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.
40 lines
1.3 KiB
C++
40 lines
1.3 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 "RevRevJoint.h"
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#include "CREATE.h"
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#include "DistancexyConstraintIJ.h"
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#include "System.h"
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using namespace MbD;
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MbD::RevRevJoint::RevRevJoint()
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{
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}
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MbD::RevRevJoint::RevRevJoint(const std::string& str) : CompoundJoint(str)
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{
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}
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void MbD::RevRevJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
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distxyIJ->setConstant(distanceIJ);
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addConstraint(distxyIJ);
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addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2));
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addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
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addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
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this->root()->hasChanged = true;
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}
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else {
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CompoundJoint::initializeGlobally();
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}
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}
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