8 files changed, 20 insertions, 11 deletions

diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp
index ad26e7cb2d6..e768157ed2b 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 Timestamp& timestamp) {};
+	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, 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 90ebe091eb5..83e15bb59d9 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 Timestamp& timestamp)
+void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, 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 Timestamp& timestamp)
 		if (!timestamp.reiterate) {
 			cacheAvail = popInternalFrame(timestamp.cacheTimestamp);
 			if (m_function)
-				(*m_function)(timestamp, m_internalPose, m_nextPose, m_param);
+				(*m_function)(eval_ctx, 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 d2a956d7312..719e06b4bf7 100644
--- a/intern/itasc/MovingFrame.hpp
+++ b/intern/itasc/MovingFrame.hpp
@@ -11,10 +11,16 @@
 #include "UncontrolledObject.hpp"
 #include <vector>
 
+struct EvaluationContext;
 
 namespace iTaSC{
 
-typedef bool (*MovingFrameCallback)(const Timestamp& timestamp, const Frame& _current, Frame& _next, void *param);
+typedef bool (*MovingFrameCallback)(
+        const struct EvaluationContext *eval_ctx,
+        const Timestamp& timestamp,
+        const Frame& _current,
+        Frame& _next,
+        void *param);
 
 class MovingFrame: public UncontrolledObject {
 public:
@@ -24,7 +30,7 @@ public:
 	bool setFrame(const Frame& frame);
 	bool setCallback(MovingFrameCallback _function, void* _param);
 
-	virtual void updateCoordinates(const Timestamp& timestamp);
+	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, 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 5768a994970..93f316783ba 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(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
+bool Scene::update(const struct EvaluationContext *eval_ctx, 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(double timestamp, double timestep, unsigned int numsubstep, b
 				}
 			}
 			if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) {
-	            ((UncontrolledObject*)(os->object))->updateCoordinates(ts);
+	            ((UncontrolledObject*)(os->object))->updateCoordinates(eval_ctx, 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 5ed031b543e..ebbec561a6e 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(double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true);
+    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 setParam(SceneParam paramId, double value);
 
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp
index 81445538fa6..d932974a24d 100644
--- a/intern/itasc/UncontrolledObject.hpp
+++ b/intern/itasc/UncontrolledObject.hpp
@@ -11,6 +11,9 @@
 #include "eigen_types.hpp"
 
 #include "Object.hpp"
+
+struct EvaluationContext;
+
 namespace iTaSC{
 
 class UncontrolledObject: public Object {
@@ -26,7 +29,7 @@ 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 Timestamp& timestamp)=0;
+	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, 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 99756dcd684..9876090e128 100644
--- a/intern/itasc/WorldObject.hpp
+++ b/intern/itasc/WorldObject.hpp
@@ -16,7 +16,7 @@ public:
     WorldObject();
     virtual ~WorldObject();
 
-	virtual void updateCoordinates(const Timestamp& timestamp) {};
+	virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, 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/kdl/tree.hpp b/intern/itasc/kdl/tree.hpp
index c8a253fc901..bd35f82d185 100644
--- a/intern/itasc/kdl/tree.hpp
+++ b/intern/itasc/kdl/tree.hpp
@@ -34,7 +34,7 @@ namespace KDL
     //Forward declaration
     class TreeElement;
     // Eigen allocator is needed for alignment of Eigen data types
-    typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<std::string, TreeElement> > > SegmentMap;
+    typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, TreeElement> > > SegmentMap;
 
     class TreeElement
     {