Add Chromium-only Blender WebEngine parity work

blender-5.2.0/intern/itasc/Solver.hpp

@@ -0,0 +1,34 @@
+/* SPDX-FileCopyrightText: 2009 Ruben Smits
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later */
+
+/** \file
+ * \ingroup intern_itasc
+ */
+
+#ifndef SOLVER_HPP_
+#define SOLVER_HPP_
+
+#include <vector>
+#include "eigen_types.hpp"
+
+namespace iTaSC{
+
+class Solver{
+public:
+	enum SolverParam {
+		DLS_QMAX = 0,
+		DLS_LAMBDA_MAX,
+		DLS_EPSILON
+	};
+    virtual ~Solver(){};
+
+	// gc = grouping of constraint output , 
+	//      size of vector = nc, alternance of true / false to indicate the grouping of output
+	virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc)=0;
+    virtual bool solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef)=0;
+	virtual void setParam(SolverParam param, double value)=0;
+};
+
+}
+#endif /* SOLVER_HPP_ */