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

7 files changed, 9 insertions, 14 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) {};