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.
87 lines
2.1 KiB
C++
87 lines
2.1 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 "DirectionCosineConstraintIJ.h"
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#include "DirectionCosineIecJec.h"
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#include "EndFramec.h"
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#include "CREATE.h"
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using namespace MbD;
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DirectionCosineConstraintIJ::DirectionCosineConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
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ConstraintIJ(frmi, frmj), axisI(axisi), axisJ(axisj)
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{
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}
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void DirectionCosineConstraintIJ::initialize()
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{
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ConstraintIJ::initialize();
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initaAijIeJe();
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}
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void DirectionCosineConstraintIJ::initializeLocally()
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{
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aAijIeJe->initializeLocally();
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}
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void DirectionCosineConstraintIJ::initializeGlobally()
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{
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aAijIeJe->initializeGlobally();
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}
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void DirectionCosineConstraintIJ::initaAijIeJe()
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{
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aAijIeJe = CREATE<DirectionCosineIecJec>::With(frmI, frmJ, axisI, axisJ);
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}
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void DirectionCosineConstraintIJ::postInput()
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{
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aAijIeJe->postInput();
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ConstraintIJ::postInput();
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}
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void DirectionCosineConstraintIJ::calcPostDynCorrectorIteration()
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{
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aG = aAijIeJe->aAijIeJe - aConstant;
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}
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void DirectionCosineConstraintIJ::prePosIC()
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{
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aAijIeJe->prePosIC();
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ConstraintIJ::prePosIC();
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}
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void DirectionCosineConstraintIJ::postPosICIteration()
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{
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aAijIeJe->postPosICIteration();
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ConstraintIJ::postPosICIteration();
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}
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ConstraintType DirectionCosineConstraintIJ::type()
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{
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return perpendicular;
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}
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void DirectionCosineConstraintIJ::preVelIC()
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{
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aAijIeJe->preVelIC();
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ConstraintIJ::preVelIC();
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}
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void MbD::DirectionCosineConstraintIJ::simUpdateAll()
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{
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aAijIeJe->simUpdateAll();
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ConstraintIJ::simUpdateAll();
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}
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void DirectionCosineConstraintIJ::preAccIC()
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{
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aAijIeJe->preAccIC();
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ConstraintIJ::preAccIC();
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}
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