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Cleanup: use BKE_pchan_mat3_to_rot / rot_to_mat3 utility functions

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Campbell Barton
2019-05-01 13:55:50 +10:00
parent 5915d1f453
commit 7191f66aa4
1 changed files with 3 additions and 22 deletions
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25
source/blender/editors/transform/transform_conversions.c
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@@ -611,38 +611,19 @@ static short apply_targetless_ik(Object *ob)
/* apply and decompose, doesn't work for constraints or non-uniform scale well */
{
float rmat3[3][3], qrmat[3][3], imat3[3][3], smat[3][3];
copy_m3_m4(rmat3, rmat);
/* rotation */
/* [#22409] is partially caused by this, as slight numeric error introduced during
* the solving process leads to locked-axis values changing. However, we cannot modify
* the values here, or else there are huge discrepancies between IK-solver (interactive)
* and applied poses.
*/
if (parchan->rotmode > 0) {
mat3_to_eulO(parchan->eul, parchan->rotmode, rmat3);
}
else if (parchan->rotmode == ROT_MODE_AXISANGLE) {
mat3_to_axis_angle(parchan->rotAxis, &parchan->rotAngle, rmat3);
}
else {
mat3_to_quat(parchan->quat, rmat3);
}
* and applied poses. */
BKE_pchan_mat3_to_rot(parchan, rmat3, false);
/* for size, remove rotation */
/* causes problems with some constraints (so apply only if needed) */
if (data->flag & CONSTRAINT_IK_STRETCH) {
if (parchan->rotmode > 0) {
eulO_to_mat3(qrmat, parchan->eul, parchan->rotmode);
}
else if (parchan->rotmode == ROT_MODE_AXISANGLE) {
axis_angle_to_mat3(qrmat, parchan->rotAxis, parchan->rotAngle);
}
else {
quat_to_mat3(qrmat, parchan->quat);
}
BKE_pchan_rot_to_mat3(parchan, qrmat);
invert_m3_m3(imat3, qrmat);
mul_m3_m3m3(smat, rmat3, imat3);
mat3_to_size(parchan->size, smat);