feat(solver): Phase 1c — OndselAdapter implementation #294

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forbes · 2026-02-19T21:27:28Z

forbes commented

2026-02-19 21:27:28 +00:00

Summary

Wrap OndselSolver behind the IKCSolver interface. This is the largest piece of Phase 1 — it moves all MbD-specific code out of AssemblyObject and into a self-contained adapter.

Parent: #287 (Phase 1)
Depends on: #292 (1a — API types), #293 (1b — SolverRegistry)
Blocks: #295 (1d — AssemblyObject refactor)

Scope

Files

src/Mod/Assembly/Solver/
├── src/
│   ├── SolverRegistry.cpp    # from 1b
│   └── OndselAdapter.cpp     # NEW — all OndselSolver integration
├── include/KCSolve/
│   └── OndselAdapter.h       # NEW
└── CMakeLists.txt             # add OndselSolver link dependency

OndselAdapter class

class OndselAdapter : public IKCSolver {
public:
    std::string id() const override { return "ondsel"; }
    std::string name() const override { return "OndselSolver (Lagrangian)"; }
    std::string version() const override;

    std::vector<JointDef> supported_joints() const override;

    SolveResult solve(const SolveContext& ctx) override;
    SolveResult update(const SolveContext& ctx, const std::string& changed) override;

    void pre_drag(const SolveContext& ctx) override;
    SolveResult drag_step(const SolveContext& ctx,
                           const std::vector<std::string>& dragged_parts) override;
    void post_drag() override;

    SolveResult run_kinematic(const SolveContext& ctx) override;
    size_t num_frames() const override;
    SolveResult update_for_frame(size_t index) override;

    SolveStatus diagnose(const SolveContext& ctx) override;
    bool is_deterministic() const override { return true; }
    bool supports_bundle_fixed() const override { return false; }

private:
    std::shared_ptr<MbD::ASMTAssembly> mbdAssembly_;
    // Internal translation helpers
    std::shared_ptr<MbD::ASMTAssembly> build_assembly(const SolveContext& ctx);
    std::shared_ptr<MbD::ASMTJoint> create_joint(const Constraint& c);
    SolveResult extract_result();
    std::vector<ConstraintDiagnostic> extract_diagnostics();
};

Translation layer: SolveContext -> ASMTAssembly

This moves the following logic out of AssemblyObject.cpp into OndselAdapter:

Current AssemblyObject method	OndselAdapter equivalent
`makeMbdAssembly()`	`build_assembly(ctx)` — creates ASMTAssembly from SolveContext
`makeMbdPart()`	Internal — iterates `ctx.placements`, creates ASMTPart per part
`makeMbdMarker()`	Internal — creates coordinate frames from constraint geometry refs
`makeMbdJointOfType()`	`create_joint(c)` — maps BaseJointKind to ASMT* types
`makeMbdJointDistance()`	Eliminated — BaseJointKind is already decomposed
`fixGroundedPart()`	Internal — iterates `ctx.grounded`, creates ASMTFixedJoint per grounded part

Joint type mapping: BaseJointKind -> ASMT*

BaseJointKind	OndselSolver Type	Notes
Coincident	ASMTSphericalJoint (dist=0) or ASMTSphSphJoint	Current PointPoint logic
PointOnLine	ASMTCylSphJoint	Current PointLine logic
PointInPlane	ASMTPointInPlaneJoint	Current PointPlane logic
Concentric	ASMTRevCylJoint	Current LineLine/CircleCircle logic
Parallel	ASMTParallelAxesJoint	Direct map
Perpendicular	ASMTPerpendicularJoint	Direct map
Angle	ASMTAngleJoint	With theIzJz parameter
Tangent	ASMTPlanarJoint (tangent mode)	New — not currently exposed
Planar	ASMTPlanarJoint	Current PlanePlane logic
Fixed	ASMTFixedJoint	Direct map
Revolute	ASMTRevoluteJoint	Direct map
Cylindrical	ASMTCylindricalJoint	Direct map
Slider	ASMTTranslationalJoint	Direct map
Ball	ASMTSphericalJoint	Direct map
Screw	ASMTScrewJoint	Direct map
Gear	ASMTGearJoint	radiusI/radiusJ from params
Rack	ASMTRackPinionJoint	pitchRadius from params
Belt	ASMTGearJoint (negative radius)	Current Belt logic

Plus: limits (ASMTRotationLimit, ASMTTranslationLimit) and motions (ASMTRotationalMotion, ASMTTranslationalMotion, ASMTGeneralMotion) from Constraint params.

Result extraction: ASMTAssembly -> SolveResult

Current AssemblyObject method	OndselAdapter equivalent
`getMbdPlacement()`	`extract_result()` — reads position3D + quaternions from all ASMTParts
`updateSolveStatus()`	`extract_diagnostics()` — iterates `mbdSystem->jointsMotionsDo()` to build ConstraintDiagnostic list
`validateNewPlacements()`	Stays in AssemblyObject — this is orientation-flip detection, solver-agnostic

ExternalSystem decoupling

Break the bidirectional pointer:

OndselAdapter creates ASMTAssembly internally but does NOT set externalSystem->freecadAssemblyObject = this
Instead, OndselAdapter owns the full ASMTAssembly lifecycle
The ExternalSystem::preMbDrun() / updateFromMbD() callbacks that referenced freecadAssemblyObject were already commented-out stubs — no functional change
If OndselSolver's System.cpp calls externalSystem->preMbDrun(), it routes through asmtAssembly path (which works today)

Solver registration

In Assembly module init (or OndselAdapter static init):

auto& registry = SolverRegistry::instance();
registry.register_solver(std::make_unique<OndselAdapter>());
registry.set_default("ondsel");

Key complexity

The Distance decomposition — Currently makeMbdJointDistance() is a 35-case switch on DistanceType. With decomposed BaseJointKind, this logic moves upstream into AssemblyObject's SolveContext builder (1d) which classifies geometry and emits the specific BaseJointKind. OndselAdapter receives the already-classified type.
Marker coordinate frames — OndselSolver uses named markers on parts for joint attachment. The adapter must translate SolveContext constraint refs (part + geometry) into ASMTMarker placements. This is currently split across handleOneSideOfJoint() and getRackPinionMarkers() in AssemblyObject.
Drag state — pre_drag() must call runPreDrag(), drag_step() must update ASMTPart positions and call runDragStep(), post_drag() must call runPostDrag(). The adapter holds mbdAssembly_ as internal state between these calls.
Simulation state — run_kinematic() calls runKINEMATIC(), then num_frames() and update_for_frame() query the stored simulation results.

Acceptance criteria

OndselAdapter implements all IKCSolver methods
All 30+ OndselSolver #includes are in OndselAdapter.cpp, not AssemblyObject
Joint type mapping covers all current makeMbdJointOfType() + makeMbdJointDistance() cases
ExternalSystem no longer holds a raw pointer to AssemblyObject
Drag protocol (pre/step/post) works with stateful ASMTAssembly
Simulation protocol (run/frames/update) works with stateful ASMTAssembly
extract_diagnostics() produces ConstraintDiagnostic list equivalent to current updateSolveStatus() parsing
Registers as "ondsel" in SolverRegistry at module init

References

src/Mod/Assembly/App/AssemblyObject.cpp — current integration (2157 lines)
src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.h — bidirectional coupling to break
src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.h — OndselSolver API surface
docs/INTER_SOLVER.md §5 (Layer 2: OndselSolver Adapter)

## Summary Wrap OndselSolver behind the IKCSolver interface. This is the largest piece of Phase 1 — it moves all MbD-specific code out of AssemblyObject and into a self-contained adapter. **Parent:** #287 (Phase 1) **Depends on:** #292 (1a — API types), #293 (1b — SolverRegistry) **Blocks:** #295 (1d — AssemblyObject refactor) ## Scope ### Files ``` src/Mod/Assembly/Solver/ ├── src/ │ ├── SolverRegistry.cpp # from 1b │ └── OndselAdapter.cpp # NEW — all OndselSolver integration ├── include/KCSolve/ │ └── OndselAdapter.h # NEW └── CMakeLists.txt # add OndselSolver link dependency ``` ### OndselAdapter class ```cpp class OndselAdapter : public IKCSolver { public: std::string id() const override { return "ondsel"; } std::string name() const override { return "OndselSolver (Lagrangian)"; } std::string version() const override; std::vector<JointDef> supported_joints() const override; SolveResult solve(const SolveContext& ctx) override; SolveResult update(const SolveContext& ctx, const std::string& changed) override; void pre_drag(const SolveContext& ctx) override; SolveResult drag_step(const SolveContext& ctx, const std::vector<std::string>& dragged_parts) override; void post_drag() override; SolveResult run_kinematic(const SolveContext& ctx) override; size_t num_frames() const override; SolveResult update_for_frame(size_t index) override; SolveStatus diagnose(const SolveContext& ctx) override; bool is_deterministic() const override { return true; } bool supports_bundle_fixed() const override { return false; } private: std::shared_ptr<MbD::ASMTAssembly> mbdAssembly_; // Internal translation helpers std::shared_ptr<MbD::ASMTAssembly> build_assembly(const SolveContext& ctx); std::shared_ptr<MbD::ASMTJoint> create_joint(const Constraint& c); SolveResult extract_result(); std::vector<ConstraintDiagnostic> extract_diagnostics(); }; ``` ### Translation layer: SolveContext -> ASMTAssembly This moves the following logic **out of AssemblyObject.cpp** into OndselAdapter: | Current AssemblyObject method | OndselAdapter equivalent | |------|------| | `makeMbdAssembly()` | `build_assembly(ctx)` — creates ASMTAssembly from SolveContext | | `makeMbdPart()` | Internal — iterates `ctx.placements`, creates ASMTPart per part | | `makeMbdMarker()` | Internal — creates coordinate frames from constraint geometry refs | | `makeMbdJointOfType()` | `create_joint(c)` — maps BaseJointKind to ASMT* types | | `makeMbdJointDistance()` | Eliminated — BaseJointKind is already decomposed | | `fixGroundedPart()` | Internal — iterates `ctx.grounded`, creates ASMTFixedJoint per grounded part | ### Joint type mapping: BaseJointKind -> ASMT* | BaseJointKind | OndselSolver Type | Notes | |---|---|---| | Coincident | ASMTSphericalJoint (dist=0) or ASMTSphSphJoint | Current PointPoint logic | | PointOnLine | ASMTCylSphJoint | Current PointLine logic | | PointInPlane | ASMTPointInPlaneJoint | Current PointPlane logic | | Concentric | ASMTRevCylJoint | Current LineLine/CircleCircle logic | | Parallel | ASMTParallelAxesJoint | Direct map | | Perpendicular | ASMTPerpendicularJoint | Direct map | | Angle | ASMTAngleJoint | With theIzJz parameter | | Tangent | ASMTPlanarJoint (tangent mode) | New — not currently exposed | | Planar | ASMTPlanarJoint | Current PlanePlane logic | | Fixed | ASMTFixedJoint | Direct map | | Revolute | ASMTRevoluteJoint | Direct map | | Cylindrical | ASMTCylindricalJoint | Direct map | | Slider | ASMTTranslationalJoint | Direct map | | Ball | ASMTSphericalJoint | Direct map | | Screw | ASMTScrewJoint | Direct map | | Gear | ASMTGearJoint | radiusI/radiusJ from params | | Rack | ASMTRackPinionJoint | pitchRadius from params | | Belt | ASMTGearJoint (negative radius) | Current Belt logic | Plus: limits (ASMTRotationLimit, ASMTTranslationLimit) and motions (ASMTRotationalMotion, ASMTTranslationalMotion, ASMTGeneralMotion) from Constraint params. ### Result extraction: ASMTAssembly -> SolveResult | Current AssemblyObject method | OndselAdapter equivalent | |------|------| | `getMbdPlacement()` | `extract_result()` — reads position3D + quaternions from all ASMTParts | | `updateSolveStatus()` | `extract_diagnostics()` — iterates `mbdSystem->jointsMotionsDo()` to build ConstraintDiagnostic list | | `validateNewPlacements()` | Stays in AssemblyObject — this is orientation-flip detection, solver-agnostic | ### ExternalSystem decoupling **Break the bidirectional pointer:** - OndselAdapter creates ASMTAssembly internally but does NOT set `externalSystem->freecadAssemblyObject = this` - Instead, OndselAdapter owns the full ASMTAssembly lifecycle - The `ExternalSystem::preMbDrun()` / `updateFromMbD()` callbacks that referenced `freecadAssemblyObject` were already commented-out stubs — no functional change - If OndselSolver's System.cpp calls `externalSystem->preMbDrun()`, it routes through `asmtAssembly` path (which works today) ### Solver registration In Assembly module init (or OndselAdapter static init): ```cpp auto& registry = SolverRegistry::instance(); registry.register_solver(std::make_unique<OndselAdapter>()); registry.set_default("ondsel"); ``` ## Key complexity 1. **The `Distance` decomposition** — Currently `makeMbdJointDistance()` is a 35-case switch on `DistanceType`. With decomposed BaseJointKind, this logic moves **upstream** into AssemblyObject's SolveContext builder (1d) which classifies geometry and emits the specific BaseJointKind. OndselAdapter receives the already-classified type. 2. **Marker coordinate frames** — OndselSolver uses named markers on parts for joint attachment. The adapter must translate SolveContext constraint refs (part + geometry) into ASMTMarker placements. This is currently split across `handleOneSideOfJoint()` and `getRackPinionMarkers()` in AssemblyObject. 3. **Drag state** — `pre_drag()` must call `runPreDrag()`, `drag_step()` must update ASMTPart positions and call `runDragStep()`, `post_drag()` must call `runPostDrag()`. The adapter holds `mbdAssembly_` as internal state between these calls. 4. **Simulation state** — `run_kinematic()` calls `runKINEMATIC()`, then `num_frames()` and `update_for_frame()` query the stored simulation results. ## Acceptance criteria - [ ] OndselAdapter implements all IKCSolver methods - [ ] All 30+ OndselSolver `#include`s are in OndselAdapter.cpp, not AssemblyObject - [ ] Joint type mapping covers all current `makeMbdJointOfType()` + `makeMbdJointDistance()` cases - [ ] ExternalSystem no longer holds a raw pointer to AssemblyObject - [ ] Drag protocol (pre/step/post) works with stateful ASMTAssembly - [ ] Simulation protocol (run/frames/update) works with stateful ASMTAssembly - [ ] `extract_diagnostics()` produces ConstraintDiagnostic list equivalent to current `updateSolveStatus()` parsing - [ ] Registers as "ondsel" in SolverRegistry at module init ## References - `src/Mod/Assembly/App/AssemblyObject.cpp` — current integration (2157 lines) - `src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.h` — bidirectional coupling to break - `src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.h` — OndselSolver API surface - `docs/INTER_SOLVER.md` §5 (Layer 2: OndselSolver Adapter)

forbes added the enhancement label 2026-02-19 21:27:28 +00:00

forbes referenced this issue

2026-02-19 21:28:20 +00:00

feat(solver): Phase 1d — refactor AssemblyObject to use SolverRegistry #295

forbes referenced this issue from a commit

2026-02-19 22:57:28 +00:00

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

forbes referenced a pull request that will close this issue

2026-02-19 22:58:02 +00:00

feat(assembly): pluggable solver system — Phase 1 (#287) #297

forbes closed this issue

2026-02-19 22:58:35 +00:00