merge with/from trunk at r35190
[blender.git] / source / blender / ikplugin / intern / itasc_plugin.cpp
index 30ff9769fb5c32f88a4053cd3685e8d6b74cf2a6..e392a05cc5438f5434d19f3d8506c1ff6f362403 100644 (file)
@@ -1124,14 +1124,12 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan)
 
                KDL::Frame tip(iTaSC::F_identity);
                Vector3 *fl = bone->bone_mat;
-               KDL::Rotation brot(
-                                                  fl[0][0], fl[1][0], fl[2][0],
-                                                  fl[0][1], fl[1][1], fl[2][1],
-                                                  fl[0][2], fl[1][2], fl[2][2]);
-               KDL::Vector bpos(bone->head[0], bone->head[1], bone->head[2]);
-               bpos = bpos*scale;
-               KDL::Frame head(brot, bpos);
-               
+               KDL::Frame head(KDL::Rotation(
+                       fl[0][0], fl[1][0], fl[2][0],
+                       fl[0][1], fl[1][1], fl[2][1],
+                       fl[0][2], fl[1][2], fl[2][2]),
+                       KDL::Vector(bone->head[0], bone->head[1], bone->head[2])*scale);
+
                // rest pose length of the bone taking scaling into account
                length= bone->length*scale;
                parent = (a > 0) ? ikscene->channels[tree->parent[a]].tail : root;