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.
44 lines
1.6 KiB
C++
44 lines
1.6 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include "Integrator.h"
|
|
//#include "BasicQuasiIntegrator.h"
|
|
|
|
namespace MbD {
|
|
class BasicQuasiIntegrator;
|
|
|
|
class IntegratorInterface : public Integrator
|
|
{
|
|
//tout hout hmin hmax tstart tend integrator
|
|
public:
|
|
|
|
void initializeGlobally() override;
|
|
virtual void preRun() override = 0;
|
|
virtual void checkForDiscontinuity() = 0;
|
|
|
|
void setSystem(Solver* sys) override;
|
|
void logString(const std::string& str) override;
|
|
void run() override;
|
|
size_t orderMax();
|
|
virtual void incrementTime(double tnew);
|
|
|
|
void postFirstStep() override;
|
|
virtual double suggestSmallerOrAcceptFirstStepSize(double hnew) = 0;
|
|
virtual double suggestSmallerOrAcceptStepSize(double hnew) = 0;
|
|
virtual void checkForOutputThrough(double t) = 0;
|
|
virtual void interpolateAt(double t);
|
|
|
|
SystemSolver* system = nullptr;
|
|
double tout = 0.0, hout = 0.0, hmin = 0.0, hmax = 0.0, tstart = 0.0, tend = 0.0;
|
|
std::shared_ptr<BasicQuasiIntegrator> integrator;
|
|
};
|
|
}
|
|
|