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.
35 lines
1.0 KiB
C++
35 lines
1.0 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 "UniversalJoint.h"
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#include "System.h"
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#include "CREATE.h"
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using namespace MbD;
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MbD::UniversalJoint::UniversalJoint()
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{
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}
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MbD::UniversalJoint::UniversalJoint(const std::string& str) : AtPointJoint(str)
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{
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}
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void MbD::UniversalJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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createAtPointConstraints();
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addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 2));
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this->root()->hasChanged = true;
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}
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else {
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Joint::initializeGlobally();
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}
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}
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