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.
104 lines
2.5 KiB
C++
104 lines
2.5 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 "ConstVelConstraintIJ.h"
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#include "DirectionCosineIecJec.h"
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#include "ConstVelConstraintIqcJqc.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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ConstVelConstraintIJ::ConstVelConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj)
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{
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}
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std::shared_ptr<ConstVelConstraintIJ> MbD::ConstVelConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
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{
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assert(frmi->isEndFrameqc());
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assert(frmj->isEndFrameqc());
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auto constVelCon = std::make_shared<ConstVelConstraintIqcJqc>(frmi, frmj);
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constVelCon->initA01IeJe();
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constVelCon->initA10IeJe();
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return constVelCon;
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}
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void ConstVelConstraintIJ::calcPostDynCorrectorIteration()
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{
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aG = aA01IeJe->aAijIeJe + aA10IeJe->aAijIeJe - aConstant;
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}
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void MbD::ConstVelConstraintIJ::initA01IeJe()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::ConstVelConstraintIJ::initA10IeJe()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void ConstVelConstraintIJ::initialize()
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{
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this->initA01IeJe();
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this->initA10IeJe();
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}
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void ConstVelConstraintIJ::initializeGlobally()
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{
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aA01IeJe->initializeGlobally();
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aA10IeJe->initializeGlobally();
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}
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void ConstVelConstraintIJ::initializeLocally()
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{
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aA01IeJe->initializeLocally();
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aA10IeJe->initializeLocally();
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}
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void ConstVelConstraintIJ::postInput()
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{
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aA01IeJe->postInput();
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aA10IeJe->postInput();
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ConstraintIJ::postInput();
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}
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void ConstVelConstraintIJ::postPosICIteration()
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{
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aA01IeJe->postPosICIteration();
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aA10IeJe->postPosICIteration();
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ConstraintIJ::postPosICIteration();
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}
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void ConstVelConstraintIJ::preAccIC()
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{
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aA01IeJe->preAccIC();
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aA10IeJe->preAccIC();
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ConstraintIJ::preAccIC();
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}
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void ConstVelConstraintIJ::prePosIC()
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{
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aA01IeJe->prePosIC();
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aA10IeJe->prePosIC();
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ConstraintIJ::prePosIC();
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}
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void ConstVelConstraintIJ::preVelIC()
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{
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aA01IeJe->preVelIC();
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aA10IeJe->preVelIC();
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ConstraintIJ::preVelIC();
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}
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void ConstVelConstraintIJ::simUpdateAll()
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{
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aA01IeJe->simUpdateAll();
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aA10IeJe->simUpdateAll();
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ConstraintIJ::simUpdateAll();
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}
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