Torque Inverse Kinematics

[marauder2k7]

Added a * operator to quaternion
compute from to -> adds safeties around shortestArc conjugate -> reverses the xyz of the quaternion

IK Solver commit

Added: IKChain struct to tsshape
commands to tsshapeconstruct to create and setup ikchains ik solvers -> ccd and fabrik, these are in their own file tsIKSolver

TODO: there needs to be some tooling added to the shape editor for this

Still some work to do such as adding limits etc but the base ground work is there and ready for testing
Just add an ik chain to your model to test it with a chain name, the root node and the end node eg.

function ikTestfbx::onLoad(%this)
{
   %this.addIKChain("RightLegChain", "thigh.R", "foot.R" );
   %this.addIKChain("LeftLegChain", "thigh.L", "foot.L" );
}

This needs to be vigorously tested, possibly add a 4.2 / 4.3 tag to it. We could implement a way to build these dynamically from the source artwork but for the moment at least manual control over their creation is more desireable.