- Changed xz limit drawing to use same formulas as the limiting in the IK

  module -- the previous method could be off pretty far.
- Added drawing of transparent surface for it, instead of just the border.
- Added "stretch IK", allowing bones not only to rotate, but also scale.
  The "Stretch" value below the DoF buttons is used to enabled this.

- Some code tweaking: slightly simplified computation of transform for IK,
  renamed chain to tree, removed unused pchan->ik_mat, ..

Internal IK module work:
- Do damping per DoF also based on stiffness, hopefully makes it converge
  faster with very stiff joints.
- Instead of having two joints types (translational and rotational), now
  all 6 DoF's can be enabled for one joint.
- Added limits for translational joints.

1 files changed, 2 insertions, 2 deletions

diff --git a/source/blender/makesdna/DNA_action_types.h b/source/blender/makesdna/DNA_action_types.h
index 91dbb0758ba..9a33e7a15b9 100644
--- a/source/blender/makesdna/DNA_action_types.h
+++ b/source/blender/makesdna/DNA_action_types.h
@@ -53,7 +53,7 @@ typedef struct bPoseChannel {
 	struct Bone			*bone;		/* set on read file or rebuild pose */
 	struct bPoseChannel *parent;	/* set on read file or rebuild pose */
 	struct bPoseChannel *child;		/* set on read file or rebuild pose, the 'ik' child, for b-bones */
-	struct ListBase		 chain;		/* only while evaluating pose */
+	struct ListBase		 iktree;		/* only while evaluating pose */
 	void				*b_bone_mats;	/* only while deform, stores precalculated b_bone deform mats */
 	
 	float		loc[3];				/* written in by actions or transform */
@@ -62,13 +62,13 @@ typedef struct bPoseChannel {
 	
 	float		chan_mat[4][4];		/* matrix result of loc/quat/size , and where we put deform in, see next line */
 	float		pose_mat[4][4];		/* constraints accumulate here. in the end, pose_mat = bone->arm_mat * chan_mat */
-	float		ik_mat[3][3];		/* for itterative IK */
 	
 	float		pose_head[3];		/* actually pose_mat[3] */
 	float		pose_tail[3];		/* also used for drawing help lines... */
 	
 	float		limitmin[3], limitmax[3];	/* DOF constraint */
 	float		stiffness[3];				/* DOF stiffness */
+	float		ikstretch;
 	
 } bPoseChannel;