diff --git a/collada/generate.py b/collada/generate.py
index bfa5583..7a6df86 100644
--- a/collada/generate.py
+++ b/collada/generate.py
@@ -17,7 +17,7 @@ def _render(out, lines):
         if l and (l[0] == "}" or l[0] == ")"):
             level -= 2
             if level < 0:
-                assert namespace >= 0
+                assert namespace >= 0, l
                 namespace -= 1
                 level = 0
 
diff --git a/collada/header.py b/collada/header.py
index db1062c..98ae9b3 100644
--- a/collada/header.py
+++ b/collada/header.py
@@ -1,5 +1,6 @@
 from typing import Dict, List, Any
 
+from collections import defaultdict
 from dataclasses import dataclass
 from itertools import islice, chain
 from io import BytesIO
@@ -34,12 +35,12 @@ class State:
     # symbol_names: C++ symbols/names already emitted
     symbol_names: Dict[str, Any]
 
-    # joint_sids
-    joint_sids: Dict[str, types.Node]
-
     # emitted_input_elements_arrays
     emitted_input_elements_arrays: Dict[str, tuple]
 
+    # channel nodes: node_id to list of sanitized target names
+    node_animation_channels: Dict[str, set]
+
     def __init__(self):
         self.vertex_buffer = BytesIO()
         self.index_buffer = BytesIO()
@@ -47,14 +48,15 @@ class State:
         self.geometry__vertex_index_tables = {}
         self.node_names = {}
         self.symbol_names = {}
-        self.joint_sids = {}
         self.emitted_input_elements_arrays = {}
+        self.node_animation_channels = defaultdict(set)
 
-def sanitize_name(state, name, value):
-    assert name is not None
+def sanitize_name(state, name, value, *, allow_slash=False):
+    assert name is not None, value
     assert type(name) is str
-    assert '/' not in name, name
-    c_id = name.lower().replace('-', '_').replace('.', '_')
+    if not allow_slash:
+        assert '/' not in name, name
+    c_id = name.lower().replace('-', '_').replace('.', '_').replace('/', '_')
 
     assert c_id not in state.node_names or state.node_names[c_id] is value
     state.symbol_names[c_id] = value
@@ -282,20 +284,37 @@ def get_node_name_id(node):
     assert name is not None, node
     return name
 
-def render_node(state, collada, node):
-    if node.type is types.NodeType.JOINT:
-        assert node.sid is not None, node.sid
-        assert node.sid not in state.joint_sids, node.sid
-        state.joint_sids[node.sid] = node
+def render_node_children(state, collada, node_name, nodes):
+    yield f"node const * const node_children_{node_name} = {{"
+    for node in nodes:
+        node_name_id = get_node_name_id(node)
+        node_name = sanitize_name(state, node_name_id, node)
+        yield "&node_{node_name},"
+    yield "};"
 
+def render_node_channels(state, collada, node, node_name):
+    if node.id is None:
+        # nodes with no ID can't have channels
+        yield f"channel const * const node_channels_{node_name}[] = {{}};"
+        return
+
+    target_names = state.node_animation_channels[node.id]
+    yield f"channel const * const node_channels_{node_name}[] = {{"
+    for target_name in target_names:
+        yield f"&node_channel_{target_name},"
+    yield "};"
+
+def render_node(state, collada, node):
     # render children first
-    for node in node.nodes:
-        yield from render_node(state, collada, node)
+    for child_node in node.nodes:
+        yield from render_node(state, collada, child_node)
 
     node_name_id = get_node_name_id(node)
     node_name = sanitize_name(state, node_name_id, node)
+    yield from render_node_children(state, collada, node_name, node.nodes)
     yield from render_node_transforms(state, collada, node_name, node.transformation_elements)
     yield from render_node_instance_geometries(state, collada, node_name, node.instance_geometries)
+    yield from render_node_channels(state, collada, node, node_name)
 
     type = {
         types.NodeType.JOINT: "JOINT",
@@ -310,6 +329,12 @@ def render_node(state, collada, node):
     yield ""
     yield f".instance_geometries = instance_geometries_{node_name},"
     yield f".instance_geometries_count = {len(node.instance_geometries)},"
+    yield ""
+    yield f".channels = node_channels_{node_name},"
+    yield f".channels_count = {len(state.node_animation_channels[node.id])},"
+    yield ""
+    yield f".nodes = node_children_{node_name},"
+    yield f".nodes_count = {len(node.nodes)},"
     yield "};"
 
 def linear_nodes(collada):
@@ -446,13 +471,166 @@ def render_descriptor():
 def render_end_of_namespace():
     yield "}"
 
+def render_animation_children(state, collada, animation_name, animations):
+    yield f"node const * const animation_children_{animation_name} = {{"
+    for animation in animations:
+        animation_name = sanitize_name(state, animation.id, animation)
+        yield "&animation_{animation_name},"
+    yield "};"
+
+def array_c_type(accessor):
+    if accessor.params[0].name == "INTERPOLATION":
+        return "interpolation"
+    assert all(param.type == "float" for param in accessor.params)
+    if accessor.stride == 1:
+        return "float"
+    elif accessor.stride in {2, 3, 4}:
+        assert list(param.name for param in accessor.params) == ["X", "Y", "Z", "W"][:accessor.stride], accessor.params
+        return f"float{accessor.stride}"
+    else:
+        assert False, accessor.stride
+
+def render_array(state, collada, accessor, array):
+    array_name = sanitize_name(state, array.id, array)
+    # render the array
+    if type(array) is types.NameArray:
+        assert accessor.stride == 1
+        assert accessor.params[0].name == "INTERPOLATION"
+        assert len(array.names) == accessor.count
+        yield f"enum interpolation const array_{array_name}[] = {{"
+        for name in array.names:
+            assert name in {"BEZIER", "LINEAR"}, name
+            yield f"interpolation::{name},"
+        yield "};"
+        return "interpolation"
+    elif type(array) is types.FloatArray:
+        c_type = array_c_type(accessor)
+        yield f"{c_type} const array_{array_name}[] = {{"
+        it = iter(array.floats)
+        for i in range(accessor.count):
+            vector = ", ".join(f"{float(f)}f" for f in islice(it, accessor.stride))
+            yield f"{{ {vector} }},"
+        yield "};"
+    else:
+        assert False, type(array)
+
+def render_source(state, collada, field_name, source):
+    array_name = sanitize_name(state, source.array_element.id, source.array_element)
+    c_type = array_c_type(source.technique_common.accessor)
+    source_name = sanitize_name(state, source.id, source)
+    #yield f"source const source_{source_name} = {{"
+    yield f"// {source_name}"
+    yield f".{field_name} = {{"
+    yield f".{c_type}_array = array_{array_name},"
+    yield f".count = {source.technique_common.accessor.count},"
+    yield "},"
+
+def render_sampler(state, collada, sampler):
+    order = dict((s, i) for i, s in
+                 enumerate(["INPUT", "OUTPUT", "IN_TANGENT", "OUT_TANGENT", "INTERPOLATION"]))
+    inputs = sorted((input for input in sampler.inputs if input.semantic in order),
+                    key=lambda input: order[input.semantic])
+
+    # render the source arrays first
+    for input in inputs:
+        assert type(input) is types.InputUnshared
+        source = collada.lookup(input.source, types.SourceCore)
+        yield from render_array(state, collada, source.technique_common.accessor, source.array_element)
+
+    sampler_name = sanitize_name(state, sampler.id, sampler)
+    yield f"sampler const sampler_{sampler_name} = {{"
+    for input in inputs:
+        source = collada.lookup(input.source, types.SourceCore)
+        field_name = input.semantic.lower()
+        yield from render_source(state, collada, field_name, source)
+    yield "};"
+
+target_attributes = {
+    "A", "ANGLE", "B", "G", "P", "Q", "R", "S", "T", "TIME", "U", "V", "W", "X", "Y", "Z"
+}
+
+def render_transform_type(transformation_element):
+    return {
+        types.Lookat: "LOOKAT",
+        types.Matrix: "MATRIX",
+        types.Rotate: "ROTATE",
+        types.Scale: "SCALE",
+        types.Skew: "SKEW",
+        types.Translate: "TRANSLATE",
+    }[type(transformation_element)]
+
+def render_channel(state, collada, channel):
+    sampler = collada.lookup(channel.source, types.Sampler)
+    sampler_name = sanitize_name(state, sampler.id, sampler)
+
+    assert '/' in channel.target, channel.target
+    assert '.' in channel.target, channel.target
+    assert "(" not in channel.target, channel.target
+
+    node_id, rest = channel.target.split("/")
+    node_transform_sid, target_attribute = rest.split(".")
+    assert target_attribute in target_attributes
+
+    node = collada.lookup(f"#{node_id}", types.Node)
+    node_name_id = get_node_name_id(node)
+    node_name = sanitize_name(state, node_name_id, node)
+    transformation_element = node.sid_lookup[node_transform_sid]
+
+    target_name = sanitize_name(state, channel.target, channel, allow_slash=True)
+    assert target_name not in state.node_animation_channels[node.id]
+    state.node_animation_channels[node.id].add(target_name)
+
+    yield f"channel const node_channel_{target_name} = {{"
+    yield f".source_sampler = &sampler_{sampler_name},"
+    yield f".target_transform_type = transform_type::{render_transform_type(transformation_element)},"
+    yield f".target_attribute = target_attribute::{target_attribute},"
+    yield "};"
+
+def render_animation(state, collada, animation_name, animation):
+    # render children first
+    for i, child_animation in enumerate(animation.animations):
+        child_animation_name = f"{animation_name}_{i}"
+        yield from render_animation(state, collada, child_animation_name, child_animation)
+
+    # samplers (includes sources)
+    for sampler in animation.samplers:
+        yield from render_sampler(state, collada, sampler)
+
+    for channel in animation.channels:
+        yield from render_channel(state, collada, channel)
+
+    # all animations channels are referenced from the node (inverse
+    # the relationship in collada)
+    #
+    # I haven't considered how nested or layered animations are
+    # affected by this inversion.
+
+    #yield f"animation const animation_{animation_name} = {{"
+    #yield f".animations = animation_children_{animation_name},"
+    #yield f".animations_count = {len(animation.animations)},"
+    #yield ""
+    #yield f".channels = animation_channels_{animation_name}"
+    #yield f".channels_count = {len(animation.channels)}"
+    #yield "};"
+
+def render_library_animations(state, collada):
+    animation_ix = 0
+    for library_animations in collada.library_animations:
+        for animation in library_animations.animations:
+            animation_name = f"{animation_ix}"
+            yield from render_animation(state, collada, animation_name, animation)
+            animation_ix += 1
+
 def render_all(collada, namespace):
     state = State()
     render, out = renderer()
     render(render_header(namespace))
+    render(render_library_animations(state, collada))
     render(render_library_effects(state, collada))
     render(render_library_materials(state, collada))
     render(render_library_geometries(state, collada))
+
+    # root elements
     render(render_library_visual_scenes(state, collada))
     render(render_input_elements_list(state))
     render(render_descriptor())
diff --git a/collada/parse.py b/collada/parse.py
index 0d47c7e..23277cb 100644
--- a/collada/parse.py
+++ b/collada/parse.py
@@ -874,7 +874,7 @@ def parse_animation(lookup, root):
             sources.append(parse_source_core(lookup, child))
         if child.tag == tag("sampler"):
             samplers.append(parse_sampler(lookup, child))
-        if child.tag == tag("channels"):
+        if child.tag == tag("channel"):
             channels.append(parse_channel(lookup, child))
 
     animation = types.Animation(id, name, animations, sources, samplers, channels)
diff --git a/include/collada_types.hpp b/include/collada_types.hpp
index 02cd981..3fd3d08 100644
--- a/include/collada_types.hpp
+++ b/include/collada_types.hpp
@@ -2,6 +2,11 @@
 
 namespace collada {
 
+  struct float2 {
+    float const x;
+    float const y;
+  };
+
   struct float3 {
     float const x;
     float const y;
@@ -25,32 +30,6 @@ namespace collada {
     float const g;
   };
 
-  //////////////////////////////////////////////////////////////////////
-  // animation
-  //////////////////////////////////////////////////////////////////////
-
-  enum class interpolation {
-    LINEAR,
-    BEZIER,
-  };
-
-  struct source {
-    union {
-      float const * const float_array;
-      enum interpolation const name_array;
-    };
-    int const count;
-    int const stride;
-  };
-
-  struct sampler {
-    source const input;
-    source const output;
-    source const intangent;
-    source const outangent;
-    source const interpolation;
-  };
-
   //////////////////////////////////////////////////////////////////////
   // geometry
   //////////////////////////////////////////////////////////////////////
@@ -228,6 +207,74 @@ namespace collada {
     int const instance_materials_count;
   };
 
+  //////////////////////////////////////////////////////////////////////
+  // animation
+  //////////////////////////////////////////////////////////////////////
+
+  enum class interpolation {
+    LINEAR,
+    BEZIER,
+  };
+
+  struct source {
+    union {
+      float const * const float_array;
+      float2 const * const float2_array;
+      float3 const * const float3_array;
+      float4 const * const float4_array;
+      enum interpolation const * const interpolation_array;
+    };
+    int const count;
+  };
+
+  struct sampler {
+    source const input;
+    source const output;
+    source const in_tangent;
+    source const out_tangent;
+    source const interpolation;
+  };
+
+  enum class target_attribute {
+    A, // alpha color component
+    ANGLE, // euler angle
+    B, // blue color component
+    G, // green color component
+    P, // third texture component
+    Q, // fourth texture component
+    R, // red color component
+    S, // first texture coordinate
+    T, // second texture coordinate
+    TIME, // time in seconds
+    U, // first generic parameter
+    V, // second generic parameter
+    W, // fourth cartesian coordinate
+    X, // first cartesian coordinate
+    Y, // second cartesian coordinate
+    Z, // third cartesian coordinate
+  };
+
+  struct channel {
+    sampler const * const source_sampler;
+    int const target_node_index; // an index into the nodes array
+    transform_type const target_transform_type;
+    target_attribute const target_attribute;
+  };
+
+  /*
+  struct animation {
+    animation const * const animations; // nested animations
+    int const animations_count;
+
+    channels const * const channels;
+    int const channels_count;
+  };
+  */
+
+  //////////////////////////////////////////////////////////////////////
+  // scene
+  //////////////////////////////////////////////////////////////////////
+
   struct node {
     node_type const type;
 
@@ -237,6 +284,9 @@ namespace collada {
     instance_geometry const * const instance_geometries;
     int const instance_geometries_count;
 
+    channel const * const * const channels;
+    int const channels_count;
+
     node const * const nodes;
     int const nodes_count;
   };
@@ -245,7 +295,10 @@ namespace collada {
     node const * const * const nodes;
     int const nodes_count;
 
-    inputs const * inputs_list;
+    inputs const * const inputs_list;
     int const inputs_list_count;
+
+    //animation const * const animations;
+    //int const animations_count;
   };
 }
diff --git a/include/scenes/curve_interpolation.hpp b/include/scenes/curve_interpolation.hpp
index 3e3f34d..2da5128 100644
--- a/include/scenes/curve_interpolation.hpp
+++ b/include/scenes/curve_interpolation.hpp
@@ -4,6 +4,144 @@ namespace curve_interpolation {
 
 using namespace collada;
 
+float const array_node_cube_translation_x_input_array[] = {
+  { 0.0f },
+  { 1.666667f },
+  { 3.333333f },
+  { 5.0f },
+};
+
+float const array_node_cube_translation_x_output_array[] = {
+  { 10.0f },
+  { -10.0f },
+  { 10.0f },
+  { -10.0f },
+};
+
+float2 const array_node_cube_translation_x_intangent_array[] = {
+  { -0.3332306f, 10.0f },
+  { 1.111167f, -10.0f },
+  { 2.778333f, 10.0f },
+  { 4.4445f, -9.219337f },
+};
+
+float2 const array_node_cube_translation_x_outtangent_array[] = {
+  { 0.5555f, 10.0f },
+  { 2.222167f, -10.0f },
+  { 3.888333f, 10.0f },
+  { 4.000208f, -8.594958f },
+};
+
+enum interpolation const array_node_cube_translation_x_interpolation_array[] = {
+  interpolation::BEZIER,
+  interpolation::BEZIER,
+  interpolation::BEZIER,
+  interpolation::BEZIER,
+};
+
+sampler const sampler_node_cube_translation_x_sampler = {
+  // node_cube_translation_x_input
+  .input = {
+    .float_array = array_node_cube_translation_x_input_array,
+    .count = 4,
+  },
+  // node_cube_translation_x_output
+  .output = {
+    .float_array = array_node_cube_translation_x_output_array,
+    .count = 4,
+  },
+  // node_cube_translation_x_intangent
+  .in_tangent = {
+    .float2_array = array_node_cube_translation_x_intangent_array,
+    .count = 4,
+  },
+  // node_cube_translation_x_outtangent
+  .out_tangent = {
+    .float2_array = array_node_cube_translation_x_outtangent_array,
+    .count = 4,
+  },
+  // node_cube_translation_x_interpolation
+  .interpolation = {
+    .interpolation_array = array_node_cube_translation_x_interpolation_array,
+    .count = 4,
+  },
+};
+
+float const array_node_cube_translation_y_input_array[] = {
+  { -0.8333334f },
+  { 0.8333334f },
+  { 2.5f },
+  { 4.166667f },
+};
+
+float const array_node_cube_translation_y_output_array[] = {
+  { -10.05776f },
+  { 10.05852f },
+  { -9.941484f },
+  { 10.05852f },
+};
+
+float2 const array_node_cube_translation_y_intangent_array[] = {
+  { -1.166264f, -10.05776f },
+  { 0.2778334f, 10.05852f },
+  { 1.9445f, -9.941484f },
+  { 3.611667f, 10.05852f },
+};
+
+float2 const array_node_cube_translation_y_outtangent_array[] = {
+  { -0.2783333f, -10.05776f },
+  { 1.388833f, 10.05852f },
+  { 3.0555f, -9.941484f },
+  { 4.499598f, 10.05852f },
+};
+
+enum interpolation const array_node_cube_translation_y_interpolation_array[] = {
+  interpolation::BEZIER,
+  interpolation::BEZIER,
+  interpolation::BEZIER,
+  interpolation::BEZIER,
+};
+
+sampler const sampler_node_cube_translation_y_sampler = {
+  // node_cube_translation_y_input
+  .input = {
+    .float_array = array_node_cube_translation_y_input_array,
+    .count = 4,
+  },
+  // node_cube_translation_y_output
+  .output = {
+    .float_array = array_node_cube_translation_y_output_array,
+    .count = 4,
+  },
+  // node_cube_translation_y_intangent
+  .in_tangent = {
+    .float2_array = array_node_cube_translation_y_intangent_array,
+    .count = 4,
+  },
+  // node_cube_translation_y_outtangent
+  .out_tangent = {
+    .float2_array = array_node_cube_translation_y_outtangent_array,
+    .count = 4,
+  },
+  // node_cube_translation_y_interpolation
+  .interpolation = {
+    .interpolation_array = array_node_cube_translation_y_interpolation_array,
+    .count = 4,
+  },
+};
+
+channel const node_channel_node_cube_translation_x = {
+  .source_sampler = &sampler_node_cube_translation_x_sampler,
+  .target_transform_type = transform_type::TRANSLATE,
+  .target_attribute = target_attribute::X,
+};
+
+channel const node_channel_node_cube_translation_y = {
+  .source_sampler = &sampler_node_cube_translation_y_sampler,
+  .target_transform_type = transform_type::TRANSLATE,
+  .target_attribute = target_attribute::Y,
+};
+
 effect const effect_material__15 = {
   .type = effect_type::BLINN,
   .blinn = {
@@ -372,12 +510,17 @@ geometry const * const geometries[] = {
   &geometry_geom_plane001,
 };
 
+node const * const node_children_node_environmentambientlight = {
+};
+
 transform const transforms_node_environmentambientlight[] = {
 };
 
 instance_geometry const instance_geometries_node_environmentambientlight[] = {
 };
 
+channel const * const node_channels_node_environmentambientlight[] = {};
+
 node const node_node_environmentambientlight = {
   .type = node_type::NODE,
 
@@ -386,6 +529,15 @@ node const node_node_environmentambientlight = {
 
   .instance_geometries = instance_geometries_node_environmentambientlight,
   .instance_geometries_count = 0,
+
+  .channels = node_channels_node_environmentambientlight,
+  .channels_count = 0,
+
+  .nodes = node_children_node_environmentambientlight,
+  .nodes_count = 0,
+};
+
+node const * const node_children_node_cube = {
 };
 
 transform const transforms_node_cube[] = {
@@ -430,6 +582,11 @@ instance_geometry const instance_geometries_node_cube[] = {
   },
 };
 
+channel const * const node_channels_node_cube[] = {
+  &node_channel_node_cube_translation_x,
+  &node_channel_node_cube_translation_y,
+};
+
 node const node_node_cube = {
   .type = node_type::NODE,
 
@@ -438,6 +595,15 @@ node const node_node_cube = {
 
   .instance_geometries = instance_geometries_node_cube,
   .instance_geometries_count = 1,
+
+  .channels = node_channels_node_cube,
+  .channels_count = 2,
+
+  .nodes = node_children_node_cube,
+  .nodes_count = 0,
+};
+
+node const * const node_children_node_cylinder001 = {
 };
 
 transform const transforms_node_cylinder001[] = {
@@ -458,6 +624,9 @@ instance_geometry const instance_geometries_node_cylinder001[] = {
   },
 };
 
+channel const * const node_channels_node_cylinder001[] = {
+};
+
 node const node_node_cylinder001 = {
   .type = node_type::NODE,
 
@@ -466,6 +635,15 @@ node const node_node_cylinder001 = {
 
   .instance_geometries = instance_geometries_node_cylinder001,
   .instance_geometries_count = 1,
+
+  .channels = node_channels_node_cylinder001,
+  .channels_count = 0,
+
+  .nodes = node_children_node_cylinder001,
+  .nodes_count = 0,
+};
+
+node const * const node_children_node_plane001 = {
 };
 
 transform const transforms_node_plane001[] = {
@@ -494,6 +672,9 @@ instance_geometry const instance_geometries_node_plane001[] = {
   },
 };
 
+channel const * const node_channels_node_plane001[] = {
+};
+
 node const node_node_plane001 = {
   .type = node_type::NODE,
 
@@ -502,6 +683,12 @@ node const node_node_plane001 = {
 
   .instance_geometries = instance_geometries_node_plane001,
   .instance_geometries_count = 1,
+
+  .channels = node_channels_node_plane001,
+  .channels_count = 0,
+
+  .nodes = node_children_node_plane001,
+  .nodes_count = 0,
 };
 
 node const * const nodes[] = {