solver

kindred/solver

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Author	SHA1	Message	Date
forbes-0023	c2ebcc3169	fix(solver): prevent orientation flips during interactive drag Add half-space tracking for all compound constraints with branch ambiguity: Planar, Revolute, Concentric, Cylindrical, Slider, Screw, Universal, PointInPlane, and LineInPlane. Previously only DistancePointPoint, Parallel, Angle, and Perpendicular were tracked, so the Newton-Raphson solver could converge to the wrong branch for compound constraints — causing parts to drift through plane constraints while honoring revolute joints. Add quaternion continuity enforcement in drag_step(): after solving, each non-dragged body's quaternion is checked against its pre-step value and negated if in the opposite hemisphere (standard SLERP short-arc correction). This prevents the C++ validateNewPlacements() from rejecting valid solutions as 'flipped orientation' due to the quaternion double-cover ambiguity (q and -q encode the same rotation but measure as ~340° apart).	2026-02-24 20:46:42 -06:00
forbes-0023	b4b8724ff1	feat(solver): diagnostics, half-space preference, and weight vectors (phase 4) - Add per-entity DOF analysis via Jacobian SVD (diagnostics.py) - Add overconstrained detection: redundant vs conflicting constraints - Add half-space tracking to preserve configuration branch (preference.py) - Add minimum-movement weighting for least-squares solve - Extend BFGS fallback with weight vector and quaternion renormalization - Add snapshot/restore and env accessor to ParamTable - Fix DistancePointPointConstraint sign for half-space tracking	2026-02-20 23:32:45 -06:00

Author

SHA1

Message

Date

forbes-0023

c2ebcc3169

fix(solver): prevent orientation flips during interactive drag

Add half-space tracking for all compound constraints with branch
ambiguity: Planar, Revolute, Concentric, Cylindrical, Slider, Screw,
Universal, PointInPlane, and LineInPlane.  Previously only
DistancePointPoint, Parallel, Angle, and Perpendicular were tracked,
so the Newton-Raphson solver could converge to the wrong branch for
compound constraints — causing parts to drift through plane
constraints while honoring revolute joints.

Add quaternion continuity enforcement in drag_step(): after solving,
each non-dragged body's quaternion is checked against its pre-step
value and negated if in the opposite hemisphere (standard SLERP
short-arc correction).  This prevents the C++ validateNewPlacements()
from rejecting valid solutions as 'flipped orientation' due to the
quaternion double-cover ambiguity (q and -q encode the same rotation
but measure as ~340° apart).

2026-02-24 20:46:42 -06:00

forbes-0023

b4b8724ff1

feat(solver): diagnostics, half-space preference, and weight vectors (phase 4)

- Add per-entity DOF analysis via Jacobian SVD (diagnostics.py)
- Add overconstrained detection: redundant vs conflicting constraints
- Add half-space tracking to preserve configuration branch (preference.py)
- Add minimum-movement weighting for least-squares solve
- Extend BFGS fallback with weight vector and quaternion renormalization
- Add snapshot/restore and env accessor to ParamTable
- Fix DistancePointPointConstraint sign for half-space tracking

2026-02-20 23:32:45 -06:00

2 Commits