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); }