forbes-0023
d20b38e760
feat(solver): add diagnostic logging throughout solver pipeline
...
- solver.py: log solve entry (parts/constraints counts), system build
stats, convergence result with timing, decomposition decisions,
Newton/BFGS fallback events, and per-constraint diagnostics on failure
- solver.py: log drag lifecycle (pre_drag parts, drag_step timing/status,
post_drag step count summary)
- decompose.py: log cluster count, per-cluster body/constraint/residual
stats, and per-cluster convergence failures
- Init.py: add _FreeCADLogHandler routing Python logging.* calls to
FreeCAD.Console (PrintLog/PrintWarning/PrintError) with kindred_solver
logger at DEBUG level
2026-02-21 10:07:54 -06:00
forbes-0023
9dad25e947
feat(solver): assembly integration — diagnose, drag protocol, system extraction (phase 5)
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- Extract _build_system() from solve() to enable reuse by diagnose()
- Add diagnose(ctx) method: runs find_overconstrained() unconditionally
- Add interactive drag protocol: pre_drag(), drag_step(), post_drag()
- Add _run_diagnostics() and _extract_placements() helpers
- Log warning when joint limits are present (not yet enforced)
- KindredSolver now implements all IKCSolver methods needed for
full Assembly workbench integration
2026-02-20 23:32:51 -06:00
forbes-0023
92ae57751f
feat(solver): graph decomposition for cluster-by-cluster solving (phase 3)
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Add a Python decomposition layer using NetworkX that partitions the
constraint graph into biconnected components (rigid clusters), orders
them via a block-cut tree, and solves each cluster independently.
Articulation-point bodies propagate as boundary conditions between
clusters.
New module kindred_solver/decompose.py:
- DOF table mapping BaseJointKind to residual counts
- Constraint graph construction (nx.MultiGraph)
- Biconnected component detection + articulation points
- Block-cut tree solve ordering (root-first from grounded cluster)
- Cluster-by-cluster solver with boundary body fix/unfix cycling
- Pebble game integration for per-cluster rigidity classification
Changes to existing modules:
- params.py: add unfix() for boundary body cycling
- solver.py: extract _monolithic_solve(), add decomposition branch
for assemblies with >= 8 free bodies
Performance: for k clusters of ~n/k params each, total cost drops
from O(n^3) to O(n^3/k^2).
220 tests passing (up from 207).
2026-02-20 22:19:35 -06:00
forbes-0023
533ca91774
feat(solver): full constraint vocabulary — all 24 BaseJointKind types (phase 2)
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Add 18 new constraint classes covering all BaseJointKind types from Types.h:
- Point: PointOnLine (2r), PointInPlane (1r)
- Orientation: Parallel (2r), Perpendicular (1r), Angle (1r)
- Surface: Concentric (4r), Tangent (1r), Planar (3r), LineInPlane (2r)
- Kinematic: Ball (3r), Revolute (5r), Cylindrical (4r), Slider (5r),
Screw (5r), Universal (4r)
- Mechanical: Gear (1r), RackPinion (1r)
- Stubs: Cam, Slot, DistanceCylSph
New modules:
- geometry.py: marker axis extraction, vector ops (dot3, cross3, sub3),
geometric primitives (point_plane_distance, point_line_perp_components)
- bfgs.py: L-BFGS-B fallback solver via scipy for when Newton fails
solver.py changes:
- Wire all 20 supported types in _build_constraint()
- BFGS fallback after Newton-Raphson in solve()
183 tests passing (up from 82), including:
- DOF counting for every joint type
- Solve convergence from displaced initial conditions
- Multi-body mechanisms (four-bar linkage, slider-crank, revolute chain)
2026-02-20 21:15:15 -06:00
forbes-0023
98051ba0c9
feat: add Phase 1 constraint solver addon, move prior content to GNN/
...
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/
directory for integration in later phases
- Add Create addon scaffold: package.xml, Init.py
- Add expression DAG with eval, symbolic diff, simplification
- Add parameter table with fixed/free variable tracking
- Add quaternion rotation as polynomial Expr trees
- Add RigidBody entity (7 DOF: position + unit quaternion)
- Add constraint classes: Coincident, DistancePointPoint, Fixed
- Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq
- Add pre-solve passes: substitution + single-equation
- Add DOF counting via Jacobian SVD rank
- Add KindredSolver IKCSolver bridge for kcsolve integration
- Add 82 unit tests covering all modules
Registers as 'kindred' solver via kcsolve.register_solver() when
loaded by Create's addon_loader.
2026-02-20 20:35:47 -06:00
