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.
60 lines
1.6 KiB
C++
60 lines
1.6 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 "System.h"
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#include "AllowZRotation.h"
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#include "FullColumn.h"
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#include "AllowZRotationConstraintIqctJqc.h"
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#include "EndFrameqc.h"
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#include "EndFrameqct.h"
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#include "CREATE.h"
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#include "RedundantConstraint.h"
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using namespace MbD;
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MbD::AllowZRotation::AllowZRotation()
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{
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//Do nothing.
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}
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MbD::AllowZRotation::AllowZRotation(const std::string& str) : PrescribedMotion(str)
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{
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//Do nothing.
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}
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std::shared_ptr<AllowZRotation> MbD::AllowZRotation::With()
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{
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auto allowZRotation = std::make_shared<AllowZRotation>();
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allowZRotation->initialize();
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return allowZRotation;
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}
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void MbD::AllowZRotation::initializeGlobally()
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{
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if (constraints->empty()) {
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initMotions();
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auto dirCosCon = AllowZRotationConstraintIqctJqc::With(frmI, frmJ, 1, 0);
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addConstraint(dirCosCon);
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this->root()->hasChanged = true;
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}
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else {
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PrescribedMotion::initializeGlobally();
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}
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}
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void MbD::AllowZRotation::postPosIC()
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{
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for (size_t i = 0; i < constraints->size(); i++)
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{
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auto& constraint = constraints->at(i);
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auto redunCon = CREATE<RedundantConstraint>::With();
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redunCon->constraint = constraint;
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constraints->at(i) = redunCon;
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}
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}
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