Add Chromium-only Blender WebEngine parity work

blender-5.2.0/intern/itasc/WDLSSolver.hpp

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+/* SPDX-FileCopyrightText: 2009 Ruben Smits
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later */
+
+/** \file
+ * \ingroup intern_itasc
+ */
+
+#ifndef WDLSSOLVER_HPP_
+#define WDLSSOLVER_HPP_
+
+#include "Solver.hpp"
+
+namespace iTaSC {
+
+class WDLSSolver: public iTaSC::Solver {
+private:
+    e_matrix m_AWq,m_WyAWq,m_WyAWqt,m_U,m_V,m_WqV;
+    e_vector m_S,m_temp,m_Wy_ydot;
+    double m_lambda;
+    double m_epsilon;
+	double m_qmax;
+	int m_ns;
+	bool m_transpose;
+public:
+    WDLSSolver();
+    virtual ~WDLSSolver();
+
+    virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc);
+    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);
+	virtual void setParam(SolverParam param, double value)
+	{
+		switch (param) {
+		case DLS_QMAX:
+			m_qmax = value;
+			break;
+		case DLS_LAMBDA_MAX:
+			m_lambda = value;
+			break;
+		case DLS_EPSILON:
+			m_epsilon = value;
+			break;
+		}	
+	}
+};
+
+}
+
+#endif /* WDLSSOLVER_HPP_ */