Armature pose evaluation: more factorization of code.

Now constraints' space conversion code also uses generic armature_mat_(pose_to_bone/bone_to_pose). Previous own function (constraint_pchan_diff_mat) was somewhat inconsistent too with Hinge/NoScale/LocalLocation options...
As with previous similar changes, this might break some old rigs, in very specific cases (when constraint-evaluating an hinge/noscale/local_location bone in local space).

In the same part of code, removed unnecessary matrices copying, mult_m4_m4m4 can take the same matrix as input and output, nowadays...

Also found a bug-generator weakness in those armature_mat_ functions (if both input and output mat where the same, result was wrong, now systematically copying input mat, as done in LIB's matrix funcs).

Finally, factorized offset bone matrix generation into its own small function too, as it is used in two different places in armature.c (pchan_to_pose_mat itself, and restpose's where_is_armature_bone).

Note: I think all parts of blender's code related to that topic have now been tackled, but yet have to check BGE, it’s probably using that stuff too, one way or the other...

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