Phase 1b of the pluggable solver system. Converts KCSolve from a
header-only INTERFACE target to a SHARED library and implements
the SolverRegistry with dynamic plugin discovery.
Changes:
- Add KCSolveGlobal.h export macro header (KCSolveExport)
- Move SolverRegistry method bodies from header to SolverRegistry.cpp
- Implement scan() with dlopen/LoadLibrary plugin loading
- Add scan_default_paths() for KCSOLVE_PLUGIN_PATH + system paths
- Plugin entry points: kcsolve_api_version() + kcsolve_create()
- API version checking (major version compatibility)
- Convert CMakeLists.txt from INTERFACE to SHARED library
- Link FreeCADBase (PRIVATE) for Console logging
- Link dl on POSIX for dynamic loading
- Fix -Wmissing-field-initializers warnings in IKCSolver.h defaults
The registry discovers plugins by scanning directories for shared
libraries that export the kcsolve C entry points. Plugins are
validated for API version compatibility before registration.
Manual registration via register_solver() remains available for
built-in solvers (e.g. OndselAdapter in Phase 1c).
Add the pluggable solver API as header-only files under
src/Mod/Assembly/Solver/. This is Phase 1a of the pluggable solver
system (INTER_SOLVER.md).
New files:
- Types.h: BaseJointKind enum (24 decomposed constraint types),
Transform, Part, Constraint, SolveContext, SolveResult, and
supporting types. Uses standalone types (no FreeCAD dependency)
for future server worker compatibility.
- IKCSolver.h: Abstract solver interface with solve(), drag protocol
(pre_drag/drag_step/post_drag), kinematic simulation
(run_kinematic/num_frames/update_for_frame), and diagnostics.
Only solve(), name(), and supported_joints() are pure virtual;
all other methods have default implementations.
- SolverRegistry.h: Thread-safe singleton registry for solver
backends with factory-based registration and default solver
selection.
- CMakeLists.txt: INTERFACE library target (header-only for now).
Modified:
- Assembly/CMakeLists.txt: add_subdirectory(Solver)
- Assembly/App/CMakeLists.txt: link KCSolve INTERFACE target
