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.
26 lines
570 B
C++
26 lines
570 B
C++
#include "RotationLimitIJ.h"
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#include "AngleZConstraintIJ.h"
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#include "System.h"
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using namespace MbD;
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std::shared_ptr<RotationLimitIJ> MbD::RotationLimitIJ::With()
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{
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auto rotationLimit = std::make_shared<RotationLimitIJ>();
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rotationLimit->initialize();
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return rotationLimit;
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}
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void MbD::RotationLimitIJ::initializeGlobally()
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{
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if (constraints->empty()) {
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auto angleZConIJ = AngleZConstraintIJ::With(frmI, frmJ);
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angleZConIJ->setConstant(limit);
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addConstraint(angleZConIJ);
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this->root()->hasChanged = true;
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}
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else {
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LimitIJ::initializeGlobally();
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}
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}
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