Variable FK 3

variablefk_3.cpp

// ...
MMatrix xform = sampleFrames[i];

const MVector aim(xform[0][0], xform[0][1], xform[0][2]);
const MVector p1(xform[3][0], xform[3][1], xform[3][2]);
const MVector p2(sampleFrames[next][3][0],
                 sampleFrames[next][3][1],
                 sampleFrames[next][3][2]);

const MVector newAim = (p2 - p1).normal();
const MQuaternion offset(aim.angle(newAim), aim ^ newAim);
xform = xform * offset.asMatrix();
// ...