void IK_SetTransform(IK_Segment *seg, float start[3], float rest[][3], float basis[][3], float length)
{
IK_QSegment *qseg = (IK_QSegment *)seg;
Vector3d mstart(start[0], start[1], start[2]);
// convert from blender column major
Matrix3d mbasis = CreateMatrix(basis[0][0], basis[1][0], basis[2][0],
basis[0][1], basis[1][1], basis[2][1],
basis[0][2], basis[1][2], basis[2][2]);
Matrix3d mrest = CreateMatrix(rest[0][0], rest[1][0], rest[2][0],
rest[0][1], rest[1][1], rest[2][1],
rest[0][2], rest[1][2], rest[2][2]);
double mlength(length);
if (qseg->Composite()) {
Vector3d cstart(0, 0, 0);
Matrix3d cbasis;
cbasis.setIdentity();
qseg->SetTransform(mstart, mrest, mbasis, 0.0);
qseg->Composite()->SetTransform(cstart, cbasis, cbasis, mlength);
}
else
qseg->SetTransform(mstart, mrest, mbasis, mlength);
}
void IK_SetTransform(IK_Segment *seg, float start[3], float rest[][3], float basis[][3], float length)
{
IK_QSegment *qseg = (IK_QSegment*)seg;
MT_Vector3 mstart(start);
// convert from blender column major to moto row major
MT_Matrix3x3 mbasis(basis[0][0], basis[1][0], basis[2][0],
basis[0][1], basis[1][1], basis[2][1],
basis[0][2], basis[1][2], basis[2][2]);
MT_Matrix3x3 mrest(rest[0][0], rest[1][0], rest[2][0],
rest[0][1], rest[1][1], rest[2][1],
rest[0][2], rest[1][2], rest[2][2]);
MT_Scalar mlength(length);
if (qseg->Composite()) {
MT_Vector3 cstart(0, 0, 0);
MT_Matrix3x3 cbasis;
cbasis.setIdentity();
qseg->SetTransform(mstart, mrest, mbasis, 0.0);
qseg->Composite()->SetTransform(cstart, cbasis, cbasis, mlength);
}
else
qseg->SetTransform(mstart, mrest, mbasis, mlength);
}
