98051ba0c9
- 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.
72 lines
1.6 KiB
C++
72 lines
1.6 KiB
C++
/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#include "BasicQuasiIntegrator.h"
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#include "IntegratorInterface.h"
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using namespace MbD;
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void BasicQuasiIntegrator::firstStep()
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{
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istep = 0;
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preFirstStep();
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iTry = 1;
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orderNew = 1;
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selectFirstStepSize();
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incrementTime();
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runInitialConditionTypeSolution();
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//reportTrialStepStats();
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postFirstStep();
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//reportStepStats();
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}
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bool BasicQuasiIntegrator::isRedoingFirstStep()
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{
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return false;
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}
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void BasicQuasiIntegrator::nextStep()
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{
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preStep();
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iTry = 1;
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selectOrder();
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selectStepSize();
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incrementTime();
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runInitialConditionTypeSolution();
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//reportTrialStepStats();
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postStep();
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//reportStepStats();
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}
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void BasicQuasiIntegrator::runInitialConditionTypeSolution()
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{
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system->runInitialConditionTypeSolution();
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}
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void BasicQuasiIntegrator::selectFirstStepSize()
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{
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if (iTry == 1) {
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hnew = direction * (system->tout - t);
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}
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else {
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hnew = 0.25 * h;
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}
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hnew = system->suggestSmallerOrAcceptFirstStepSize(hnew);
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}
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void BasicQuasiIntegrator::selectStepSize()
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{
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if (iTry == 1) {
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hnew = direction * (system->tout - t);
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}
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else {
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hnew = 0.25 * h;
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}
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hnew = system->suggestSmallerOrAcceptStepSize(hnew);
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}
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