create/src/Mod/Assembly/Solver/IKCSolver.h

// SPDX-License-Identifier: LGPL-2.1-or-later
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#ifndef KCSOLVE_IKCSOLVER_H
#define KCSOLVE_IKCSOLVER_H

#include <cstddef>
#include <string>
#include <vector>

#include "Types.h"

namespace KCSolve
{

/// Abstract interface for a pluggable assembly constraint solver.
///
/// Solver backends implement this interface. The Assembly module calls
/// through it via the SolverRegistry. A minimal solver only needs to
/// implement solve(), name(), and supported_joints() — all other methods
/// have default implementations that either delegate to solve() or
/// return sensible defaults.
///
/// Method mapping to current AssemblyObject operations:
///
///   solve()            <->  AssemblyObject::solve()
///   pre_drag()         <->  AssemblyObject::preDrag()
///   drag_step()        <->  AssemblyObject::doDragStep()
///   post_drag()        <->  AssemblyObject::postDrag()
///   run_kinematic()    <->  AssemblyObject::generateSimulation()
///   num_frames()       <->  AssemblyObject::numberOfFrames()
///   update_for_frame() <->  AssemblyObject::updateForFrame()
///   diagnose()         <->  AssemblyObject::updateSolveStatus()

class IKCSolver
{
public:
    virtual ~IKCSolver() = default;

    /// Human-readable solver name (e.g. "OndselSolver (Lagrangian)").
    virtual std::string name() const = 0;

    /// Return the set of BaseJointKind values this solver supports.
    /// The registry uses this for capability-based solver selection.
    virtual std::vector<BaseJointKind> supported_joints() const = 0;

    // ── Static solve ───────────────────────────────────────────────

    /// Solve the assembly for static equilibrium.
    /// @param ctx  Complete description of parts, constraints, and options.
    /// @return     Result with updated placements and diagnostics.
    virtual SolveResult solve(const SolveContext& ctx) = 0;

    /// Incrementally update an already-solved assembly after parameter
    /// changes (e.g. joint angle/distance changed during joint creation).
    /// Default: delegates to solve().
    virtual SolveResult update(const SolveContext& ctx)
    {
        return solve(ctx);
    }

    // ── Interactive drag ───────────────────────────────────────────
    //
    // Three-phase protocol for interactive part dragging:
    //   1. pre_drag()   — solve initial state, prepare for dragging
    //   2. drag_step()  — called on each mouse move with updated positions
    //   3. post_drag()  — finalize and release internal solver state
    //
    // Solvers can maintain internal state across the drag session for
    // better interactive performance. This addresses a known weakness
    // in the current direct-OndselSolver integration.

    /// Prepare for an interactive drag session.
    /// @param ctx         Assembly state before dragging begins.
    /// @param drag_parts  IDs of parts being dragged.
    /// @return            Initial solve result.
    virtual SolveResult pre_drag(const SolveContext& ctx,
                                 const std::vector<std::string>& /*drag_parts*/)
    {
        return solve(ctx);
    }

    /// Perform one incremental drag step.
    /// @param drag_placements  Current placements of the dragged parts
    ///                         (part ID + new transform).
    /// @return                 Updated placements for all affected parts.
    virtual SolveResult drag_step(
        const std::vector<SolveResult::PartResult>& /*drag_placements*/)
    {
        return SolveResult {SolveStatus::Success, {}, -1, {}, 0};
    }

    /// End an interactive drag session and finalize state.
    virtual void post_drag()
    {
    }

    // ── Kinematic simulation ───────────────────────────────────────

    /// Run a kinematic simulation over the time range in ctx.simulation.
    /// After this call, num_frames() returns the frame count and
    /// update_for_frame(i) retrieves individual frame placements.
    /// Default: delegates to solve() (ignoring simulation params).
    virtual SolveResult run_kinematic(const SolveContext& /*ctx*/)
    {
        return SolveResult {SolveStatus::Failed, {}, -1, {}, 0};
    }

    /// Number of simulation frames available after run_kinematic().
    virtual std::size_t num_frames() const
    {
        return 0;
    }

    /// Retrieve part placements for simulation frame at index.
    /// @pre index < num_frames()
    virtual SolveResult update_for_frame(std::size_t /*index*/)
    {
        return SolveResult {SolveStatus::Failed, {}, -1, {}, 0};
    }

    // ── Diagnostics ────────────────────────────────────────────────

    /// Analyze the assembly for redundant, conflicting, or malformed
    /// constraints. May require a prior solve() call for some solvers.
    virtual std::vector<ConstraintDiagnostic> diagnose(const SolveContext& /*ctx*/)
    {
        return {};
    }

    // ── Capability queries ─────────────────────────────────────────

    /// Whether this solver produces deterministic results given
    /// identical input.
    virtual bool is_deterministic() const
    {
        return true;
    }

    /// Export solver-native debug/diagnostic file (e.g. ASMT for OndselSolver).
    /// Default: no-op.  Requires a prior solve() or run_kinematic() call.
    virtual void export_native(const std::string& /*path*/)
    {
    }

    /// Whether this solver handles fixed-joint part bundling internally.
    /// When false, the caller bundles parts connected by Fixed joints
    /// before building the SolveContext. When true, the solver receives
    /// unbundled parts and optimizes internally.
    virtual bool supports_bundle_fixed() const
    {
        return false;
    }

    // Public default constructor for pybind11 trampoline support.
    // The class remains abstract (3 pure virtuals prevent direct instantiation).
    IKCSolver() = default;

private:
    // Non-copyable, non-movable (polymorphic base class)
    IKCSolver(const IKCSolver&) = delete;
    IKCSolver& operator=(const IKCSolver&) = delete;
    IKCSolver(IKCSolver&&) = delete;
    IKCSolver& operator=(IKCSolver&&) = delete;
};

}  // namespace KCSolve

#endif  // KCSOLVE_IKCSOLVER_H