Second commit for Brecht's IK work.

(Moto needs 'make install' before you can do IK lib btw)

2 files changed, 27 insertions, 1 deletions

diff --git a/intern/moto/include/MT_Matrix3x3.h b/intern/moto/include/MT_Matrix3x3.h
index 712d48b8a64..fb899a7da96 100755
--- a/intern/moto/include/MT_Matrix3x3.h
+++ b/intern/moto/include/MT_Matrix3x3.h
@@ -79,6 +79,15 @@ public:
     
     MT_Vector3&       operator[](int i)       { return m_el[i]; }
     const MT_Vector3& operator[](int i) const { return m_el[i]; }
+
+	MT_Vector3 getColumn(int i) const {
+		return MT_Vector3(m_el[0][i], m_el[1][i], m_el[2][i]);
+	}
+	void setColumn(int i, const MT_Vector3& v) {
+		m_el[0][i] = v[0];
+		m_el[1][i] = v[1];
+		m_el[2][i] = v[2];
+	}
     
     void setValue(const float *m) {
         m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m++;
diff --git a/intern/moto/include/MT_Transform.h b/intern/moto/include/MT_Transform.h
index 5b95f81b9dd..ee5ae29dc41 100644
--- a/intern/moto/include/MT_Transform.h
+++ b/intern/moto/include/MT_Transform.h
@@ -75,6 +75,12 @@ public:
 		setBasis(m);
 	}
 
+	static MT_Transform Identity()
+	{
+		MT_Transform t;
+		t.setIdentity();
+		return t;
+	}
 
 
     MT_Point3 operator()(const MT_Point3& p) const {
@@ -82,11 +88,22 @@ public:
                          MT_dot(m_basis[1], p) + m_origin[1], 
                          MT_dot(m_basis[2], p) + m_origin[2]);
     }
+
+    MT_Vector3 operator()(const MT_Vector3& p) const {
+        return MT_Vector3(MT_dot(m_basis[0], p) + m_origin[0], 
+                         MT_dot(m_basis[1], p) + m_origin[1], 
+                         MT_dot(m_basis[2], p) + m_origin[2]);
+    }
     
     MT_Point3 operator*(const MT_Point3& p) const {
         return (*this)(p);
     }
-    
+ 
+    MT_Vector3 operator*(const MT_Vector3& p) const {
+        return (*this)(p);
+    }
+
+
     MT_Matrix3x3&         getBasis()          { return m_basis; }
     const MT_Matrix3x3&   getBasis()    const { return m_basis; }
     MT_Point3&            getOrigin()         { return m_origin; }