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.
70 lines
1.1 KiB
C++
70 lines
1.1 KiB
C++
#include "LimitIJ.h"
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#include "Constraint.h"
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using namespace MbD;
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bool MbD::LimitIJ::satisfied() const
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{
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auto& constraint = constraints->front();
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if (type == "=<") {
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return constraint->aG < tol;
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}
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else if (type == "=>") {
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return constraint->aG > -tol;
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}
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throw SimulationStoppingError("To be implemented.");
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return true;
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}
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void MbD::LimitIJ::deactivate()
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{
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active = false;
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}
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void MbD::LimitIJ::activate()
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{
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active = true;
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}
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void MbD::LimitIJ::fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints)
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{
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if (active) {
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ConstraintSet::fillConstraints(allConstraints);
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}
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}
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void MbD::LimitIJ::fillPosICError(FColDsptr col)
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{
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if (active) {
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ConstraintSet::fillPosICError(col);
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}
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}
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void MbD::LimitIJ::fillPosICJacob(SpMatDsptr mat)
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{
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if (active) {
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ConstraintSet::fillPosICJacob(mat);
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}
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}
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void MbD::LimitIJ::fillqsulam(FColDsptr col)
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{
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if (active) {
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ConstraintSet::fillqsulam(col);
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}
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}
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void MbD::LimitIJ::setqsulam(FColDsptr col)
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{
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if (active) {
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ConstraintSet::setqsulam(col);
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}
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}
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void MbD::LimitIJ::useEquationNumbers()
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{
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if (active) {
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ConstraintSet::useEquationNumbers();
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}
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}
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