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.
35 lines
1.0 KiB
C++
35 lines
1.0 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 <cmath>
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#include <stdexcept>
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#include "Numeric.h"
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using namespace MbD;
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double MbD::Numeric::arcTan0to2piYoverX(double y, double x)
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{
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//"(y/x) arcTan in the range 0 to 2*pi."
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//"Double arcTan0to2piY: 1.0d overX: 1.0d."
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if (y >= 0) {
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//"First and second quadrants."
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return std::atan2(y, x);
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}
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else {
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//"Third and forth quadrants."
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return 2.0 * M_PI + std::atan2(y, x);
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}
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}
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bool MbD::Numeric::equaltol(double x, double xx, double tol)
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{
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return std::abs(x - xx) < tol;
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}
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