partId]) {
diff --git a/src/meshloader.cpp b/src/meshloader.cpp
index 7380e54f..4812339d 100644
--- a/src/meshloader.cpp
+++ b/src/meshloader.cpp
@@ -140,34 +140,44 @@ MeshLoader::MeshLoader(void *meshlite, int meshId, int triangulatedMeshId, QColo
     delete[] edgeNormals;
 }
 
-/*
-MeshLoader::MeshLoader(const std::vector<vertex_t> &vertices, const std::vector<int> &indicies, const std::vector<QVector3D> &normals) :
+MeshLoader::MeshLoader(const MeshLoader &mesh) :
     m_triangleVertices(nullptr),
     m_triangleVertexCount(0),
     m_edgeVertices(nullptr),
     m_edgeVertexCount(0),
     m_textureImage(nullptr)
 {
-    m_triangleVertexCount = indicies.size();
-    m_triangleVertices = new Vertex[indicies.size()];
-    for (auto i = 0u; i < indicies.size(); i++) {
-        Vertex *dest = &m_triangleVertices[i];
-        const vertex_t *srcVert = &vertices[indicies[i]];
-        const QVector3D *srcNormal = &normals[indicies[i]];
-        dest->colorR = 0;
-        dest->colorG = 0;
-        dest->colorB = 0;
-        dest->posX = srcVert->p[0];
-        dest->posY = srcVert->p[1];
-        dest->posZ = srcVert->p[2];
-        dest->texU = srcVert->t[0];
-        dest->texV = srcVert->t[1];
-        dest->normX = srcNormal->x();
-        dest->normY = srcNormal->y();
-        dest->normZ = srcNormal->z();
+    if (nullptr != mesh.m_triangleVertices &&
+            mesh.m_triangleVertexCount > 0) {
+        this->m_triangleVertices = new Vertex[mesh.m_triangleVertexCount];
+        this->m_triangleVertexCount = mesh.m_triangleVertexCount;
+        for (int i = 0; i < mesh.m_triangleVertexCount; i++)
+            this->m_triangleVertices[i] = mesh.m_triangleVertices[i];
     }
+    if (nullptr != mesh.m_edgeVertices &&
+            mesh.m_edgeVertexCount > 0) {
+        this->m_edgeVertices = new Vertex[mesh.m_edgeVertexCount];
+        this->m_edgeVertexCount = mesh.m_edgeVertexCount;
+        for (int i = 0; i < mesh.m_edgeVertexCount; i++)
+            this->m_edgeVertices[i] = mesh.m_edgeVertices[i];
+    }
+    if (nullptr != mesh.m_textureImage) {
+        this->m_textureImage = new QImage(*mesh.m_textureImage);
+    }
+    this->m_vertices = mesh.m_vertices;
+    this->m_faces = mesh.m_faces;
+    this->m_triangulatedVertices = mesh.m_triangulatedVertices;
+    this->m_triangulatedFaces = mesh.m_triangulatedFaces;
+}
+
+MeshLoader::MeshLoader(Vertex *triangleVertices, int vertexNum) :
+    m_triangleVertices(triangleVertices),
+    m_triangleVertexCount(vertexNum),
+    m_edgeVertices(nullptr),
+    m_edgeVertexCount(0),
+    m_textureImage(nullptr)
+{
 }
-*/
 
 MeshLoader::MeshLoader(MeshResultContext &resultContext) :
     m_triangleVertices(nullptr),
@@ -210,6 +220,8 @@ MeshLoader::~MeshLoader()
 {
     delete[] m_triangleVertices;
     m_triangleVertexCount = 0;
+    delete[] m_edgeVertices;
+    m_edgeVertexCount = 0;
     delete m_textureImage;
 }
 
diff --git a/src/meshloader.h b/src/meshloader.h
index ce322d66..5a10809a 100644
--- a/src/meshloader.h
+++ b/src/meshloader.h
@@ -39,8 +39,9 @@ class MeshLoader
 {
 public:
     MeshLoader(void *meshlite, int meshId, int triangulatedMeshId = -1, QColor modelColor=Theme::white, const std::vector<QColor> *triangleColors=nullptr);
-    //MeshLoader(const std::vector<vertex_t> &vertices, const std::vector<int> &indicies, const std::vector<QVector3D> &normals);
     MeshLoader(MeshResultContext &resultContext);
+    MeshLoader(Vertex *triangleVertices, int vertexNum);
+    MeshLoader(const MeshLoader &mesh);
     ~MeshLoader();
     Vertex *triangleVertices();
     int triangleVertexCount();
diff --git a/src/meshresultcontext.cpp b/src/meshresultcontext.cpp
index 5230b199..75124197 100644
--- a/src/meshresultcontext.cpp
+++ b/src/meshresultcontext.cpp
@@ -42,12 +42,23 @@ MeshResultContext::MeshResultContext() :
 const std::vector<std::pair<int, int>> &MeshResultContext::triangleSourceNodes()
 {
     if (!m_triangleSourceResolved) {
-        calculateTriangleSourceNodes(m_triangleSourceNodes);
         m_triangleSourceResolved = true;
+        calculateTriangleSourceNodes(m_triangleSourceNodes, m_vertexSourceMap);
+        calculateRemainingVertexSourceNodesAfterTriangleSourceNodesSolved(m_vertexSourceMap);
     }
     return m_triangleSourceNodes;
 }
 
+const std::map<int, std::pair<int, int>> &MeshResultContext::vertexSourceMap()
+{
+    if (!m_triangleSourceResolved) {
+        m_triangleSourceResolved = true;
+        calculateTriangleSourceNodes(m_triangleSourceNodes, m_vertexSourceMap);
+        calculateRemainingVertexSourceNodesAfterTriangleSourceNodesSolved(m_vertexSourceMap);
+    }
+    return m_vertexSourceMap;
+}
+
 const std::vector<QColor> &MeshResultContext::triangleColors()
 {
     if (!m_triangleColorResolved) {
@@ -92,7 +103,7 @@ void MeshResultContext::resolveBmeshConnectivity()
     }
 }
 
-void MeshResultContext::calculateTriangleSourceNodes(std::vector<std::pair<int, int>> &triangleSourceNodes)
+void MeshResultContext::calculateTriangleSourceNodes(std::vector<std::pair<int, int>> &triangleSourceNodes, std::map<int, std::pair<int, int>> &vertexSourceMap)
 {
     PositionMap<std::pair<int, int>> positionMap;
     std::map<std::pair<int, int>, HalfColorEdge> halfColorEdgeMap;
@@ -101,14 +112,21 @@ void MeshResultContext::calculateTriangleSourceNodes(std::vector<std::pair<int,
         positionMap.addPosition(it.position.x(), it.position.y(), it.position.z(),
             std::make_pair(it.bmeshId, it.nodeId));
     }
+    for (auto x = 0u; x < vertices.size(); x++) {
+        ResultVertex *resultVertex = &vertices[x];
+        std::pair<int, int> source;
+        if (positionMap.findPosition(resultVertex->position.x(), resultVertex->position.y(), resultVertex->position.z(), &source)) {
+            vertexSourceMap[x] = source;
+        }
+    }
     for (auto x = 0u; x < triangles.size(); x++) {
         const auto triangle = &triangles[x];
         std::vector<std::pair<std::pair<int, int>, int>> colorTypes;
         for (int i = 0; i < 3; i++) {
             int index = triangle->indicies[i];
-            ResultVertex *resultVertex = &vertices[index];
-            std::pair<int, int> source;
-            if (positionMap.findPosition(resultVertex->position.x(), resultVertex->position.y(), resultVertex->position.z(), &source)) {
+            const auto &findResult = vertexSourceMap.find(index);
+            if (findResult != vertexSourceMap.end()) {
+                std::pair<int, int> source = findResult->second;
                 bool colorExisted = false;
                 for (auto j = 0u; j < colorTypes.size(); j++) {
                     if (colorTypes[j].first == source) {
@@ -228,6 +246,37 @@ void MeshResultContext::calculateTriangleSourceNodes(std::vector<std::pair<int,
     }
 }
 
+void MeshResultContext::calculateRemainingVertexSourceNodesAfterTriangleSourceNodesSolved(std::map<int, std::pair<int, int>> &vertexSourceMap)
+{
+    std::map<int, std::set<std::pair<int, int>>> remainings;
+    for (auto x = 0u; x < triangles.size(); x++) {
+        const auto triangle = &triangles[x];
+        for (int i = 0; i < 3; i++) {
+            int index = triangle->indicies[i];
+            const auto &findResult = vertexSourceMap.find(index);
+            if (findResult == vertexSourceMap.end()) {
+                remainings[index].insert(triangleSourceNodes()[x]);
+            }
+        }
+    }
+    for (const auto &it: remainings) {
+        float minDist2 = 100000000;
+        std::pair<int, int> minSource = std::make_pair(0, 0);
+        for (const auto &source: it.second) {
+            const auto &vertex = vertices[it.first];
+            const auto &findNode = bmeshNodeMap().find(source);
+            if (findNode != bmeshNodeMap().end()) {
+                float dist2 = (vertex.position - findNode->second->origin).lengthSquared();
+                if (dist2 < minDist2) {
+                    minSource = source;
+                    minDist2 = dist2;
+                }
+            }
+        }
+        vertexSourceMap[it.first] = minSource;
+    }
+}
+
 void MeshResultContext::calculateTriangleColors(std::vector<QColor> &triangleColors)
 {
     std::map<std::pair<int, int>, QColor> nodeColorMap;
@@ -373,10 +422,12 @@ struct BmeshNodeDistWithWorldCenter
 
 BmeshNode *MeshResultContext::calculateCenterBmeshNode()
 {
-    // Sort all the nodes by distance with world center.
+    // Sort all the nodes by distance with world center, excluding leg start nodes
     std::vector<BmeshNodeDistWithWorldCenter> nodesOrderByDistWithWorldCenter;
     for (auto i = 0u; i < bmeshNodes.size(); i++) {
         BmeshNode *bmeshNode = &bmeshNodes[i];
+        if (SkeletonBoneMarkIsStart(bmeshNode->boneMark))
+            continue;
         BmeshNodeDistWithWorldCenter distNode;
         distNode.bmeshNode = bmeshNode;
         distNode.dist2 = bmeshNode->origin.lengthSquared();
@@ -480,6 +531,7 @@ void MeshResultContext::calculateVertexWeights(std::vector<std::vector<ResultVer
                 ResultVertexWeight vertexWeight;
                 vertexWeight.sourceNode = sourceNode;
                 vertexWeight.count = 1;
+                vertexWeights[vertexIndex].push_back(vertexWeight);
                 continue;
             }
             vertexWeights[vertexIndex][foundSourceNodeIndex].count++;
@@ -501,9 +553,12 @@ void MeshResultContext::calculateVertexWeights(std::vector<std::vector<ResultVer
             for (auto i = 0u; i < it.size(); i++) {
                 const auto &findInter = intermediateNodes->find(it[i].sourceNode);
                 if (findInter != intermediateNodes->end()) {
-                    const auto &interBmeshNode = bmeshNodeMap().find(findInter->first);
-                    const auto &attachedFromBmeshNode = bmeshNodeMap().find(std::make_pair(findInter->second.attachedFromPartId, findInter->second.attachedFromNodeId));
+                    //const auto &interBmeshNode = bmeshNodeMap().find(findInter->first);
+                    //const auto &attachedFromBmeshNode = bmeshNodeMap().find(std::make_pair(findInter->second.attachedFromPartId, findInter->second.attachedFromNodeId));
                     const auto &attachedToBmeshNode = bmeshNodeMap().find(std::make_pair(findInter->second.attachedToPartId, findInter->second.attachedToNodeId));
+                    if (attachedToBmeshNode != bmeshNodeMap().end())
+                        weights.push_back(std::make_pair(attachedToBmeshNode->first, it[i].weight));
+                    /*
                     if (interBmeshNode != bmeshNodeMap().end() &&
                             attachedFromBmeshNode != bmeshNodeMap().end() &&
                             attachedToBmeshNode != bmeshNodeMap().end()) {
@@ -514,7 +569,7 @@ void MeshResultContext::calculateVertexWeights(std::vector<std::vector<ResultVer
                             weights.push_back(std::make_pair(attachedFromBmeshNode->first, it[i].weight * distWithFrom / distTotal));
                             weights.push_back(std::make_pair(attachedToBmeshNode->first, it[i].weight * distWithTo / distTotal));
                         }
-                    }
+                    }*/
                 } else {
                     weights.push_back(std::make_pair(it[i].sourceNode, it[i].weight));
                 }
@@ -527,9 +582,11 @@ void MeshResultContext::calculateVertexWeights(std::vector<std::vector<ResultVer
                 total += weights[i].second;
             }
             for (auto i = 0u; i < MAX_WEIGHT_NUM && i < weights.size(); i++) {
-                weights[i].second = weights[i].second / total;
+                weights[i].second = total > 0 ? weights[i].second / total : 0;
             }
             for (auto i = 0u; i < MAX_WEIGHT_NUM && i < weights.size(); i++) {
+                if (i >= it.size())
+                    it.push_back(ResultVertexWeight());
                 it[i].sourceNode = weights[i].first;
                 it[i].weight = weights[i].second;
                 it[i].count = -1; // no use
@@ -788,8 +845,10 @@ void MeshResultContext::removeIntermediateBones()
     bmeshEdges.clear();
     for (const auto &old: oldEdges) {
         if (intermediateNodes.find(std::make_pair(old.fromBmeshId, old.fromNodeId)) != intermediateNodes.end() ||
-                intermediateNodes.find(std::make_pair(old.toBmeshId, old.toNodeId)) != intermediateNodes.end())
+                intermediateNodes.find(std::make_pair(old.toBmeshId, old.toNodeId)) != intermediateNodes.end()) {
+            qDebug() << "Intermediate node from:" << old.fromBmeshId << old.fromNodeId << "to:" << old.toBmeshId << old.toNodeId;
             continue;
+        }
         bmeshEdges.push_back(old);
     }
     for (const auto &edge: remover.newEdges()) {
@@ -798,6 +857,7 @@ void MeshResultContext::removeIntermediateBones()
         newEdge.fromNodeId = std::get<1>(edge);
         newEdge.toBmeshId = std::get<2>(edge);
         newEdge.toNodeId = std::get<3>(edge);
+        qDebug() << "New edge from:" << newEdge.fromBmeshId << newEdge.fromNodeId << "to:" << newEdge.toBmeshId << newEdge.toNodeId;
         bmeshEdges.push_back(newEdge);
     }
     calculateBmeshNodeNeighbors(m_nodeNeighbors);
diff --git a/src/meshresultcontext.h b/src/meshresultcontext.h
index 2ecd8ceb..b1ff0aa4 100644
--- a/src/meshresultcontext.h
+++ b/src/meshresultcontext.h
@@ -13,27 +13,27 @@
 
 struct BmeshNode
 {
-    int bmeshId;
-    int nodeId;
+    int bmeshId = 0;
+    int nodeId = 0;
     QVector3D origin;
-    float radius;
+    float radius = 0;
     QColor color;
-    SkeletonBoneMark boneMark;
+    SkeletonBoneMark boneMark = SkeletonBoneMark::None;
 };
 
 struct BmeshVertex
 {
     QVector3D position;
-    int bmeshId;
-    int nodeId;
+    int bmeshId = 0;
+    int nodeId = 0;
 };
 
 struct BmeshEdge
 {
-    int fromBmeshId;
-    int fromNodeId;
-    int toBmeshId;
-    int toNodeId;
+    int fromBmeshId = 0;
+    int fromNodeId = 0;
+    int toBmeshId = 0;
+    int toNodeId = 0;
 };
 
 struct ResultVertex
@@ -43,26 +43,26 @@ struct ResultVertex
 
 struct ResultTriangle
 {
-    int indicies[3];
+    int indicies[3] = {0, 0, 0};
     QVector3D normal;
 };
 
 struct ResultVertexWeight
 {
-    std::pair<int, int> sourceNode;
-    int count;
-    float weight;
+    std::pair<int, int> sourceNode = std::make_pair(0, 0);
+    int count = 0;
+    float weight = 0;
 };
 
 struct ResultTriangleUv
 {
-    float uv[3][2];
-    bool resolved;
+    float uv[3][2] = {{0, 0}, {0, 0}, {0, 0}};
+    bool resolved = false;
 };
 
 struct ResultVertexUv
 {
-    float uv[2];
+    float uv[2] = {0, 0};
 };
 
 struct ResultPart
@@ -118,6 +118,7 @@ public:
     const std::vector<ResultTriangleUv> &triangleUvs();
     const std::vector<ResultRearrangedVertex> &rearrangedVertices();
     const std::vector<ResultRearrangedTriangle> &rearrangedTriangles();
+    const std::map<int, std::pair<int, int>> &vertexSourceMap();
     void removeIntermediateBones();
 private:
     bool m_triangleSourceResolved;
@@ -145,8 +146,10 @@ private:
     std::set<int> m_seamVertices;
     std::vector<ResultRearrangedVertex> m_rearrangedVertices;
     std::vector<ResultRearrangedTriangle> m_rearrangedTriangles;
+    std::map<int, std::pair<int, int>> m_vertexSourceMap;
 private:
-    void calculateTriangleSourceNodes(std::vector<std::pair<int, int>> &triangleSourceNodes);
+    void calculateTriangleSourceNodes(std::vector<std::pair<int, int>> &triangleSourceNodes, std::map<int, std::pair<int, int>> &vertexSourceMap);
+    void calculateRemainingVertexSourceNodesAfterTriangleSourceNodesSolved(std::map<int, std::pair<int, int>> &vertexSourceMap);
     void calculateTriangleColors(std::vector<QColor> &triangleColors);
     void calculateTriangleEdgeSourceMap(std::map<std::pair<int, int>, std::pair<int, int>> &triangleEdgeSourceMap);
     void calculateBmeshNodeMap(std::map<std::pair<int, int>, BmeshNode *> &bmeshNodeMap);
diff --git a/src/rigcontroller.cpp b/src/rigcontroller.cpp
new file mode 100644
index 00000000..6a6c00c8
--- /dev/null
+++ b/src/rigcontroller.cpp
@@ -0,0 +1,199 @@
+#include <cmath>
+#include "rigcontroller.h"
+#include "ccdikresolver.h"
+
+RigController::RigController(const JointNodeTree &jointNodeTree) :
+    m_inputJointNodeTree(jointNodeTree),
+    m_prepared(false),
+    m_legHeight(0)
+{
+}
+
+void RigController::saveFrame(RigFrame &frame)
+{
+    frame = m_rigFrame;
+}
+
+void RigController::collectLegs()
+{
+    m_legs.clear();
+    for (const auto &node: m_inputJointNodeTree.joints()) {
+        if (node.boneMark == SkeletonBoneMark::LegStart && node.children.size() == 1) {
+            const auto legStart = std::make_pair(node.partId, node.nodeId);
+            const JointInfo *loopNode = &m_inputJointNodeTree.joints()[node.children[0]];
+            while (loopNode->boneMark != SkeletonBoneMark::LegEnd &&
+                    loopNode->children.size() == 1) {
+                loopNode = &m_inputJointNodeTree.joints()[loopNode->children[0]];
+            }
+            if (loopNode->boneMark == SkeletonBoneMark::LegEnd) {
+                const auto legEnd = std::make_pair(loopNode->partId, loopNode->nodeId);
+                addLeg(legStart, legEnd);
+            } else {
+                qDebug() << "Find leg" << node.partId << "'s end failed";
+            }
+        }
+    }
+}
+
+int RigController::addLeg(std::pair<int, int> legStart, std::pair<int, int> legEnd)
+{
+    int legIndex = m_legs.size();
+    m_legs.push_back(std::make_tuple(legStart.first, legStart.second, legEnd.first, legEnd.second));
+    return legIndex;
+}
+
+void RigController::prepare()
+{
+    if (m_prepared)
+        return;
+    m_prepared = true;
+    
+    collectLegs();
+    m_rigFrame = RigFrame(m_inputJointNodeTree.joints().size());
+    calculateAverageLegHeight();
+}
+
+void RigController::lift(QVector3D offset)
+{
+    if (m_inputJointNodeTree.joints().empty())
+        return;
+    m_rigFrame.translations[0] = offset;
+}
+
+void RigController::liftLegs(QVector3D offset, QVector3D &effectedOffset)
+{
+    if (m_legs.empty())
+        return;
+    QVector3D effectedOffsetSum;
+    for (auto i = 0u; i < m_legs.size(); i++) {
+        QVector3D subEffectedOffset;
+        liftLegEnd(i, offset, subEffectedOffset);
+        effectedOffsetSum += subEffectedOffset;
+    }
+    effectedOffset = effectedOffsetSum / m_legs.size();
+}
+
+void RigController::liftLegEnd(int leg, QVector3D offset, QVector3D &effectedOffset)
+{
+    Q_ASSERT(leg >= 0 && leg < (int)m_legs.size());
+    int legStartPartId = std::get<0>(m_legs[leg]);
+    int legStartNodeId = std::get<1>(m_legs[leg]);
+    int legEndPartId = std::get<2>(m_legs[leg]);
+    int legEndNodeId = std::get<3>(m_legs[leg]);
+    int legStartIndex = m_inputJointNodeTree.nodeToJointIndex(legStartPartId, legStartNodeId);
+    int legEndIndex = m_inputJointNodeTree.nodeToJointIndex(legEndPartId, legEndNodeId);
+    const auto &legStart = m_inputJointNodeTree.joints()[legStartIndex];
+    const auto &legEnd = m_inputJointNodeTree.joints()[legEndIndex];
+    auto destPosition = legEnd.position + offset;
+    qDebug() << "dest move:" << destPosition.distanceToPoint(legEnd.position);
+    
+    CCDIKSolver ikSolver;
+    ikSolver.setMaxRound(10);
+    int loopIndex = legStartIndex;
+    std::vector<int> ikSolvingIndicies;
+    for (;;) {
+        const auto &legJoint = m_inputJointNodeTree.joints()[loopIndex];
+        ikSolvingIndicies.push_back(loopIndex);
+        ikSolver.addNodeInOrder(legJoint.position);
+        if (loopIndex == legEndIndex)
+            break;
+        if (legJoint.children.empty())
+            break;
+        Q_ASSERT(legStart.children.size() <= 1);
+        loopIndex = legJoint.children[0];
+    }
+    
+    ikSolver.solveTo(destPosition);
+    int nodeCount = ikSolver.getNodeCount();
+    Q_ASSERT(nodeCount == (int)ikSolvingIndicies.size());
+    
+    JointNodeTree outputJointNodeTree = m_inputJointNodeTree;
+    for (int i = 0; i < nodeCount; i++) {
+        int jointIndex = ikSolvingIndicies[i];
+        const QVector3D &newPosition = ikSolver.getNodeSolvedPosition(i);
+        const QVector3D &oldPosition = outputJointNodeTree.joints()[jointIndex].position;
+        qDebug() << i << "position moved:" << oldPosition.distanceToPoint(newPosition);
+        outputJointNodeTree.joints()[jointIndex].position = newPosition;
+    }
+    effectedOffset = ikSolver.getNodeSolvedPosition(nodeCount - 1) -
+        m_inputJointNodeTree.joints()[ikSolvingIndicies[nodeCount - 1]].position;
+    qDebug() << "end effector offset:" << destPosition.distanceToPoint(ikSolver.getNodeSolvedPosition(nodeCount - 1));
+    outputJointNodeTree.recalculateMatricesAfterPositionsUpdated();
+    QMatrix4x4 parentMatrix;
+    for (int i = 0; i < nodeCount; i++) {
+        int jointIndex = ikSolvingIndicies[i];
+        const auto &inputJoint = m_inputJointNodeTree.joints()[jointIndex];
+        const auto &outputJoint = outputJointNodeTree.joints()[jointIndex];
+        
+        QMatrix4x4 worldMatrix = outputJoint.bindMatrix * inputJoint.inverseBindMatrix;
+        QMatrix4x4 trMatrix = worldMatrix * parentMatrix.inverted();
+        
+        m_rigFrame.rotations[jointIndex] = QQuaternion::fromRotationMatrix(trMatrix.normalMatrix());
+        m_rigFrame.translations[jointIndex] = QVector3D(trMatrix(0, 3), trMatrix(1, 3), trMatrix(2, 3));
+
+        parentMatrix = worldMatrix;
+    }
+}
+
+void RigController::frameToMatrices(const RigFrame &frame, std::vector<QMatrix4x4> &matrices)
+{
+    if (m_inputJointNodeTree.joints().empty())
+        return;
+    matrices.clear();
+    matrices.resize(m_inputJointNodeTree.joints().size());
+
+    frameToMatricesAtJoint(frame, matrices, 0, QMatrix4x4());
+}
+
+void RigController::frameToMatricesAtJoint(const RigFrame &frame, std::vector<QMatrix4x4> &matrices, int jointIndex, const QMatrix4x4 &parentWorldMatrix)
+{
+    const auto &joint = m_inputJointNodeTree.joints()[jointIndex];
+    
+    QMatrix4x4 translateMatrix;
+    translateMatrix.translate(frame.translations[jointIndex]);
+    
+    QMatrix4x4 rotateMatrix;
+    rotateMatrix.rotate(frame.rotations[jointIndex]);
+    
+    QMatrix4x4 worldMatrix = parentWorldMatrix * translateMatrix * rotateMatrix;
+    matrices[jointIndex] = worldMatrix;
+    
+    for (const auto &child: joint.children) {
+        frameToMatricesAtJoint(frame, matrices, child, worldMatrix);
+    }
+}
+
+void RigController::squat(float amount)
+{
+    prepare();
+    
+    QVector3D wantOffset;
+    wantOffset.setY(m_legHeight * amount);
+    QVector3D effectedOffset;
+    liftLegs(wantOffset, effectedOffset);
+    lift(-effectedOffset);
+}
+
+void RigController::calculateAverageLegHeight()
+{
+    QVector3D averageLegPlaneTop = QVector3D();
+    QVector3D averageLegPlaneBottom = QVector3D();
+    if (m_legs.empty())
+        return;
+    for (auto leg = 0u; leg < m_legs.size(); leg++) {
+        int legStartPartId = std::get<0>(m_legs[leg]);
+        int legStartNodeId = std::get<1>(m_legs[leg]);
+        int legEndPartId = std::get<2>(m_legs[leg]);
+        int legEndNodeId = std::get<3>(m_legs[leg]);
+        int legStartIndex = m_inputJointNodeTree.nodeToJointIndex(legStartPartId, legStartNodeId);
+        int legEndIndex = m_inputJointNodeTree.nodeToJointIndex(legEndPartId, legEndNodeId);
+        const auto &legStart = m_inputJointNodeTree.joints()[legStartIndex];
+        const auto &legEnd = m_inputJointNodeTree.joints()[legEndIndex];
+        //qDebug() << "leg:" << leg << "legStartPartId:" << legStartPartId << "legEndPartId:" << legEndPartId << legStart.position << legEnd.position;
+        averageLegPlaneTop += legStart.position;
+        averageLegPlaneBottom += legEnd.position;
+    }
+    averageLegPlaneTop /= m_legs.size();
+    averageLegPlaneBottom /= m_legs.size();
+    m_legHeight = abs(averageLegPlaneBottom.y() - averageLegPlaneTop.y());
+}
diff --git a/src/rigcontroller.h b/src/rigcontroller.h
new file mode 100644
index 00000000..b447c68f
--- /dev/null
+++ b/src/rigcontroller.h
@@ -0,0 +1,52 @@
+#ifndef RIG_CONTROLLER_H
+#define RIG_CONTROLLER_H
+#include <QVector3D>
+#include <vector>
+#include <QQuaternion>
+#include <QMatrix4x4>
+#include "jointnodetree.h"
+
+class RigFrame
+{
+public:
+    RigFrame()
+    {
+    }
+    RigFrame(int jointNum)
+    {
+        rotations.clear();
+        rotations.resize(jointNum);
+        
+        translations.clear();
+        translations.resize(jointNum);
+    }
+    std::vector<QQuaternion> rotations;
+    std::vector<QVector3D> translations;
+};
+
+class RigController
+{
+public:
+    RigController(const JointNodeTree &jointNodeTree);
+    void saveFrame(RigFrame &frame);
+    void frameToMatrices(const RigFrame &frame, std::vector<QMatrix4x4> &matrices);
+    void squat(float amount);
+private:
+    void prepare();
+    void collectLegs();
+    int addLeg(std::pair<int, int> legStart, std::pair<int, int> legEnd);
+    void liftLegEnd(int leg, QVector3D offset, QVector3D &effectedOffset);
+    void liftLegs(QVector3D offset, QVector3D &effectedOffset);
+    void lift(QVector3D offset);
+    void calculateAverageLegHeight();
+    void frameToMatricesAtJoint(const RigFrame &frame, std::vector<QMatrix4x4> &matrices, int jointIndex, const QMatrix4x4 &parentWorldMatrix);
+private:
+    JointNodeTree m_inputJointNodeTree;
+    bool m_prepared;
+    float m_legHeight;
+private:
+    std::vector<std::tuple<int, int, int, int>> m_legs;
+    RigFrame m_rigFrame;
+};
+
+#endif
diff --git a/src/skeletondocument.cpp b/src/skeletondocument.cpp
index ea666248..60ae1a16 100644
--- a/src/skeletondocument.cpp
+++ b/src/skeletondocument.cpp
@@ -839,8 +839,9 @@ void SkeletonDocument::fromSnapshot(const SkeletonSnapshot &snapshot)
 
 MeshLoader *SkeletonDocument::takeResultMesh()
 {
-    MeshLoader *resultMesh = m_resultMesh;
-    m_resultMesh = nullptr;
+    if (nullptr == m_resultMesh)
+        return nullptr;
+    MeshLoader *resultMesh = new MeshLoader(*m_resultMesh);
     return resultMesh;
 }
 
diff --git a/src/skeletondocumentwindow.cpp b/src/skeletondocumentwindow.cpp
index 91d1f084..5bc69d0e 100644
--- a/src/skeletondocumentwindow.cpp
+++ b/src/skeletondocumentwindow.cpp
@@ -77,7 +77,8 @@ SkeletonDocumentWindow::SkeletonDocumentWindow() :
     m_document(nullptr),
     m_firstShow(true),
     m_documentSaved(true),
-    m_exportPreviewWidget(nullptr)
+    m_exportPreviewWidget(nullptr),
+    m_animationPanelWidget(nullptr)
 {
     if (!g_logBrowser) {
         g_logBrowser = new LogBrowser;
@@ -419,12 +420,19 @@ SkeletonDocumentWindow::SkeletonDocumentWindow() :
     
     m_viewMenu->addSeparator();
     
+    m_showAnimationPanelAction = new QAction(tr("Show Animation Panel"), this);
+    connect(m_showAnimationPanelAction, &QAction::triggered, this, &SkeletonDocumentWindow::showAnimationPanel);
+    //m_viewMenu->addAction(m_showAnimationPanelAction);
+    
+    m_viewMenu->addSeparator();
+    
     m_showDebugDialogAction = new QAction(tr("Show Debug Dialog"), this);
     connect(m_showDebugDialogAction, &QAction::triggered, g_logBrowser, &LogBrowser::showDialog);
     m_viewMenu->addAction(m_showDebugDialogAction);
     
     connect(m_viewMenu, &QMenu::aboutToShow, [=]() {
         m_showPartsListAction->setEnabled(partListDocker->isHidden());
+        m_showAnimationPanelAction->setEnabled(nullptr == m_animationPanelWidget || m_animationPanelWidget->isHidden());
         m_resetModelWidgetPosAction->setEnabled(!modelIsSitInVisibleArea(m_modelRenderWidget));
     });
     
@@ -576,7 +584,8 @@ SkeletonDocumentWindow::SkeletonDocumentWindow() :
     
     connect(m_document, &SkeletonDocument::skeletonChanged, m_document, &SkeletonDocument::generateMesh);
     connect(m_document, &SkeletonDocument::resultMeshChanged, [=]() {
-        if (m_exportPreviewWidget && m_exportPreviewWidget->isVisible()) {
+        if ((m_exportPreviewWidget && m_exportPreviewWidget->isVisible()) ||
+                (m_animationPanelWidget && m_animationPanelWidget->isVisible())) {
             m_document->postProcess();
         }
     });
@@ -877,6 +886,26 @@ void SkeletonDocumentWindow::exportModelResult()
     QApplication::restoreOverrideCursor();
 }
 
+void SkeletonDocumentWindow::showAnimationPanel()
+{
+    if (nullptr == m_animationPanelWidget) {
+        m_animationPanelWidget = new AnimationPanelWidget(m_document, this);
+        m_animationPanelWidget->setWindowFlags(Qt::Tool);
+        connect(m_animationPanelWidget, &AnimationPanelWidget::panelClosed, [=] {
+            m_modelRenderWidget->updateMesh(m_document->takeResultMesh());
+        });
+        connect(m_animationPanelWidget, &AnimationPanelWidget::frameReadyToShow, [=] {
+            if (m_animationPanelWidget->isVisible())
+                m_modelRenderWidget->updateMesh(m_animationPanelWidget->takeFrameMesh());
+        });
+        connect(m_document, &SkeletonDocument::postProcessedResultChanged, m_animationPanelWidget, &AnimationPanelWidget::sourceMeshChanged);
+    }
+    if (m_animationPanelWidget->isHidden()) {
+        m_document->postProcess();
+    }
+    m_animationPanelWidget->show();
+}
+
 void SkeletonDocumentWindow::showExportPreview()
 {
     if (nullptr == m_exportPreviewWidget) {
@@ -890,7 +919,9 @@ void SkeletonDocumentWindow::showExportPreview()
         connect(m_document, &SkeletonDocument::resultBakedTextureChanged, m_exportPreviewWidget, &ExportPreviewWidget::updateTexturePreview);
         connect(m_document, &SkeletonDocument::resultSkeletonChanged, m_exportPreviewWidget, &ExportPreviewWidget::updateSkeleton);
     }
-    m_document->postProcess();
+    if (m_exportPreviewWidget->isHidden()) {
+        m_document->postProcess();
+    }
     m_exportPreviewWidget->show();
 }
 
diff --git a/src/skeletondocumentwindow.h b/src/skeletondocumentwindow.h
index 6e15fc1c..f13c1450 100644
--- a/src/skeletondocumentwindow.h
+++ b/src/skeletondocumentwindow.h
@@ -10,6 +10,7 @@
 #include "skeletondocument.h"
 #include "modelwidget.h"
 #include "exportpreviewwidget.h"
+#include "animationpanelwidget.h"
 
 class SkeletonGraphicsWidget;
 
@@ -36,6 +37,7 @@ public slots:
     void exportModelResult();
     void exportGltfResult();
     void showExportPreview();
+    void showAnimationPanel();
     void newWindow();
     void newDocument();
     void saveAs();
@@ -59,6 +61,7 @@ private:
     bool m_firstShow;
     bool m_documentSaved;
     ExportPreviewWidget *m_exportPreviewWidget;
+    AnimationPanelWidget *m_animationPanelWidget;
 private:
     QString m_currentFilename;
     
@@ -113,6 +116,7 @@ private:
     QAction *m_showPartsListAction;
     QAction *m_showDebugDialogAction;
     QAction *m_toggleWireframeAction;
+    QAction *m_showAnimationPanelAction;
     
     QMenu *m_helpMenu;
     QAction *m_viewSourceAction;
diff --git a/src/skeletongenerator.cpp b/src/skeletongenerator.cpp
index 15869ab5..d62dea2d 100644
--- a/src/skeletongenerator.cpp
+++ b/src/skeletongenerator.cpp
@@ -70,15 +70,15 @@ MeshLoader *SkeletonGenerator::createSkeletonMesh()
     return skeletonMesh;
 }
 
-struct BmeshNodeDistWithWorldCenter
+void SkeletonGenerator::generate()
 {
-    BmeshNode *bmeshNode;
-    float dist2;
-};
+    Q_ASSERT(nullptr == m_resultSkeletonMesh);
+    m_resultSkeletonMesh = createSkeletonMesh();
+}
 
 void SkeletonGenerator::process()
 {
-    m_resultSkeletonMesh = createSkeletonMesh();
+    generate();
     
     this->moveToThread(QGuiApplication::instance()->thread());
     emit finished();
diff --git a/src/skeletongenerator.h b/src/skeletongenerator.h
index fa878699..21928805 100644
--- a/src/skeletongenerator.h
+++ b/src/skeletongenerator.h
@@ -12,6 +12,7 @@ class SkeletonGenerator : public QObject
 public:
     SkeletonGenerator(const MeshResultContext &meshResultContext);
     ~SkeletonGenerator();
+    void generate();
     MeshLoader *takeResultSkeletonMesh();
     MeshResultContext *takeResultContext();
 signals:
@@ -19,7 +20,6 @@ signals:
 public slots:
     void process();
 private:
-    void combineAllBmeshSkeletons();
     MeshLoader *createSkeletonMesh();
 private:
     MeshResultContext *m_meshResultContext;
diff --git a/src/skinnedmesh.cpp b/src/skinnedmesh.cpp
new file mode 100644
index 00000000..a83f6e35
--- /dev/null
+++ b/src/skinnedmesh.cpp
@@ -0,0 +1,107 @@
+#include "skinnedmesh.h"
+
+SkinnedMesh::SkinnedMesh(const MeshResultContext &resultContext) :
+    m_resultContext(resultContext),
+    m_rigController(nullptr),
+    m_jointNodeTree(nullptr)
+{
+}
+
+SkinnedMesh::~SkinnedMesh()
+{
+    delete m_rigController;
+    delete m_jointNodeTree;
+}
+
+RigController *SkinnedMesh::rigController()
+{
+    return m_rigController;
+}
+
+void SkinnedMesh::startRig()
+{
+    Q_ASSERT(nullptr == m_rigController);
+    Q_ASSERT(nullptr == m_jointNodeTree);
+    m_jointNodeTree = new JointNodeTree(m_resultContext);
+    m_rigController = new RigController(*m_jointNodeTree);
+    fromMeshResultContext(m_resultContext);
+}
+
+void SkinnedMesh::applyRigFrameToMesh(const RigFrame &frame)
+{
+    std::vector<QMatrix4x4> matrices;
+    m_rigController->frameToMatrices(frame, matrices);
+    for (auto &vert: m_vertices) {
+        QMatrix4x4 matrix;
+        for (int i = 0; i < MAX_WEIGHT_NUM; i++) {
+            if (vert.weights[i].amount > 0)
+                matrix += matrices[vert.weights[i].jointIndex] * vert.weights[i].amount;
+        }
+        vert.position = matrix * vert.posPosition;
+        vert.normal = (matrix * vert.posNormal).normalized();
+    }
+}
+
+void SkinnedMesh::fromMeshResultContext(MeshResultContext &resultContext)
+{
+    m_vertices.clear();
+    m_triangles.clear();
+    for (const auto &part: resultContext.parts()) {
+        std::map<int, int> oldToNewIndexMap;
+        for (int vertexIndex = 0; vertexIndex < (int)part.second.vertices.size(); vertexIndex++) {
+            const ResultVertex *srcVert = &part.second.vertices[vertexIndex];
+            const QVector3D *srcNormal = &part.second.interpolatedVertexNormals[vertexIndex];
+            SkinnedMeshVertex vertex;
+            vertex.position = vertex.posPosition = srcVert->position;
+            vertex.normal = vertex.posNormal = *srcNormal;
+            const auto &weights = part.second.weights[vertexIndex];
+            for (int i = 0; i < (int)weights.size() && i < MAX_WEIGHT_NUM; i++) {
+                vertex.weights[i].amount = weights[i].weight;
+                vertex.weights[i].jointIndex = m_jointNodeTree->nodeToJointIndex(weights[i].sourceNode.first, weights[i].sourceNode.second);
+            }
+            for (int i = weights.size(); i < MAX_WEIGHT_NUM; i++) {
+                vertex.weights[i].amount = 0;
+                vertex.weights[i].jointIndex = 0;
+            }
+            oldToNewIndexMap[vertexIndex] = m_vertices.size();
+            m_vertices.push_back(vertex);
+        }
+        for (const auto &it: part.second.triangles) {
+            SkinnedMeshTriangle triangle;
+            for (auto i = 0; i < 3; i++) {
+                int vertexIndex = it.indicies[i];
+                triangle.indicies[i] = oldToNewIndexMap[vertexIndex];
+            }
+            triangle.color = part.second.color;
+            m_triangles.push_back(triangle);
+        }
+    }
+}
+
+MeshLoader *SkinnedMesh::toMeshLoader()
+{
+    int vertexNum = m_triangles.size() * 3;
+    Vertex *triangleVertices = new Vertex[vertexNum];
+    int destIndex = 0;
+    for (const auto &triangle: m_triangles) {
+        for (auto i = 0; i < 3; i++) {
+            int srcVertexIndex = triangle.indicies[i];
+            const SkinnedMeshVertex *srcVertex = &m_vertices[srcVertexIndex];
+            Vertex *dest = &triangleVertices[destIndex];
+            dest->colorR = triangle.color.redF();
+            dest->colorG = triangle.color.greenF();
+            dest->colorB = triangle.color.blueF();
+            dest->texU = 0;
+            dest->texV = 0;
+            dest->normX = srcVertex->normal.x();
+            dest->normY = srcVertex->normal.y();
+            dest->normZ = srcVertex->normal.z();
+            dest->posX = srcVertex->position.x();
+            dest->posY = srcVertex->position.y();
+            dest->posZ = srcVertex->position.z();
+            destIndex++;
+        }
+    }
+    return new MeshLoader(triangleVertices, vertexNum);
+}
+
diff --git a/src/skinnedmesh.h b/src/skinnedmesh.h
new file mode 100644
index 00000000..be77844d
--- /dev/null
+++ b/src/skinnedmesh.h
@@ -0,0 +1,51 @@
+#ifndef SKINNED_MESH_H
+#define SKINNED_MESH_H
+#include <QVector3D>
+#include <vector>
+#include "meshresultcontext.h"
+#include "rigcontroller.h"
+#include "meshloader.h"
+
+struct SkinnedMeshWeight
+{
+    int jointIndex;
+    float amount;
+};
+
+struct SkinnedMeshVertex
+{
+    QVector3D position;
+    QVector3D normal;
+    QVector3D posPosition;
+    QVector3D posNormal;
+    SkinnedMeshWeight weights[MAX_WEIGHT_NUM];
+};
+
+struct SkinnedMeshTriangle
+{
+    int indicies[3];
+    QColor color;
+};
+
+class SkinnedMesh
+{
+public:
+    SkinnedMesh(const MeshResultContext &resultContext);
+    ~SkinnedMesh();
+    void startRig();
+    RigController *rigController();
+    void applyRigFrameToMesh(const RigFrame &frame);
+    MeshLoader *toMeshLoader();
+private:
+    void fromMeshResultContext(MeshResultContext &resultContext);
+private:
+    MeshResultContext m_resultContext;
+    RigController *m_rigController;
+    JointNodeTree *m_jointNodeTree;
+private:
+    Q_DISABLE_COPY(SkinnedMesh);
+    std::vector<SkinnedMeshVertex> m_vertices;
+    std::vector<SkinnedMeshTriangle> m_triangles;
+};
+
+#endif