Fix bug [#31588]: iTaSC does not handle armature scaling correctly. iTaSC solver operates in world reference, therefore armature scale is used to build the ik scene. But the scaling was not taken out when applying the pose at the end of the simulation.

1 files changed, 8 insertions, 0 deletions

diff --git a/intern/itasc/kdl/frames.inl b/intern/itasc/kdl/frames.inl
index ff1307766bf..65c6148cd8e 100644
--- a/intern/itasc/kdl/frames.inl
+++ b/intern/itasc/kdl/frames.inl
@@ -143,6 +143,14 @@ Vector& Vector::operator -=(const Vector & arg)
     return *this;
 }
 
+Vector& Vector::operator *=(double arg)
+{
+	data[0] *= arg;
+	data[1] *= arg;
+	data[2] *= arg;
+	return *this;
+}
+
 Vector Vector::Zero()
 {
     return Vector(0,0,0);