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Author	SHA1	Message	Date
forbes	5c33aacecb	feat(solver): refactor AssemblyObject to use IKCSolver interface (#295 ) Rewire AssemblyObject to call through KCSolve::IKCSolver instead of directly manipulating OndselSolver ASMT types. Key changes: - Remove all 30+ #include <OndselSolver/*> from AssemblyObject.cpp - Remove MbDPartData, objectPartMap, mbdAssembly members - Add solver_ (IKCSolver), lastResult_ (SolveResult), partIdToObjs_ maps - New buildSolveContext() builds SolveContext from FreeCAD document objects with JointType/DistanceType -> BaseJointKind decomposition - New computeMarkerTransform() replaces handleOneSideOfJoint() - New computeRackPinionMarkers() replaces getRackPinionMarkers() - Rewrite solve/preDrag/doDragStep/postDrag/generateSimulation to call through IKCSolver interface - Rewrite setNewPlacements/validateNewPlacements to use SolveResult - Rewrite updateSolveStatus to use ConstraintDiagnostic - Add export_native() to IKCSolver for ASMT export support - Register OndselAdapter at Assembly module init in AppAssembly.cpp - Remove OndselSolver from Assembly_LIBS (linked transitively via KCSolve) Assembly module now has zero OndselSolver includes. All solver coupling is confined to KCSolve/OndselAdapter.cpp.	2026-02-19 16:43:52 -06:00
forbes	32dbe20ce0	feat(solver): implement OndselAdapter wrapping OndselSolver behind IKCSolver (#294 ) Phase 1c of the pluggable solver system. Creates OndselAdapter — the concrete IKCSolver implementation that wraps OndselSolver's Lagrangian MBD engine behind the KCSolve abstraction layer. The adapter translates KCSolve types (SolveContext, BaseJointKind, Transform) to OndselSolver's ASMT hierarchy (ASMTAssembly, ASMTPart, ASMTJoint, ASMTMarker) and extracts results back into SolveResult. All 30+ OndselSolver #includes are confined to OndselAdapter.cpp. Key implementation details: - build_assembly(): creates ASMTAssembly from SolveContext - create_joint(): maps 20 BaseJointKind values to ASMT joint types (eliminates the 35-case DistanceType switch — decomposition done upstream) - Quaternion-to-rotation-matrix conversion for OndselSolver input - Direct quaternion extraction for output (both use w,x,y,z convention) - Drag lifecycle: pre_drag/drag_step/post_drag with stateful assembly - Simulation lifecycle: run_kinematic/num_frames/update_for_frame - Diagnostic extraction: iterates MBD system constraints for redundancy - Static register_solver() for SolverRegistry integration - ExternalSystem back-pointer NOT set — breaks bidirectional coupling New files: - Solver/OndselAdapter.h — class declaration with KCSolveExport - Solver/OndselAdapter.cpp — full implementation (~530 lines) Modified: - Solver/CMakeLists.txt — add sources, link OndselSolver (PRIVATE)	2026-02-19 16:19:44 -06:00

Author

SHA1

Message

Date

forbes

5c33aacecb

feat(solver): refactor AssemblyObject to use IKCSolver interface (#295 )

Rewire AssemblyObject to call through KCSolve::IKCSolver instead of
directly manipulating OndselSolver ASMT types.

Key changes:
- Remove all 30+ #include <OndselSolver/*> from AssemblyObject.cpp
- Remove MbDPartData, objectPartMap, mbdAssembly members
- Add solver_ (IKCSolver), lastResult_ (SolveResult), partIdToObjs_ maps
- New buildSolveContext() builds SolveContext from FreeCAD document objects
  with JointType/DistanceType -> BaseJointKind decomposition
- New computeMarkerTransform() replaces handleOneSideOfJoint()
- New computeRackPinionMarkers() replaces getRackPinionMarkers()
- Rewrite solve/preDrag/doDragStep/postDrag/generateSimulation to call
  through IKCSolver interface
- Rewrite setNewPlacements/validateNewPlacements to use SolveResult
- Rewrite updateSolveStatus to use ConstraintDiagnostic
- Add export_native() to IKCSolver for ASMT export support
- Register OndselAdapter at Assembly module init in AppAssembly.cpp
- Remove OndselSolver from Assembly_LIBS (linked transitively via KCSolve)

Assembly module now has zero OndselSolver includes. All solver coupling
is confined to KCSolve/OndselAdapter.cpp.

2026-02-19 16:43:52 -06:00

forbes

32dbe20ce0

feat(solver): implement OndselAdapter wrapping OndselSolver behind IKCSolver (#294 )

Phase 1c of the pluggable solver system. Creates OndselAdapter — the
concrete IKCSolver implementation that wraps OndselSolver's Lagrangian
MBD engine behind the KCSolve abstraction layer.

The adapter translates KCSolve types (SolveContext, BaseJointKind,
Transform) to OndselSolver's ASMT hierarchy (ASMTAssembly, ASMTPart,
ASMTJoint, ASMTMarker) and extracts results back into SolveResult.
All 30+ OndselSolver #includes are confined to OndselAdapter.cpp.

Key implementation details:
- build_assembly(): creates ASMTAssembly from SolveContext
- create_joint(): maps 20 BaseJointKind values to ASMT joint types
  (eliminates the 35-case DistanceType switch — decomposition done upstream)
- Quaternion-to-rotation-matrix conversion for OndselSolver input
- Direct quaternion extraction for output (both use w,x,y,z convention)
- Drag lifecycle: pre_drag/drag_step/post_drag with stateful assembly
- Simulation lifecycle: run_kinematic/num_frames/update_for_frame
- Diagnostic extraction: iterates MBD system constraints for redundancy
- Static register_solver() for SolverRegistry integration
- ExternalSystem back-pointer NOT set — breaks bidirectional coupling

New files:
- Solver/OndselAdapter.h — class declaration with KCSolveExport
- Solver/OndselAdapter.cpp — full implementation (~530 lines)

Modified:
- Solver/CMakeLists.txt — add sources, link OndselSolver (PRIVATE)

2026-02-19 16:19:44 -06:00

2 Commits