Finished cleaning up the ik directory removing unused files.

Kent
--
mein@cs.umn.edu

8 files changed, 0 insertions, 1347 deletions

diff --git a/intern/iksolver/intern/IK_CGChainSolver.h b/intern/iksolver/intern/IK_CGChainSolver.h
deleted file mode 100644
index 1a82e87df2a..00000000000
--- a/intern/iksolver/intern/IK_CGChainSolver.h
+++ /dev/null
@@ -1,178 +0,0 @@
-/**
- * $Id$
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#ifndef CGChainSolver_h
-
-#define CGChainSolver_h
-
-/**
- * @author Laurence Bourn
- * @date 28/6/2001
- */
-
-#include "IK_ConjugateGradientSolver.h"
-#include "IK_Chain.h"
-#include "MT_Scalar.h"
-#include "TNT/vec.h"
-#include "MEM_SmartPtr.h"
-
-
-/**
- * This class is a concrete differentiable potenial function for
- * an IK_Chain representing the distance to the goal. 
- * @warning This method of solving IK problems is not as good
- * as IK_JacobianSolver. I advise you to use that class instead.
- */
-
-class ChainPotential : 
-public DifferentiablePotenialFunctionNd 
-{
-public :
-
-	static 
-		ChainPotential *
-	New(
-		IK_Chain &chain
-	);
-	
-	// End effector goal
-
-		void
-	SetGoal(
-		const MT_Vector3 goal
-	);
-
-	// Inherited from DifferentiablePotenialFunctionNd
-	//////////////////////////////////////////////////
-
-		MT_Scalar 
-	Evaluate(
-		const MT_Scalar x
-	);
-
-		MT_Scalar
-	Derivative(
-		const MT_Scalar x
-	);
-
-		MT_Scalar
-	Evaluate(
-		const TNT::Vector<MT_Scalar> &x
-	);
-
-		void
-	Derivative(
-		const TNT::Vector<MT_Scalar> &x,
-		TNT::Vector<MT_Scalar> &dy
-	);
-
-	// return the dimension of the domain of the potenial
-	// function
-
-		int
-	Dimension(
-	) const {
-		return m_dimension;
-	}
-	
-	~ChainPotential(
-	){
-	};
-	
-private :
-
-		MT_Scalar
-	DistancePotential(
-		MT_Vector3 pos,
-		MT_Vector3 goal
-	) const;
-
-		void
-	DistanceGradient(
-		MT_Vector3 pos,
-		MT_Vector3 goal
-	);
-
-	ChainPotential(
-		IK_Chain & chain
-	) :
-		DifferentiablePotenialFunctionNd(),
-		m_chain(chain),
-		m_t_chain(chain),
-		m_dimension (chain.Segments().size())
-	{
-	};
-
-	MT_Vector3 m_goal;
-	TNT::Vector<MT_Scalar> m_distance_grad;
-	TNT::Vector<MT_Scalar> m_angle_grad;
-	TNT::Vector<MT_Scalar> m_temp_pos;
-	TNT::Vector<MT_Scalar> m_temp_grad;
-
-	TNT::Vector<MT_Scalar> m_original_pos;
-	int m_dimension;
-
-	IK_Chain &m_chain;
-	IK_Chain m_t_chain; // deep copy 
-
-};
-		
-
-class IK_CGChainSolver : public MEM_NonCopyable
-{
-public :
-	
-	
-	static
-		IK_CGChainSolver *
-	New(
-	);
-
-		bool
-	Solve(
-		IK_Chain & chain,
-		MT_Vector3 new_position,
-		MT_Scalar tolerance
-	);
-
-	~IK_CGChainSolver();	
-
-private :
-
-	IK_CGChainSolver(
-	);
-
-	MEM_SmartPtr<ChainPotential>  m_potential;
-	MEM_SmartPtr<IK_ConjugateGradientSolver> m_grad_solver;
-};
-
-#endif
-
diff --git a/intern/iksolver/intern/IK_Chain.h b/intern/iksolver/intern/IK_Chain.h
deleted file mode 100644
index 47d64fc3abf..00000000000
--- a/intern/iksolver/intern/IK_Chain.h
+++ /dev/null
@@ -1,194 +0,0 @@
-/**
- * $Id$
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#ifndef NAN_INCLUDED_IK_Chain_h
-
-#define NAN_INCLUDED_IK_Chain_h
-
-/**
- * @author Laurence Bourn
- * @date 28/6/2001
- */
-
-#include "IK_Segment.h"
-#include <vector>
-#include "MT_Scalar.h"
-#include "TNT/cmat.h"
-
-/**
- * This class is a collection of ordered segments that are used
- * in an Inverse Kinematic solving routine. An IK solver operating
- * on the chain, will in general manipulate all the segments of the
- * chain in order to solve the IK problem.
- * 
- * To build a chain use the default constructor. Once built it's
- * then possible to add IK_Segments to the chain by inserting
- * them into the vector of IK_Segments. Note that segments will be
- * copied into the chain so chain's cannot share instances of 
- * IK_Segments. 
- * 
- * You have full control of which segments form the chain via the 
- * the std::vector routines. 
- */
-class IK_Chain{
-
-public :
-
-	/**
-	 * Construct a IK_Chain with no segments.
-	 */
-
-	IK_Chain(
-	);
-
-	// IK_Chains also have the default copy constructors
-	// available. 
-
-	/** 
-     * Const access to the array of segments
-	 * comprising the IK_Chain. Used for rendering
-	 * etc
-     * @return a vector of segments
-	 */
-
-	const 
-		std::vector<IK_Segment> &
-	Segments(
-	) const ;
-
-
-	/**
-	 * Full access to segments used to initialize
-	 * the IK_Chain and manipulate the segments.
-	 * Use the push_back() method of std::vector to add
-     * segments in order to the chain
-	 */
-
-		std::vector<IK_Segment> &
-	Segments(
-	);
-
-
-	/** 
-	 * Force the IK_Chain to recompute all the local 
-	 * segment transformations and composite them
-	 * to calculate the global transformation for 
-	 * each segment. Must be called before 
-	 * ComputeJacobian()
-     */
-
-		void
-	UpdateGlobalTransformations(
-	);
-
-	/** 
-	 * Return the global position of the end
-	 * of the last segment.
-	 */
-
-		MT_Vector3 
-	EndEffector(
-	) const;
-
-
-	/** 
-	 * Return the global pose of the end
-	 * of the last segment.
-	 */
-
-		MT_Vector3
-	EndPose(
-	) const;
-
-
-	/** 
-	 * Calculate the jacobian matrix for
-	 * the current end effector position.
-	 * A jacobian is the set of column vectors
-	 * of partial derivatives for each active angle.
-	 * This method also computes the transposed jacobian.
-	 * @pre You must have updated the global transformations
-	 * of the chain's segments before a call to this method. Do this
-	 * with UpdateGlobalTransformation()
-	 */
-
-		void
-	ComputeJacobian(
-	);
-	
-
-	/** 
-	 * @return A reference to the last computed jacobian matrix
-	 */
-
-	const 
-		TNT::Matrix<MT_Scalar> &
-	Jacobian(
-	) const ;
-
-	/** 
-	 * @return A reference to the last computed transposed jacobian matrix
-	 */
-
-	const 
-		TNT::Matrix<MT_Scalar> &
-	TransposedJacobian(
-	) const ;
-
-	/** 
-	 * Count the degrees of freedom in the IK_Chain
-	 * @warning store this value rather than using this function
-	 * as the termination value of a for loop etc.
-	 */
-
-		int
-	DoF(
-	) const;
-
-
-private :
-
-	/// The vector of segments comprising the chain
-	std::vector<IK_Segment> m_segments;
-
-	/// The jacobain of the IK_Chain
-	TNT::Matrix<MT_Scalar> m_jacobian;
-
-	/// It's transpose
-	TNT::Matrix<MT_Scalar> m_t_jacobian;
-
-	MT_Vector3 m_end_effector;		
-	MT_Vector3 m_end_pose;
-
-};
-
-#endif
-
diff --git a/intern/iksolver/intern/IK_ConjugateGradientSolver.h b/intern/iksolver/intern/IK_ConjugateGradientSolver.h
deleted file mode 100644
index 190599f2271..00000000000
--- a/intern/iksolver/intern/IK_ConjugateGradientSolver.h
+++ /dev/null
@@ -1,194 +0,0 @@
-/**
- * $Id$
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#ifndef NAN_INCLUDED_IK_ConjugateGradientSolver_h
-
-#define NAN_INCLUDED_IK_ConjugateGradientSolver_h
-
-/**
- * @author Laurence Bourn
- * @date 28/6/2001
- */
-
-#include "TNT/cmat.h"
-#include "MT_Scalar.h"
-#include "IK_LineMinimizer.h"
-
-/** 
- * These classes locally minimize n dimensional potenial functions.
- * See Numerical Recipes in C www.nr.com for more details.
- * If a n dimensionable potenial function is 
- * differentiable, then it is diferentiable along
- * any vector x. This can be found by the dot product
- * of the gradient operator with x. 
- * The conjugate gradient solver boils down to 
- * a collection of line minimizations along various lines
- * defined by position,direction pairs. There are 
- * methods in this class to set the lines along which
- * minimizations via the DiffentiablePotenialFunction1d interface
- * are to be performed.
- *	
- * @warning I don't like data inheritance but it is the most efficient
- * wasy to do this here.
- */
-
-
-class DifferentiablePotenialFunctionNd 
-: public DifferentiablePotenialFunction1d 
-{
-public :
-
-	/** 
-	 * Inherited from DiffentiablePotenialFunction1d
-	 *
-	 * virtual
-	 *	MT_Scalar 
-	 * Evaluate1d(
-	 * 	MT_Scalar x
-	 * ) = 0;
-     *
-	 * virtual
-	 * 	MT_Scalar
-	 * Derivative1d(
-	 * 	MT_Scalar x
-	 * ) = 0;
-	 */
-
-	/// Methods to set the current line in N dimensions
-
-		void
-	SetLineVector(
-		const TNT::Vector<MT_Scalar> &pos,
-		const TNT::Vector<MT_Scalar> &dir
-	){
-		m_line_pos = pos;
-		m_line_dir = dir;
-	};
-
-	virtual
-		MT_Scalar
-	Evaluate(
-		const TNT::Vector<MT_Scalar> &x
-	) = 0;
-
-	virtual
-		void
-	Derivative(
-		const TNT::Vector<MT_Scalar> &x,
-		TNT::Vector<MT_Scalar> &dy
-	) = 0;
-
-	/// @return The dimension of the domain of the potenial function
-
-	virtual
-		int
-	Dimension(
-	) const =0;
-	
-	virtual
-	~DifferentiablePotenialFunctionNd(
-	){
-	};
-
-protected :
-
-	DifferentiablePotenialFunctionNd(){};
-
-	TNT::Vector<MT_Scalar> m_line_pos;
-	TNT::Vector<MT_Scalar> m_line_dir;
-
-};
-
-
-class IK_ConjugateGradientSolver 
-: public MEM_NonCopyable
-{
-public :
-
-	/** 
-	 * This class necessarily needs some (potenially large) 
-	 * temporary vectors to aid computation. We therefore
-	 * insist creation of these objects on the heap.
-	 */
-
-	static
-		IK_ConjugateGradientSolver *
-	New(
-	);
-
-	/** 
-	 * Compute the minimum of the potenial function
-	 * starting at point p. On return p contains the 
-	 * computed minima, iter the number of iterations performed,
-	 * fret the potenial value at the minima
-	 */
-
-		void
-	Solve(
-		TNT::Vector<MT_Scalar> &p,
-		MT_Scalar ftol,
-		int &iter,
-		MT_Scalar &fret,
-		DifferentiablePotenialFunctionNd &potenial,
-		int max_its = 200
-	);
-
-	~IK_ConjugateGradientSolver(
-	);
-
-private :
-		void
-	LineMinimize(
-		TNT::Vector<MT_Scalar> & p,
-		const TNT::Vector<MT_Scalar> & xi,
-		MT_Scalar &fret,
-		DifferentiablePotenialFunctionNd &potenial
-	);
-
-	IK_ConjugateGradientSolver(
-	);
-
-		void
-	ArmVectors(
-		int dimension
-	);
-
-
-	TNT::Vector<MT_Scalar> m_g;
-	TNT::Vector<MT_Scalar> m_h;
-	TNT::Vector<MT_Scalar> m_xi;
-
-	TNT::Vector<MT_Scalar> m_xi_temp;
-
-};
-
-#endif
-
diff --git a/intern/iksolver/intern/IK_JacobianSolver.h b/intern/iksolver/intern/IK_JacobianSolver.h
deleted file mode 100644
index 4e1c3e7601e..00000000000
--- a/intern/iksolver/intern/IK_JacobianSolver.h
+++ /dev/null
@@ -1,166 +0,0 @@
-/**
- * $Id$
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#ifndef NAN_INCLUDED_IK_JacobianSolver_h
-
-#define NAN_INCLUDED_IK_JacobianSolver_h
-
-/**
- * @author Laurence Bourn
- * @date 28/6/2001
- */
-
-#include "TNT/cmat.h"
-#include <vector>
-#include "MT_Vector3.h"
-#include "IK_Chain.h"
-
-class IK_JacobianSolver {
-
-public :
-
-	/**
-	 * Create a new IK_JacobianSolver on the heap
-	 * @return A newly created IK_JacobianSolver you take ownership of the object
-     * and responsibility for deleting it
-	 */
-
-
-	static 
-		IK_JacobianSolver *
-	New(
-	);
-
-	/**
-	 * Compute a solution for a chain.
-     * @param chain Reference to the chain to modify
-	 * @param g_position Reference to the goal position.
-	 * @param g_pose -not used- Reference to the goal pose. 
-	 * @param tolerance The maximum allowed distance between solution
-     * and goal for termination.
-	 * @param max_iterations should be in the range (50 - 500) 
-     * @param max_angle_change The maximum change in the angle vector 
-     * of the chain (0.1 is a good value)
-	 *
-     * @return True iff goal position reached.
-     */
-
-		bool
-	Solve(
-		IK_Chain &chain,
-		const MT_Vector3 &g_position,
-		const MT_Vector3 &g_pose,
-		const MT_Scalar tolerance,
-		const int max_iterations,
-		const MT_Scalar max_angle_change
-	);
-
-	~IK_JacobianSolver(
-	);
-
-
-private :
-
-	/**
-	 * Private constructor to force use of New()
-	 */
-
-	IK_JacobianSolver(
-	);
-
-
-	/** 
-	 * Compute the inverse jacobian matrix of the chain.
-	 * Uses a damped least squares solution when the matrix is 
-	 * is approaching singularity
-     */
-
-		int
-	ComputeInverseJacobian(
-		IK_Chain &chain,
-		const MT_Scalar x_length,
-		const MT_Scalar max_angle_change
-	);
-
-		void
-	ComputeBetas(
-		IK_Chain &chain,
-		const MT_Vector3 d_pos
-	);
-
-	/** 
-	 * Updates the angles of the chain with the newly
-	 * computed values
-     **/
-
-		void
-	UpdateChain(
-		IK_Chain &chain
-	);
-	
-	/**
-	 * Make sure all the matrices are of the correct size
-     **/
-
-		void
-	ArmMatrices(
-		int dof
-	);
-
-
-private :
-
-	/// the vector of intermediate betas
-	TNT::Vector<MT_Scalar> m_beta;
-
-	/// the vector of computed angle changes
-	TNT::Vector<MT_Scalar> m_d_theta;
-
-	/// the contraint gradients for each angle.
-	TNT::Vector<MT_Scalar> m_dh;
-
-	/// Space required for SVD computation
-
-	TNT::Vector<MT_Scalar> m_svd_w;
-	TNT::Matrix<MT_Scalar> m_svd_v;
-	TNT::Matrix<MT_Scalar> m_svd_u;
-
-	TNT::Matrix<MT_Scalar> m_svd_w_diag;
-	TNT::Matrix<MT_Scalar> m_svd_v_t;
-	TNT::Matrix<MT_Scalar> m_svd_u_t;
-	TNT::Matrix<MT_Scalar> m_svd_inverse;
-	TNT::Matrix<MT_Scalar> m_svd_temp1;
-
-
-};
-
-#endif
-
diff --git a/intern/iksolver/intern/IK_LineMinimizer.h b/intern/iksolver/intern/IK_LineMinimizer.h
deleted file mode 100644
index ed2ebf93a1b..00000000000
--- a/intern/iksolver/intern/IK_LineMinimizer.h
+++ /dev/null
@@ -1,297 +0,0 @@
-/**
- * $Id$
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#ifndef NAN_INCLUDED_IK_LineMinimizer_h
-
-#define NAN_INCLUDED_IK_LineMinimizer_h
-
-/**
- * @author Laurence Bourn
- * @date 28/6/2001
- */
-
-#include "MT_Scalar.h"
-#include <vector>
-#include "TNT/tntmath.h"
-#include "MEM_NonCopyable.h"
-
-
-
-#define GOLD 1.618034
-#define GLIMIT 100.0
-#define TINY 1.0e-20
-#define ZEPS 1.0e-10
-
-/** 
- * Routines for line - minization in n dimensions
- * these should be templated on the potenial function
- * p instead of using a virtual class. Please see 
- * numerical recipes in c for more details. www.nr.com
- */
-
-class DifferentiablePotenialFunction1d {
-public :
-	virtual
-		MT_Scalar 
-	Evaluate(
-		const MT_Scalar x
-	) = 0;
-
-	virtual
-		MT_Scalar
-	Derivative(
-		const MT_Scalar x
-	) = 0;
-};
-
-
-/**
- * TODO get rid of this class and make some
- * template functions in a seperate namespace
- */
-
-class IK_LineMinimizer : public MEM_NonCopyable {
-
-public :
-
-	/**
-	 * Before we proceed with line minimization 
-	 * we need to construct an initial bracket
-	 * of a minima of the PotenialFunction
-	 */
-
-	static
-		void
-	InitialBracket1d (	
-		MT_Scalar &ax,
-		MT_Scalar &bx,
-		MT_Scalar &cx,
-		MT_Scalar &fa,
-		MT_Scalar &fb,
-		MT_Scalar &fc,
-		DifferentiablePotenialFunction1d &potenial
-	) {
-		MT_Scalar ulim,u,r,q,fu;
-
-		fa = potenial.Evaluate(ax);
-		fb = potenial.Evaluate(bx);
-
-		if (fb > fa) {
-			std::swap(ax,bx);
-			std::swap(fa,fb);
-		}
-		cx = bx + GOLD*(bx-ax);
-		fc = potenial.Evaluate(cx);
-		
-		while (fb > fc) {
-
-			r = (bx - ax) * (fb - fc);
-			q = (bx - cx) * (fb - fa);
-			u = bx - ((bx - cx)*q - (bx - ax) *r)/ 
-				(2 * TNT::sign(TNT::max(TNT::abs(q-r),TINY),q-r));
-			ulim = bx + GLIMIT*(cx-bx);
-
-			if ((bx-u)*(u-cx) > 0.0) {
-				fu = potenial.Evaluate(u);
-				if (fu < fc) {
-					ax = bx;
-					bx = u;
-					fa = fb;
-					fb = fu;
-					return;
-				} else if (fu > fb) {
-					cx = u;
-					fc = fu;
-					return;
-				}
-				u = cx + GOLD*(cx-bx);
-				fu = potenial.Evaluate(u);
-
-			} else if ((cx - u)*(u - ulim) > 0.0) {
-				fu = potenial.Evaluate(u);
- 
-				if (fu < fc) {
-					bx = cx;
-					cx = u;
-					u = cx + GOLD*(cx - bx);
-					fb = fc;
-					fc = fu;
-					fu = potenial.Evaluate(u);
-				}
-			} else if ((u-ulim)*(ulim-cx) >=0.0) {
-				u = ulim;
-				fu = potenial.Evaluate(u);
-			} else {
-				u = cx + GOLD*(cx-bx);
-				fu = potenial.Evaluate(u);
-			}
-			ax = bx;
-			bx = cx;
-			cx = u;
-			fa = fb;
-			fb = fc;
-			fc = fu;
-		}
-	};
-
-	/**
-	 * This is a 1 dimensional brent method for
-	 * line-minization with derivatives
-	 */
-
-
-	static
-		MT_Scalar
-	DerivativeBrent1d(
-		MT_Scalar ax,
-		MT_Scalar bx,
-		MT_Scalar cx,
-		DifferentiablePotenialFunction1d &potenial,
-		MT_Scalar &x_min,
-		const MT_Scalar tol,
-		int max_iter = 100
-	) {
-		int iter;
-		bool ok1,ok2;
-		MT_Scalar a,b,d,d1,d2,du,dv,dw,dx,e(0);
-		MT_Scalar fu,fv,fw,fx,olde,tol1,tol2,u,u1,u2,v,w,x,xm;
-
-		a = (ax < cx ? ax : cx);
-		b = (ax > cx ? ax : cx);
-		x = w = v = bx;
-		fw = fv = fx = potenial.Evaluate(x);
-		dw = dv = dx = potenial.Derivative(x);
-
-		for (iter = 1; iter <= max_iter; iter++) {
-			xm = 0.5*(a+b);
-			tol1 = tol*fabs(x) + ZEPS;
-			tol2 = 2 * tol1;
-			if (fabs(x - xm) <= (tol2 - 0.5*(b-a))) {
-				x_min = x;
-				return fx;
-			}
-
-			if (fabs(e) > tol1) {
-				d1 = 2*(b-a);
-				d2 = d1;
-				if (dw != dx) {
-					d1 = (w-x)*dx/(dx-dw);
-				}
-				if (dv != dx) {
-					d2 = (v-x)*dx/(dx-dv);
-				}
-					
-				u1 = x+d1;
-				u2 = x+d2;
-				ok1 = ((a-u1)*(u1-b) > 0.0) && ((dx*d1) <= 0.0);
-				ok2 = ((a-u2)*(u2-b) > 0.0) && ((dx*d2) <= 0.0);
-				olde = e;
-				e = d;
-
-				if (ok1 || ok2) {
-					if (ok1 && ok2) {
-						d = fabs(d1) < fabs(d2) ? d1 : d2;
-					} else if (ok1)  {
-						d = d1;
-					} else {
-						d = d2;
-					}
-					if (fabs(d) <= fabs(0.5*olde)) {			
-						u = x+d;
-						if ((u-a < tol2) || (b-u < tol2)) {
-							d = TNT::sign(tol1,xm-x);
-						}
-					} else {
-						d = 0.5*(e = (dx >= 0.0 ? a-x : b-x));
-					}
-				} else {
-					d = 0.5*(e = (dx >= 0.0 ? a-x : b-x));
-				}
-			} else {
-				d = 0.5*(e = (dx >= 0.0 ? a-x : b-x));
-			}
-
-			if (fabs(d) >= tol1) {
-				u = x+d;
-				fu = potenial.Evaluate(u);
-			} else {
-				u  = x + TNT::sign(tol1,d);
-				fu = potenial.Evaluate(u);
-				if (fu > fx) {
-					x_min = x;
-					return fx;
-				}
-			}
-			du = potenial.Derivative(u);
-			if (fu <= fx) {
-				if (u >= x) {
-					a = x;
-				} else {
-					b = x;
-				}
-				v = w; fv = fw; dv = dw;
-				w = x; fw = fx; dw = dx;
-				x = u; fx = fu; dx = du;
-			} else {
-				if (u < x) {
-					a = u;
-				} else {
-					b = u;
-				}
-				if (fu <= fw || w == x) {
-					v = w; fv = fw; dv = dw;
-					w = u; fw = fu; dw = du;
-				} else if ( fu < fv || v == x || v == w) {
-					v = u; fv = fu; dv = du;
-				}
-			}
-		}
-		// FIXME throw exception		
-	
-		assert(false);
-		return MT_Scalar(0);
-	};
-
-private :
-
-	/// This class just contains static helper methods so no instantiation
-
-	IK_LineMinimizer();		
-
-};
-
-#undef GOLD
-#undef GLIMIT
-#undef TINY
-#undef ZEPS
-
-#endif
-
diff --git a/intern/iksolver/intern/IK_Segment.h b/intern/iksolver/intern/IK_Segment.h
deleted file mode 100644
index d390684d516..00000000000
--- a/intern/iksolver/intern/IK_Segment.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/**
- * $Id$
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#ifndef NAN_INCLUDED_Segment_h
-
-#define NAN_INCLUDED_Segment_h
-
-/**
- * @author Laurence Bourn
- * @date 28/6/2001
- */
-
-
-#include "MT_Vector3.h"
-#include "MT_Transform.h"
-#include <vector>
-
-class IK_Segment {
-
-public :
-
-	/**
-	 * Constructor.
-     * @warning This class uses axis angles for it's parameterization.
-     * Axis angles are a poor representation for joints of more than 1 DOF
-     * because they suffer from Gimbal lock. This becomes noticeable in 
-	 * IK solutions. A better solution is to do use a quaternion to represent
-     * angles with 3 DOF 
-     */	
-
-	IK_Segment(
-		const MT_Point3 tr1,
-		const MT_Matrix3x3 A,
-		const MT_Scalar length,
-		const bool pitch_on,
-		const bool yaw_on,
-		const bool role_on
-	);
-
-
-	IK_Segment(
-	);
-
-
-	/**
-     * @return The length of the segment
-     */
-
-	const
-		MT_Scalar
-	Length(
-	) const ;
-
-	/**
-     * @return The transform from adjacent
-	 * coordinate systems in the chain.
-     */
-
-	const 
-		MT_Transform &
-	LocalTransform(
-	) const ;
-
-	
-	/** 
-     * Get the segment to compute it's 
-	 * global transform given the global transform
-	 * of the parent. This method also updtes the
-	 * global segment start
-	 */
-
-		void
-	UpdateGlobal(
-		const MT_Transform & global
-	);
-	
-	/**
-	 * @return A const reference to the global trnasformation 
-	 */
-
-	const 
-		MT_Transform &
-	GlobalTransform(
-	) const;
-		
-	/**
-	 * @return A const Reference to start of segment in global 
-     * coordinates
-	 */
-	
-	const 	
-		MT_Vector3 &
-	GlobalSegmentStart(
-	) const;
-
-	/**  
-	 * Computes the number of degrees of freedom of this segment
-	 */
-
-		int
-	DoF(
-	) const;
-
-
-	/**
-	 * Increment the active angles (at most DoF()) by 
-	 * d_theta. Which angles are incremented depends 
-	 * on which are active. 
-     * @return DoF()
-	 * @warning Bad interface
-     */
-
-		int
-	IncrementAngles(
-		MT_Scalar *d_theta
-	);
-
-	
-	// FIXME - interface bloat
-
-	/**
-     * @return the vectors about which the active
-	 * angles operate
-	 */
-
-	const
-		std::vector<MT_Vector3> &
-	AngleVectors(
-	) const;
-
-	/**
-	 * @return the ith active angle
-	 */
-
-		MT_Scalar
-	ActiveAngle(
-		int i
-	) const;
-
-	/**
-	 * @return the ith angle
-	 */
-		MT_Scalar
-	Angle(
-		int i
-	) const;
-
-
-	/**
-	 * Set the active angles from the array
-	 * @return the number of active angles
-	 */
-
-		int
-	SetAngles(
-		const MT_Scalar *angles
-	);
-
-
-private :
-	
-		void
-	UpdateLocalTransform(
-	);
-
-
-
-private :
-
-	/** The user defined transformation, composition of the 
-	 * translation and rotation from constructor.
-     */
-
-	MT_Transform m_transform;
-	MT_Scalar m_angles[3];
-	MT_Scalar m_length;
-
-	MT_Transform m_local_transform;
-	MT_Transform m_global_transform;
-
-	bool m_active_angles[3];
-
-	MT_Vector3 m_seg_start;
-
-	std::vector<MT_Vector3> m_angle_vectors;
-
-};
-
-#endif
-
diff --git a/intern/iksolver/intern/IK_Solver_Class.h b/intern/iksolver/intern/IK_Solver_Class.h
deleted file mode 100644
index f2f1af056f2..00000000000
--- a/intern/iksolver/intern/IK_Solver_Class.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**
- * $Id$
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#ifndef NAN_INCLUDED_IK_Solver_Class
-
-#define NAN_INCLUDED_IK_Solver_Class 
-
-#include "IK_Chain.h"
-#include "IK_JacobianSolver.h"
-#include "IK_Segment.h"
-#include "MEM_SmartPtr.h"
-
-class IK_Solver_Class {
-
-public :
-
-	static 
-		IK_Solver_Class *
-	New(
-	){
-		MEM_SmartPtr<IK_Solver_Class> output (new IK_Solver_Class);
-	
-		MEM_SmartPtr<IK_JacobianSolver> solver (IK_JacobianSolver::New());
-
-		if (output == NULL ||
-			solver == NULL
-		) {
-			return NULL;
-		}
-
-		output->m_solver = solver.Release();
-	
-		return output.Release();
-	};
-	
-		IK_Chain &	
-	Chain(
-	) {
-		return m_chain;
-	};
-		
-		IK_JacobianSolver &
-	Solver(
-	) {
-		return m_solver.Ref();
-	}
-
-	~IK_Solver_Class(
-	) {
-		// nothing to do
-	}
-
-
-private :
-
-	IK_Solver_Class(
-	) {
-	};
-
-	IK_Chain m_chain;
-	MEM_SmartPtr<IK_JacobianSolver> m_solver;
-
-};	
-
-#endif
-
diff --git a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
index 68734e0d822..6312d9c23f9 100644
--- a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
+++ b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
@@ -36,15 +36,9 @@
 #include "MyGlutMouseHandler.h"
 #include "MyGlutKeyHandler.h"
 #include "MT_Transform.h"
-#ifdef USE_QUATERNIONS
 #	include "IK_Qsolver.h"
 #	include "../intern/IK_QChain.h"
 #	include "../intern/IK_QSolver_Class.h"
-#else 
-#	include "IK_solver.h"
-#	include "../intern/IK_Chain.h"
-#	include "../intern/IK_Solver_Class.h"
-#endif
 #include <GL/glut.h>
 
 class ChainDrawer : public GlutDrawer