5c33aacecb
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.
130 lines
5.7 KiB
C++
130 lines
5.7 KiB
C++
// SPDX-License-Identifier: LGPL-2.1-or-later
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/****************************************************************************
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* *
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* Copyright (c) 2025 Kindred Systems <development@kindred-systems.com> *
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* *
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* This file is part of FreeCAD. *
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* *
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* FreeCAD is free software: you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as *
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* published by the Free Software Foundation, either version 2.1 of the *
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* License, or (at your option) any later version. *
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* *
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* FreeCAD is distributed in the hope that it will be useful, but *
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* WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with FreeCAD. If not, see *
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* <https://www.gnu.org/licenses/>. *
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* *
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***************************************************************************/
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#ifndef KCSOLVE_ONDSELADAPTER_H
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#define KCSOLVE_ONDSELADAPTER_H
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#include <memory>
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#include <string>
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#include <unordered_map>
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#include <vector>
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#include "IKCSolver.h"
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#include "KCSolveGlobal.h"
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namespace MbD
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{
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class ASMTAssembly;
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class ASMTJoint;
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class ASMTMarker;
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class ASMTPart;
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} // namespace MbD
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namespace KCSolve
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{
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/// IKCSolver implementation wrapping OndselSolver's Lagrangian MBD engine.
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///
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/// Translates KCSolve types (SolveContext, BaseJointKind, Transform) to
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/// OndselSolver's ASMT hierarchy (ASMTAssembly, ASMTPart, ASMTJoint, etc.)
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/// and extracts results back into SolveResult.
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///
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/// All OndselSolver #includes are confined to OndselAdapter.cpp.
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class KCSolveExport OndselAdapter : public IKCSolver
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{
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public:
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OndselAdapter() = default;
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// ── IKCSolver pure virtuals ────────────────────────────────────
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std::string name() const override;
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std::vector<BaseJointKind> supported_joints() const override;
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SolveResult solve(const SolveContext& ctx) override;
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// ── IKCSolver overrides ────────────────────────────────────────
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SolveResult update(const SolveContext& ctx) override;
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SolveResult pre_drag(const SolveContext& ctx,
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const std::vector<std::string>& drag_parts) override;
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SolveResult drag_step(
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const std::vector<SolveResult::PartResult>& drag_placements) override;
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void post_drag() override;
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SolveResult run_kinematic(const SolveContext& ctx) override;
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std::size_t num_frames() const override;
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SolveResult update_for_frame(std::size_t index) override;
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std::vector<ConstraintDiagnostic> diagnose(const SolveContext& ctx) override;
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bool is_deterministic() const override;
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bool supports_bundle_fixed() const override;
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void export_native(const std::string& path) override;
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/// Register OndselAdapter as "ondsel" in the SolverRegistry.
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/// Call once at module init time.
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static void register_solver();
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private:
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// ── Assembly building ──────────────────────────────────────────
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void build_assembly(const SolveContext& ctx);
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std::shared_ptr<MbD::ASMTPart> make_part(const Part& part);
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std::shared_ptr<MbD::ASMTMarker> make_marker(const std::string& name,
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const Transform& tf);
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std::shared_ptr<MbD::ASMTJoint> create_joint(const Constraint& c);
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void add_limits(const Constraint& c,
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const std::string& marker_i,
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const std::string& marker_j);
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void add_motions(const SolveContext& ctx,
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const std::string& marker_i,
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const std::string& marker_j,
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const std::string& joint_id);
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void fix_grounded_parts(const SolveContext& ctx);
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void set_simulation_params(const SimulationParams& params);
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// ── Result extraction ──────────────────────────────────────────
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SolveResult extract_result() const;
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std::vector<ConstraintDiagnostic> extract_diagnostics() const;
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Transform extract_part_transform(
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const std::shared_ptr<MbD::ASMTPart>& part) const;
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// ── Quaternion ↔ rotation matrix conversion ────────────────────
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/// Convert unit quaternion (w,x,y,z) to 3×3 rotation matrix (row-major).
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static void quat_to_matrix(const std::array<double, 4>& q,
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double (&mat)[3][3]);
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// ── Internal state ─────────────────────────────────────────────
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std::shared_ptr<MbD::ASMTAssembly> assembly_;
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std::unordered_map<std::string, std::shared_ptr<MbD::ASMTPart>> part_map_;
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std::vector<std::string> drag_part_ids_;
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};
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} // namespace KCSolve
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#endif // KCSOLVE_ONDSELADAPTER_H
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