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
812 changed files with 2234 additions and 72 deletions
--- a/GNN/.gitea/workflows/ci.yaml
+++ b/GNN/.gitea/workflows/ci.yaml
--- a/GNN/.github/workflows/build.yml
+++ b/GNN/.github/workflows/build.yml
--- a/GNN/.github/workflows/push-freecad.yml
+++ b/GNN/.github/workflows/push-freecad.yml
--- a/GNN/.pre-commit-config.yaml
+++ b/GNN/.pre-commit-config.yaml
--- a/GNN/CMakeLists.txt
+++ b/GNN/CMakeLists.txt
--- a/GNN/CONTRIBUTING.md
+++ b/GNN/CONTRIBUTING.md
--- a/GNN/Dockerfile
+++ b/GNN/Dockerfile
--- a/GNN/Makefile
+++ b/GNN/Makefile
--- a/GNN/OndselSolver.pc.in
+++ b/GNN/OndselSolver.pc.in
--- a/GNN/OndselSolver/ASMTAllowRotation.cpp
+++ b/GNN/OndselSolver/ASMTAllowRotation.cpp
--- a/GNN/OndselSolver/ASMTAllowRotation.h
+++ b/GNN/OndselSolver/ASMTAllowRotation.h
--- a/GNN/OndselSolver/ASMTAngleJoint.cpp
+++ b/GNN/OndselSolver/ASMTAngleJoint.cpp
--- a/GNN/OndselSolver/ASMTAngleJoint.h
+++ b/GNN/OndselSolver/ASMTAngleJoint.h
--- a/GNN/OndselSolver/ASMTAnimationParameters.cpp
+++ b/GNN/OndselSolver/ASMTAnimationParameters.cpp
--- a/GNN/OndselSolver/ASMTAnimationParameters.h
+++ b/GNN/OndselSolver/ASMTAnimationParameters.h
--- a/GNN/OndselSolver/ASMTAssembly.cpp
+++ b/GNN/OndselSolver/ASMTAssembly.cpp
--- a/GNN/OndselSolver/ASMTAssembly.h
+++ b/GNN/OndselSolver/ASMTAssembly.h
--- a/GNN/OndselSolver/ASMTAtPointJoint.cpp
+++ b/GNN/OndselSolver/ASMTAtPointJoint.cpp
--- a/GNN/OndselSolver/ASMTAtPointJoint.h
+++ b/GNN/OndselSolver/ASMTAtPointJoint.h
--- a/GNN/OndselSolver/ASMTCompoundJoint.cpp
+++ b/GNN/OndselSolver/ASMTCompoundJoint.cpp
--- a/GNN/OndselSolver/ASMTCompoundJoint.h
+++ b/GNN/OndselSolver/ASMTCompoundJoint.h
--- a/GNN/OndselSolver/ASMTConeConeContact.cpp
+++ b/GNN/OndselSolver/ASMTConeConeContact.cpp
--- a/GNN/OndselSolver/ASMTConeConeContact.h
+++ b/GNN/OndselSolver/ASMTConeConeContact.h
--- a/GNN/OndselSolver/ASMTConstantGravity.cpp
+++ b/GNN/OndselSolver/ASMTConstantGravity.cpp
--- a/GNN/OndselSolver/ASMTConstantGravity.h
+++ b/GNN/OndselSolver/ASMTConstantGravity.h
--- a/GNN/OndselSolver/ASMTConstantVelocityJoint.cpp
+++ b/GNN/OndselSolver/ASMTConstantVelocityJoint.cpp
--- a/GNN/OndselSolver/ASMTConstantVelocityJoint.h
+++ b/GNN/OndselSolver/ASMTConstantVelocityJoint.h
--- a/GNN/OndselSolver/ASMTConstraintSet.cpp
+++ b/GNN/OndselSolver/ASMTConstraintSet.cpp
--- a/GNN/OndselSolver/ASMTConstraintSet.h
+++ b/GNN/OndselSolver/ASMTConstraintSet.h
--- a/GNN/OndselSolver/ASMTContact.cpp
+++ b/GNN/OndselSolver/ASMTContact.cpp
--- a/GNN/OndselSolver/ASMTContact.h
+++ b/GNN/OndselSolver/ASMTContact.h
--- a/GNN/OndselSolver/ASMTCylConeContact.cpp
+++ b/GNN/OndselSolver/ASMTCylConeContact.cpp
--- a/GNN/OndselSolver/ASMTCylConeContact.h
+++ b/GNN/OndselSolver/ASMTCylConeContact.h
--- a/GNN/OndselSolver/ASMTCylCylContact.cpp
+++ b/GNN/OndselSolver/ASMTCylCylContact.cpp
--- a/GNN/OndselSolver/ASMTCylCylContact.h
+++ b/GNN/OndselSolver/ASMTCylCylContact.h
--- a/GNN/OndselSolver/ASMTCylSphJoint.cpp
+++ b/GNN/OndselSolver/ASMTCylSphJoint.cpp
--- a/GNN/OndselSolver/ASMTCylSphJoint.h
+++ b/GNN/OndselSolver/ASMTCylSphJoint.h
--- a/GNN/OndselSolver/ASMTCylindricalJoint.cpp
+++ b/GNN/OndselSolver/ASMTCylindricalJoint.cpp
--- a/GNN/OndselSolver/ASMTCylindricalJoint.h
+++ b/GNN/OndselSolver/ASMTCylindricalJoint.h
--- a/GNN/OndselSolver/ASMTExtrusion.cpp
+++ b/GNN/OndselSolver/ASMTExtrusion.cpp
--- a/GNN/OndselSolver/ASMTExtrusion.h
+++ b/GNN/OndselSolver/ASMTExtrusion.h
--- a/GNN/OndselSolver/ASMTFixedJoint.cpp
+++ b/GNN/OndselSolver/ASMTFixedJoint.cpp
--- a/GNN/OndselSolver/ASMTFixedJoint.h
+++ b/GNN/OndselSolver/ASMTFixedJoint.h
--- a/GNN/OndselSolver/ASMTForceTorque.cpp
+++ b/GNN/OndselSolver/ASMTForceTorque.cpp
--- a/GNN/OndselSolver/ASMTForceTorque.h
+++ b/GNN/OndselSolver/ASMTForceTorque.h
--- a/GNN/OndselSolver/ASMTGearJoint.cpp
+++ b/GNN/OndselSolver/ASMTGearJoint.cpp
--- a/GNN/OndselSolver/ASMTGearJoint.h
+++ b/GNN/OndselSolver/ASMTGearJoint.h
--- a/GNN/OndselSolver/ASMTGeneralMotion.cpp
+++ b/GNN/OndselSolver/ASMTGeneralMotion.cpp
--- a/GNN/OndselSolver/ASMTGeneralMotion.h
+++ b/GNN/OndselSolver/ASMTGeneralMotion.h
--- a/GNN/OndselSolver/ASMTInLineJoint.cpp
+++ b/GNN/OndselSolver/ASMTInLineJoint.cpp
--- a/GNN/OndselSolver/ASMTInLineJoint.h
+++ b/GNN/OndselSolver/ASMTInLineJoint.h
--- a/GNN/OndselSolver/ASMTInPlaneJoint.cpp
+++ b/GNN/OndselSolver/ASMTInPlaneJoint.cpp
--- a/GNN/OndselSolver/ASMTInPlaneJoint.h
+++ b/GNN/OndselSolver/ASMTInPlaneJoint.h
--- a/GNN/OndselSolver/ASMTItem.cpp
+++ b/GNN/OndselSolver/ASMTItem.cpp
--- a/GNN/OndselSolver/ASMTItem.h
+++ b/GNN/OndselSolver/ASMTItem.h
--- a/GNN/OndselSolver/ASMTItemIJ.cpp
+++ b/GNN/OndselSolver/ASMTItemIJ.cpp
--- a/GNN/OndselSolver/ASMTItemIJ.h
+++ b/GNN/OndselSolver/ASMTItemIJ.h
--- a/GNN/OndselSolver/ASMTJoint.cpp
+++ b/GNN/OndselSolver/ASMTJoint.cpp
--- a/GNN/OndselSolver/ASMTJoint.h
+++ b/GNN/OndselSolver/ASMTJoint.h
--- a/GNN/OndselSolver/ASMTKinematicIJ.cpp
+++ b/GNN/OndselSolver/ASMTKinematicIJ.cpp
--- a/GNN/OndselSolver/ASMTKinematicIJ.h
+++ b/GNN/OndselSolver/ASMTKinematicIJ.h
--- a/GNN/OndselSolver/ASMTLimit.cpp
+++ b/GNN/OndselSolver/ASMTLimit.cpp
--- a/GNN/OndselSolver/ASMTLimit.h
+++ b/GNN/OndselSolver/ASMTLimit.h
--- a/GNN/OndselSolver/ASMTLineInPlaneJoint.cpp
+++ b/GNN/OndselSolver/ASMTLineInPlaneJoint.cpp
--- a/GNN/OndselSolver/ASMTLineInPlaneJoint.h
+++ b/GNN/OndselSolver/ASMTLineInPlaneJoint.h
--- a/GNN/OndselSolver/ASMTMarker.cpp
+++ b/GNN/OndselSolver/ASMTMarker.cpp
--- a/GNN/OndselSolver/ASMTMarker.h
+++ b/GNN/OndselSolver/ASMTMarker.h
--- a/GNN/OndselSolver/ASMTMotion.cpp
+++ b/GNN/OndselSolver/ASMTMotion.cpp
--- a/GNN/OndselSolver/ASMTMotion.h
+++ b/GNN/OndselSolver/ASMTMotion.h
--- a/GNN/OndselSolver/ASMTNoRotationJoint.cpp
+++ b/GNN/OndselSolver/ASMTNoRotationJoint.cpp
--- a/GNN/OndselSolver/ASMTNoRotationJoint.h
+++ b/GNN/OndselSolver/ASMTNoRotationJoint.h
--- a/GNN/OndselSolver/ASMTParallelAxesJoint.cpp
+++ b/GNN/OndselSolver/ASMTParallelAxesJoint.cpp
--- a/GNN/OndselSolver/ASMTParallelAxesJoint.h
+++ b/GNN/OndselSolver/ASMTParallelAxesJoint.h
--- a/GNN/OndselSolver/ASMTPart.cpp
+++ b/GNN/OndselSolver/ASMTPart.cpp
--- a/GNN/OndselSolver/ASMTPart.h
+++ b/GNN/OndselSolver/ASMTPart.h
--- a/GNN/OndselSolver/ASMTPerpendicularJoint.cpp
+++ b/GNN/OndselSolver/ASMTPerpendicularJoint.cpp
--- a/GNN/OndselSolver/ASMTPerpendicularJoint.h
+++ b/GNN/OndselSolver/ASMTPerpendicularJoint.h
--- a/GNN/OndselSolver/ASMTPlanarJoint.cpp
+++ b/GNN/OndselSolver/ASMTPlanarJoint.cpp
--- a/GNN/OndselSolver/ASMTPlanarJoint.h
+++ b/GNN/OndselSolver/ASMTPlanarJoint.h
--- a/GNN/OndselSolver/ASMTPointInLineJoint.cpp
+++ b/GNN/OndselSolver/ASMTPointInLineJoint.cpp
--- a/GNN/OndselSolver/ASMTPointInLineJoint.h
+++ b/GNN/OndselSolver/ASMTPointInLineJoint.h
--- a/GNN/OndselSolver/ASMTPointInPlaneJoint.cpp
+++ b/GNN/OndselSolver/ASMTPointInPlaneJoint.cpp
--- a/GNN/OndselSolver/ASMTPointInPlaneJoint.h
+++ b/GNN/OndselSolver/ASMTPointInPlaneJoint.h
--- a/GNN/OndselSolver/ASMTPrincipalMassMarker.cpp
+++ b/GNN/OndselSolver/ASMTPrincipalMassMarker.cpp
--- a/GNN/OndselSolver/ASMTPrincipalMassMarker.h
+++ b/GNN/OndselSolver/ASMTPrincipalMassMarker.h
--- a/GNN/OndselSolver/ASMTRackPinionJoint.cpp
+++ b/GNN/OndselSolver/ASMTRackPinionJoint.cpp
--- a/GNN/OndselSolver/ASMTRackPinionJoint.h
+++ b/GNN/OndselSolver/ASMTRackPinionJoint.h
--- a/GNN/OndselSolver/ASMTRefCurve.cpp
+++ b/GNN/OndselSolver/ASMTRefCurve.cpp
--- a/GNN/OndselSolver/ASMTRefCurve.h
+++ b/GNN/OndselSolver/ASMTRefCurve.h
--- a/GNN/OndselSolver/ASMTRefItem.cpp
+++ b/GNN/OndselSolver/ASMTRefItem.cpp
--- a/GNN/OndselSolver/ASMTRefItem.h
+++ b/GNN/OndselSolver/ASMTRefItem.h
--- a/GNN/OndselSolver/ASMTRefPoint.cpp
+++ b/GNN/OndselSolver/ASMTRefPoint.cpp
--- a/GNN/OndselSolver/ASMTRefPoint.h
+++ b/GNN/OndselSolver/ASMTRefPoint.h
--- a/GNN/OndselSolver/ASMTRefSurface.cpp
+++ b/GNN/OndselSolver/ASMTRefSurface.cpp
--- a/GNN/OndselSolver/ASMTRefSurface.h
+++ b/GNN/OndselSolver/ASMTRefSurface.h
--- a/GNN/OndselSolver/ASMTRevCylJoint.cpp
+++ b/GNN/OndselSolver/ASMTRevCylJoint.cpp
--- a/GNN/OndselSolver/ASMTRevCylJoint.h
+++ b/GNN/OndselSolver/ASMTRevCylJoint.h
--- a/GNN/OndselSolver/ASMTRevRevJoint.cpp
+++ b/GNN/OndselSolver/ASMTRevRevJoint.cpp
--- a/GNN/OndselSolver/ASMTRevRevJoint.h
+++ b/GNN/OndselSolver/ASMTRevRevJoint.h
--- a/GNN/OndselSolver/ASMTRevoluteJoint.cpp
+++ b/GNN/OndselSolver/ASMTRevoluteJoint.cpp
--- a/Show More
+++ b/Show More