IK Solver:

* Rename Legacy to Standard, it's not being deprecated as far as I know.
* Make option to toggle off Location solving work with Standard.
* Make it converge a bit better in some cases by enforcing a minimum number of
  iterations before giving up.
* Move IK solver choice out of bone panel, it's an armature level setting and
  should be set there.

5 files changed, 10 insertions, 11 deletions

diff --git a/source/blender/blenkernel/intern/action.c b/source/blender/blenkernel/intern/action.c
index e95451252d0..dd27cc70ba3 100644
--- a/source/blender/blenkernel/intern/action.c
+++ b/source/blender/blenkernel/intern/action.c
@@ -512,7 +512,7 @@ const char *BKE_pose_ikparam_get_name(bPose *pose)
 {
 	if (pose) {
 		switch (pose->iksolver) {
-			case IKSOLVER_LEGACY:
+			case IKSOLVER_STANDARD:
 				return NULL;
 			case IKSOLVER_ITASC:
 				return "bItasc";
@@ -587,7 +587,7 @@ void BKE_pose_ikparam_init(bPose *pose)
 			BKE_pose_itasc_init(itasc);
 			pose->ikparam = itasc;
 			break;
-		case IKSOLVER_LEGACY:
+		case IKSOLVER_STANDARD:
 		default:
 			pose->ikparam = NULL;
 			break;
diff --git a/source/blender/ikplugin/intern/iksolver_plugin.c b/source/blender/ikplugin/intern/iksolver_plugin.c
index af15333ece5..ca81f4c915a 100644
--- a/source/blender/ikplugin/intern/iksolver_plugin.c
+++ b/source/blender/ikplugin/intern/iksolver_plugin.c
@@ -379,6 +379,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
 
 		copy_v3_v3(goalpos, goal[3]);
 		copy_m3_m4(goalrot, goal);
+		normalize_m3(goalrot);
 
 		/* same for pole vector target */
 		if (data->poletar) {
@@ -433,7 +434,7 @@ static void execute_posetree(struct Scene *scene, Object *ob, PoseTree *tree)
 
 		iktarget = iktree[target->tip];
 
-		if (data->weight != 0.0f) {
+		if ((data->flag & CONSTRAINT_IK_POS) && data->weight != 0.0f) {
 			if (poleconstrain)
 				IK_SolverSetPoleVectorConstraint(solver, iktarget, goalpos,
 				                                 polepos, data->poleangle, (poleangledata == data));
diff --git a/source/blender/makesdna/DNA_action_types.h b/source/blender/makesdna/DNA_action_types.h
index d8d1ad78451..f227af78dab 100644
--- a/source/blender/makesdna/DNA_action_types.h
+++ b/source/blender/makesdna/DNA_action_types.h
@@ -372,7 +372,7 @@ typedef enum ePose_Flags {
 
 /* bPose->iksolver and bPose->ikparam->iksolver */
 typedef enum ePose_IKSolverType {
-	IKSOLVER_LEGACY = 0,
+	IKSOLVER_STANDARD = 0,
 	IKSOLVER_ITASC = 1
 } ePose_IKSolverType;
 
diff --git a/source/blender/makesrna/intern/rna_constraint.c b/source/blender/makesrna/intern/rna_constraint.c
index 7b6b629ca82..30a9bfd81f6 100644
--- a/source/blender/makesrna/intern/rna_constraint.c
+++ b/source/blender/makesrna/intern/rna_constraint.c
@@ -614,7 +614,7 @@ static void rna_def_constraint_kinematic(BlenderRNA *brna)
 	RNA_def_property_update(prop, NC_OBJECT | ND_CONSTRAINT, "rna_Constraint_dependency_update");
 
 	prop = RNA_def_property(srna, "iterations", PROP_INT, PROP_NONE);
-	RNA_def_property_range(prop, 1, 10000);
+	RNA_def_property_range(prop, 0, 10000);
 	RNA_def_property_ui_text(prop, "Iterations", "Maximum number of solving iterations");
 	RNA_def_property_update(prop, NC_OBJECT | ND_CONSTRAINT, "rna_Constraint_update");
 
diff --git a/source/blender/makesrna/intern/rna_pose.c b/source/blender/makesrna/intern/rna_pose.c
index 412aad20a41..5c90fb8787c 100644
--- a/source/blender/makesrna/intern/rna_pose.c
+++ b/source/blender/makesrna/intern/rna_pose.c
@@ -675,7 +675,7 @@ static void rna_def_bone_group(BlenderRNA *brna)
 }
 
 static EnumPropertyItem prop_iksolver_items[] = {
-	{IKSOLVER_LEGACY, "LEGACY", 0, "Legacy", "Original IK solver"},
+	{IKSOLVER_STANDARD, "LEGACY", 0, "Standard", "Original IK solver"},
 	{IKSOLVER_ITASC, "ITASC", 0, "iTaSC", "Multi constraint, stateful IK solver"},
 	{0, NULL, 0, NULL, NULL}
 };
@@ -1126,7 +1126,7 @@ static void rna_def_pose_itasc(BlenderRNA *brna)
 
 	prop = RNA_def_property(srna, "iterations", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "numiter");
-	RNA_def_property_range(prop, 1.f, 1000.f);
+	RNA_def_property_range(prop, 0, 1000);
 	RNA_def_property_ui_text(prop, "Iterations",
 	                         "Maximum number of iterations for convergence in case of reiteration");
 	RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Itasc_update");
@@ -1221,8 +1221,7 @@ static void rna_def_pose_ikparam(BlenderRNA *brna)
 	RNA_def_property_enum_sdna(prop, NULL, "iksolver");
 	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, prop_iksolver_items);
-	RNA_def_property_ui_text(prop, "IK Solver",
-	                         "IK solver for which these parameters are defined, 0 for Legacy, 1 for iTaSC");
+	RNA_def_property_ui_text(prop, "IK Solver", "IK solver for which these parameters are defined");
 }
 
 /* pose.bone_groups */
@@ -1285,8 +1284,7 @@ static void rna_def_pose(BlenderRNA *brna)
 	RNA_def_property_enum_sdna(prop, NULL, "iksolver");
 	RNA_def_property_enum_funcs(prop, NULL, "rna_Pose_ik_solver_set", NULL);
 	RNA_def_property_enum_items(prop, prop_iksolver_items);
-	RNA_def_property_ui_text(prop, "IK Solver",
-	                         "Selection of IK solver for IK chain, current choice is 0 for Legacy, 1 for iTaSC");
+	RNA_def_property_ui_text(prop, "IK Solver", "Selection of IK solver for IK chain");
 	RNA_def_property_update(prop, NC_OBJECT | ND_POSE, "rna_Pose_ik_solver_update");
 
 	prop = RNA_def_property(srna, "ik_param", PROP_POINTER, PROP_NONE);