+static void character_yaw_upper( struct character *ch, float yaw )
+{
+ m3x3f r;
+ v4f q;
+
+ q_axis_angle( q, (v3f){0.0f,1.0f,0.0f}, yaw );
+ q_m3x3( q, r );
+
+ m3x3_mulv( r, ch->ik_body.pole, ch->ik_body.pole );
+ m3x3_mulv( r, ch->ik_body.end, ch->ik_body.end );
+}
+