Add Chromium-only Blender WebEngine parity work

blender-5.2.0/intern/itasc/Object.hpp

@@ -0,0 +1,52 @@
+/* SPDX-FileCopyrightText: 2009 Ruben Smits
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later */
+
+/** \file
+ * \ingroup intern_itasc
+ */
+
+#ifndef OBJECT_HPP_
+#define OBJECT_HPP_
+
+#include "Cache.hpp"
+#include "kdl/frames.hpp"
+#include <string>
+
+namespace iTaSC{
+
+class WorldObject;
+
+class Object {
+public:
+    enum ObjectType {Controlled, UnControlled};
+	static WorldObject world;
+
+private:
+    ObjectType m_type;
+protected:
+	Cache *m_cache;
+	KDL::Frame m_internalPose;
+	bool m_updated;
+    virtual void updateJacobian()=0;
+public:
+    Object(ObjectType _type):m_type(_type), m_cache(NULL), m_internalPose(F_identity), m_updated(false) {};
+    virtual ~Object(){};
+
+	virtual int addEndEffector(const std::string&  /*name*/){return 0;};
+	virtual bool finalize(){return true;};
+	virtual const KDL::Frame& getPose(const unsigned int end_effector=0){
+		(void)end_effector;
+		return m_internalPose;
+	};
+    virtual ObjectType getType(){return m_type;};
+    virtual unsigned int getNrOfCoordinates(){return 0;};
+    virtual void updateKinematics(const Timestamp& /*timestamp*/)=0;
+    virtual void pushCache(const Timestamp& /*timestamp*/)=0;
+	virtual void initCache(Cache * /*cache*/) = 0;
+	bool updated() {return m_updated;};
+	void updated(bool val) {m_updated=val;};
+};
+
+}
+#endif /* OBJECT_HPP_ */