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.
120 lines
2.8 KiB
C++
120 lines
2.8 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 "RedundantConstraint.h"
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using namespace MbD;
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void RedundantConstraint::removeRedundantConstraints(std::shared_ptr<std::vector<size_t>>)
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{
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}
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bool RedundantConstraint::isRedundant()
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{
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return true;
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}
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std::string RedundantConstraint::classname()
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{
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auto str = Item::classname() + "->" + constraint->classname();
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return str;
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}
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ConstraintType RedundantConstraint::type()
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{
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return redundant;
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}
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void MbD::RedundantConstraint::fillqsuddotlam(FColDsptr)
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{
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}
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void RedundantConstraint::fillqsulam(FColDsptr)
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{
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}
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void RedundantConstraint::postInput()
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{
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}
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void RedundantConstraint::prePosIC()
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{
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}
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void RedundantConstraint::fillEssenConstraints(std::shared_ptr<Constraint>, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>>)
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{
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}
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void RedundantConstraint::fillDispConstraints(std::shared_ptr<Constraint>, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>>)
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{
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}
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void RedundantConstraint::fillPerpenConstraints(std::shared_ptr<Constraint>, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>>)
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{
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}
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void RedundantConstraint::fillConstraints(std::shared_ptr<Constraint>, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>>)
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{
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}
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void RedundantConstraint::fillRedundantConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints)
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{
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redunConstraints->push_back(sptr);
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}
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void RedundantConstraint::setqsulam(FColDsptr)
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{
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}
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void RedundantConstraint::setqsudotlam(FColDsptr)
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{
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}
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void RedundantConstraint::fillPosICError(FColDsptr)
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{
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}
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void RedundantConstraint::fillPosKineError(FColDsptr)
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{
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}
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void RedundantConstraint::fillPosKineJacob(SpMatDsptr)
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{
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}
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void RedundantConstraint::preVelIC()
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{
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}
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void RedundantConstraint::preAccIC()
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{
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}
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void RedundantConstraint::fillAccICIterError(FColDsptr)
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{
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}
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void RedundantConstraint::setqsuddotlam(FColDsptr)
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{
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}
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void RedundantConstraint::discontinuityAtaddTypeTo(double, std::shared_ptr<std::vector<DiscontinuityType>>)
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{
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//"Reactivate all constraints."
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throw SimulationStoppingError("To be implemented.");
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//| newSelf |
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//newSelf : = self constraint.
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//newSelf discontinuityAt : tstartNew addTypeTo : collection.
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//self become : newSelf
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}
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std::string MbD::RedundantConstraint::constraintSpec()
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{
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return "RedundantConstraint" + constraint->constraintSpec();
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}
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