1 files changed, 24 insertions, 38 deletions

diff --git a/intern/iksolver/intern/IK_QJacobian.h b/intern/iksolver/intern/IK_QJacobian.h
index b4b5a0402e6..f541866c6a7 100644
--- a/intern/iksolver/intern/IK_QJacobian.h
+++ b/intern/iksolver/intern/IK_QJacobian.h
@@ -31,44 +31,36 @@
  *  \ingroup iksolver
  */
 
+#pragma once
 
-#ifndef __IK_QJACOBIAN_H__
-
-#define __IK_QJACOBIAN_H__
-
-#include "TNT/cmat.h"
-#include <vector>
-#include "MT_Vector3.h"
+#include "IK_Math.h"
 
 class IK_QJacobian
 {
 public:
-	typedef TNT::Matrix<MT_Scalar> TMatrix;
-	typedef TNT::Vector<MT_Scalar> TVector;
-
 	IK_QJacobian();
 	~IK_QJacobian();
 
 	// Call once to initialize
 	void ArmMatrices(int dof, int task_size);
-	void SetDoFWeight(int dof, MT_Scalar weight);
+	void SetDoFWeight(int dof, double weight);
 
 	// Iteratively called
-	void SetBetas(int id, int size, const MT_Vector3& v);
-	void SetDerivatives(int id, int dof_id, const MT_Vector3& v, MT_Scalar norm_weight);
+	void SetBetas(int id, int size, const Vector3d& v);
+	void SetDerivatives(int id, int dof_id, const Vector3d& v, double norm_weight);
 
 	void Invert();
 
-	MT_Scalar AngleUpdate(int dof_id) const;
-	MT_Scalar AngleUpdateNorm() const;
+	double AngleUpdate(int dof_id) const;
+	double AngleUpdateNorm() const;
 
 	// DoF locking for inner clamping loop
-	void Lock(int dof_id, MT_Scalar delta);
+	void Lock(int dof_id, double delta);
 
 	// Secondary task
 	bool ComputeNullProjection();
 
-	void Restrict(TVector& d_theta, TMatrix& null);
+	void Restrict(VectorXd& d_theta, MatrixXd& nullspace);
 	void SubTask(IK_QJacobian& jacobian);
 
 private:
@@ -80,41 +72,35 @@ private:
 	bool m_transpose;
 
 	// the jacobian matrix and it's null space projector
-	TMatrix m_jacobian, m_jacobian_tmp;
-	TMatrix m_null;
+	MatrixXd m_jacobian, m_jacobian_tmp;
+	MatrixXd m_nullspace;
 
 	/// the vector of intermediate betas
-	TVector m_beta;
+	VectorXd m_beta;
 
 	/// the vector of computed angle changes
-	TVector m_d_theta;
-	TVector m_d_norm_weight;
+	VectorXd m_d_theta;
+	VectorXd m_d_norm_weight;
 
 	/// space required for SVD computation
+	VectorXd m_svd_w;
+	MatrixXd m_svd_v;
+	MatrixXd m_svd_u;
 
-	TVector m_svd_w;
-	TMatrix m_svd_v;
-	TMatrix m_svd_u;
-    TVector m_work1;
-    TVector m_work2;
-
-	TMatrix m_svd_u_t;
-	TVector m_svd_u_beta;
+	VectorXd m_svd_u_beta;
 
 	// space required for SDLS
 
 	bool m_sdls;
-	TVector m_norm;
-	TVector m_d_theta_tmp;
-	MT_Scalar m_min_damp;
+	VectorXd m_norm;
+	VectorXd m_d_theta_tmp;
+	double m_min_damp;
 
 	// null space task vector
-	TVector m_alpha;
+	VectorXd m_alpha;
 
 	// dof weighting
-	TVector m_weight;
-	TVector m_weight_sqrt;
+	VectorXd m_weight;
+	VectorXd m_weight_sqrt;
 };
 
-#endif
-