refactor: use Quat and BCQuat instead of float[4] arrays for Quaternions (wip)

source/blender/collada/AnimationImporter.cpp

@@ -1313,8 +1313,7 @@ void AnimationImporter::add_bone_animation_sampled(Object *ob,
 
   std::sort(frames.begin(), frames.end());
 
-  float qref[4];
-  unit_qt(qref);
+  BCQuat qref;
 
   std::vector<float>::iterator it;
 
@@ -1322,8 +1321,8 @@ void AnimationImporter::add_bone_animation_sampled(Object *ob,
   for (it = frames.begin(); it != frames.end(); it++) {
     float fra = *it;
 
-    float mat[4][4];
-    float matfra[4][4];
+    Matrix mat;
+    Matrix matfra;
 
     unit_m4(matfra);
 
@@ -1335,7 +1334,7 @@ void AnimationImporter::add_bone_animation_sampled(Object *ob,
      * where R, iR are bone rest and inverse rest mats in world space (Blender bones),
      * iR_dae is joint inverse rest matrix (DAE)
      * and M is an evaluated joint world-space matrix (DAE). */
-    float temp[4][4], par[4][4];
+    Matrix temp, par;
 
     /* calc M */
     calc_joint_parent_mat_rest(par, NULL, root, node);
@@ -1346,10 +1345,9 @@ void AnimationImporter::add_bone_animation_sampled(Object *ob,
     /* calc special matrix */
     mul_m4_series(mat, irest, temp, irest_dae, rest);
 
-    float rot[4], loc[3], scale[3];
+    Vector loc, scale;
 
-    bc_rotate_from_reference_quat(rot, qref, mat);
-    copy_qt_qt(qref, rot);
+    qref.rotate_to(mat);
 
     copy_v3_v3(loc, mat[3]);
     mat4_to_size(scale, mat);
@@ -1357,8 +1355,8 @@ void AnimationImporter::add_bone_animation_sampled(Object *ob,
     /* add keys */
     for (int i = 0; i < totcu; i++) {
       if (i < 4) {
-        add_bezt(newcu[i], fra, rot[i]);
-      }
+        add_bezt(newcu[i], fra, qref.quat()[i]);
+	  }
       else if (i < 7) {
         add_bezt(newcu[i], fra, loc[i - 4]);
       }

source/blender/collada/BCMath.cpp

@@ -20,6 +20,24 @@
 #include "BCMath.h"
 #include "BlenderContext.h"
 
+void BCQuat::rotate_to(Matrix &mat_to)
+{
+  Quat qd;
+  Matrix matd;
+  Matrix mati;
+  Matrix mat_from;
+
+  quat_to_mat4(mat_from, q);
+
+  /* Calculate the difference matrix matd between mat_from and mat_to */
+  invert_m4_m4(mati, mat_from);
+  mul_m4_m4m4(matd, mati, mat_to);
+
+  mat4_to_quat(qd, matd);
+
+  mul_qt_qtqt(q, qd, q); /* rotate to the final rotation to mat_to */
+}
+
 BCMatrix::BCMatrix(const BCMatrix &mat)
 {
   set_transform(mat.matrix);

source/blender/collada/BCMath.h

@@ -52,6 +52,9 @@ class BCQuat {
   {
     return q;
   }
+
+  void rotate_to(Matrix &mat_to);
+
 };
 
 class BCMatrix {

source/blender/collada/TransformWriter.cpp

@@ -27,7 +27,6 @@
 
 static BC_export_transformation_type get_transformation_type(BCExportSettings &export_settings)
 {
-  BC_export_transformation_type transformation_type;
   bool enforce_matrix_export = export_settings.get_include_animations();
 
   return (enforce_matrix_export) ? BC_TRANSFORMATION_TYPE_MATRIX :
@@ -37,7 +36,6 @@ static BC_export_transformation_type get_transformation_type(BCExportSettings &e
 static BC_export_transformation_type get_transformation_type(Object *ob,
                                                              BCExportSettings &export_settings)
 {
-  BC_export_transformation_type transformation_type;
   bool enforce_matrix_export = ob->type == OB_ARMATURE && export_settings.get_include_animations();
 
   return (enforce_matrix_export) ? BC_TRANSFORMATION_TYPE_MATRIX :