Cleanup: don't use Blender structs in iTaSC module.

8 files changed, 24 insertions, 23 deletions

diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp
index e768157ed2b..ad26e7cb2d6 100644
--- a/intern/itasc/FixedObject.hpp
+++ b/intern/itasc/FixedObject.hpp
@@ -21,7 +21,7 @@ public:
 
 	int addFrame(const std::string& name, const Frame& frame);
 
-	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {};
+	virtual void updateCoordinates(const Timestamp& timestamp) {};
 	virtual int addEndEffector(const std::string& name);
 	virtual bool finalize();
 	virtual const Frame& getPose(const unsigned int frameIndex);
diff --git a/intern/itasc/MovingFrame.cpp b/intern/itasc/MovingFrame.cpp
index 83e15bb59d9..90ebe091eb5 100644
--- a/intern/itasc/MovingFrame.cpp
+++ b/intern/itasc/MovingFrame.cpp
@@ -90,7 +90,7 @@ bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param)
 	return true;
 }
 
-void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp)
+void MovingFrame::updateCoordinates(const Timestamp& timestamp)
 {
 	// don't compute the velocity during substepping, it is assumed constant.
 	if (!timestamp.substep) {
@@ -98,7 +98,7 @@ void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, co
 		if (!timestamp.reiterate) {
 			cacheAvail = popInternalFrame(timestamp.cacheTimestamp);
 			if (m_function)
-				(*m_function)(eval_ctx, timestamp, m_internalPose, m_nextPose, m_param);
+				(*m_function)(timestamp, m_internalPose, m_nextPose, m_param);
 		}
 		// only compute velocity if we have a previous pose
 		if (cacheAvail && timestamp.interpolate) {
diff --git a/intern/itasc/MovingFrame.hpp b/intern/itasc/MovingFrame.hpp
index 719e06b4bf7..2e9c2f64bd6 100644
--- a/intern/itasc/MovingFrame.hpp
+++ b/intern/itasc/MovingFrame.hpp
@@ -11,12 +11,10 @@
 #include "UncontrolledObject.hpp"
 #include <vector>
 
-struct EvaluationContext;
 
 namespace iTaSC{
 
 typedef bool (*MovingFrameCallback)(
-        const struct EvaluationContext *eval_ctx,
         const Timestamp& timestamp,
         const Frame& _current,
         Frame& _next,
@@ -30,7 +28,7 @@ public:
 	bool setFrame(const Frame& frame);
 	bool setCallback(MovingFrameCallback _function, void* _param);
 
-	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp);
+	virtual void updateCoordinates(const Timestamp& timestamp);
 	virtual void updateKinematics(const Timestamp& timestamp);
     virtual void pushCache(const Timestamp& timestamp);
 	virtual void initCache(Cache *_cache);
diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp
index 93f316783ba..5768a994970 100644
--- a/intern/itasc/Scene.cpp
+++ b/intern/itasc/Scene.cpp
@@ -257,7 +257,7 @@ bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Fram
 	return true;
 }
 
-bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
+bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
 {
 	// we must have valid timestep and timestamp
 	if (timestamp < KDL::epsilon || timestep < 0.0)
@@ -316,7 +316,7 @@ bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, d
 				}
 			}
 			if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) {
-	            ((UncontrolledObject*)(os->object))->updateCoordinates(eval_ctx, ts);
+	            ((UncontrolledObject*)(os->object))->updateCoordinates(ts);
 				if (!ts.substep) {
 					// velocity of uncontrolled object remains constant during substepping
 					project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot();
diff --git a/intern/itasc/Scene.hpp b/intern/itasc/Scene.hpp
index ebbec561a6e..5ed031b543e 100644
--- a/intern/itasc/Scene.hpp
+++ b/intern/itasc/Scene.hpp
@@ -39,7 +39,7 @@ public:
     bool addSolver(Solver* _solver);
     bool addCache(Cache* _cache);
     bool initialize();
-    bool update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true);
+    bool update(double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true);
 	bool setParam(SceneParam paramId, double value);
 
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp
index d932974a24d..81445538fa6 100644
--- a/intern/itasc/UncontrolledObject.hpp
+++ b/intern/itasc/UncontrolledObject.hpp
@@ -11,9 +11,6 @@
 #include "eigen_types.hpp"
 
 #include "Object.hpp"
-
-struct EvaluationContext;
-
 namespace iTaSC{
 
 class UncontrolledObject: public Object {
@@ -29,7 +26,7 @@ public:
 	virtual void initialize(unsigned int _nu, unsigned int _nf);
 	virtual const e_matrix& getJu(unsigned int frameIndex) const;
     virtual const e_vector& getXudot() const {return m_xudot;}
-	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp)=0;
+	virtual void updateCoordinates(const Timestamp& timestamp)=0;
     virtual const unsigned int getNrOfCoordinates(){return m_nu;};
     virtual const unsigned int getNrOfFrames(){return m_nf;};
 
diff --git a/intern/itasc/WorldObject.hpp b/intern/itasc/WorldObject.hpp
index 9876090e128..99756dcd684 100644
--- a/intern/itasc/WorldObject.hpp
+++ b/intern/itasc/WorldObject.hpp
@@ -16,7 +16,7 @@ public:
     WorldObject();
     virtual ~WorldObject();
 
-	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {};
+	virtual void updateCoordinates(const Timestamp& timestamp) {};
 	virtual void updateKinematics(const Timestamp& timestamp) {};
 	virtual void pushCache(const Timestamp& timestamp) {};
 	virtual void initCache(Cache *_cache) {};
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp
index 93460559067..c74cbb252ff 100644
--- a/source/blender/ikplugin/intern/itasc_plugin.cpp
+++ b/source/blender/ikplugin/intern/itasc_plugin.cpp
@@ -90,6 +90,7 @@ typedef void (*ErrorCallback)(const iTaSC::ConstraintValues *values, unsigned in
 
 // one structure for each target in the scene
 struct IK_Target {
+	const struct EvaluationContext *eval_ctx;
 	struct Scene			*blscene;
 	iTaSC::MovingFrame*		target;
 	iTaSC::ConstraintSet*	constraint;
@@ -107,6 +108,7 @@ struct IK_Target {
 	float					eeRest[4][4];	//end effector initial pose relative to armature
 
 	IK_Target() {
+		eval_ctx = NULL;
 		blscene = NULL;
 		target = NULL;
 		constraint = NULL;
@@ -157,6 +159,7 @@ struct IK_Channel {
 };
 
 struct IK_Scene {
+	const struct EvaluationContext *eval_ctx;
 	struct Scene		*blscene;
 	IK_Scene*			next;
 	int					numchan;	// number of channel in pchan
@@ -177,6 +180,7 @@ struct IK_Scene {
 	std::vector<IK_Target*>		targets;
 
 	IK_Scene() {
+		eval_ctx = NULL;
 		blscene = NULL;
 		next = NULL;
 		channels = NULL;
@@ -542,7 +546,7 @@ static void GetJointRotation(KDL::Rotation& boneRot, int type, double *rot)
 	}
 }
 
-static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
+static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
 {
 	IK_Target *target = (IK_Target *)param;
 	// compute next target position
@@ -550,7 +554,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
 	bConstraint *constraint = (bConstraint *)target->blenderConstraint;
 	float tarmat[4][4];
 
-	BKE_constraint_target_matrix_get(eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);
+	BKE_constraint_target_matrix_get(target->eval_ctx, target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);
 
 	// rootmat contains the target pose in world coordinate
 	// if enforce is != 1.0, blend the target position with the end effector position
@@ -577,7 +581,7 @@ static bool target_callback(const struct EvaluationContext *eval_ctx, const iTaS
 	return true;
 }
 
-static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
+static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
 {
 	IK_Scene *ikscene = (IK_Scene *)param;
 	// compute next armature base pose
@@ -619,7 +623,7 @@ static bool base_callback(const struct EvaluationContext *eval_ctx, const iTaSC:
 		IK_Channel &rootchan = ikscene->channels[0];
 
 		// get polar target matrix in world space
-		BKE_constraint_target_matrix_get(eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
+		BKE_constraint_target_matrix_get(ikscene->eval_ctx, ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
 		// convert to armature space
 		mul_m4_m4m4(polemat, imat, mat);
 		// get the target in world space (was computed before as target object are defined before base object)
@@ -1082,6 +1086,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
 
 	ikscene = new IK_Scene;
 	ikscene->blscene = blscene;
+	ikscene->eval_ctx = eval_ctx;
 	arm = new iTaSC::Armature();
 	scene = new iTaSC::Scene();
 	ikscene->channels = new IK_Channel[tree->totchannel];
@@ -1397,7 +1402,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
 	// we can now add the armature
 	// the armature is based on a moving frame.
 	// initialize with the correct position in case there is no cache
-	base_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
+	base_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
 	ikscene->base = new iTaSC::MovingFrame(initPose);
 	ikscene->base->setCallback(base_callback, ikscene);
 	std::string armname;
@@ -1439,6 +1444,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
 	for (t = 0; t < ikscene->targets.size(); t++) {
 		IK_Target *iktarget = ikscene->targets[t];
 		iktarget->blscene = blscene;
+		iktarget->eval_ctx = eval_ctx;
 		condata = (bKinematicConstraint *)iktarget->blenderConstraint->data;
 		pchan = tree->pchan[iktarget->channel];
 		unsigned int controltype, bonecnt;
@@ -1458,7 +1464,7 @@ static IK_Scene *convert_tree(const struct EvaluationContext *eval_ctx, Scene *b
 		mul_m4_m4m4(iktarget->eeRest, invBaseFrame, mat);
 		iktarget->eeBlend = (!ikscene->polarConstraint && condata->type == CONSTRAINT_IK_COPYPOSE) ? true : false;
 		// use target_callback to make sure the initPose includes enforce coefficient
-		target_callback(eval_ctx, iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
+		target_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
 		iktarget->target = new iTaSC::MovingFrame(initPose);
 		iktarget->target->setCallback(target_callback, iktarget);
 		ret = scene->addObject(iktarget->targetName, iktarget->target);
@@ -1647,7 +1653,7 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
 		}
 	}
 	// don't cache if we are reiterating because we don't want to destroy the cache unnecessarily
-	ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, false, !reiterate, simulation);
+	ikscene->scene->update(timestamp, timestep, numstep, false, !reiterate, simulation);
 	if (reiterate) {
 		// how many times do we reiterate?
 		for (i = 0; i < ikparam->numiter; i++) {
@@ -1656,11 +1662,11 @@ static void execute_scene(const struct EvaluationContext *eval_ctx, Scene *blsce
 			{
 				break;
 			}
-			ikscene->scene->update(eval_ctx, timestamp, timestep, numstep, true, false, simulation);
+			ikscene->scene->update(timestamp, timestep, numstep, true, false, simulation);
 		}
 		if (simulation) {
 			// one more fake iteration to cache
-			ikscene->scene->update(eval_ctx, timestamp, 0.0, 1, true, true, true);
+			ikscene->scene->update(timestamp, 0.0, 1, true, true, true);
 		}
 	}
 	// compute constraint error