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.
119 lines
5.2 KiB
C++
119 lines
5.2 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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#pragma once
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#include "ASMTSpatialItem.h"
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//#include "ASMTRefPoint.h"
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//#include "ASMTRefCurve.h"
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//#include "ASMTRefSurface.h"
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#include "ASMTPrincipalMassMarker.h"
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//#include "Units.h"
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//#include "ASMTPart.h"
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//#include "ASMTJoint.h"
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//#include "ASMTMotion.h"
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namespace MbD {
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class ASMTRefPoint;
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class ASMTRefCurve;
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class ASMTRefSurface;
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class ASMTPrincipalMassMarker;
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class Units;
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class ASMTPart;
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class ASMTJoint;
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class ASMTMotion;
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class ASMTMarker;
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class ASMTSpatialContainer : public ASMTSpatialItem
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{
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//
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public:
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ASMTSpatialContainer();
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void initialize() override;
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void setPrincipalMassMarker(std::shared_ptr<ASMTPrincipalMassMarker> aJ);
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void readRefPoints(std::vector<std::string>& lines);
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void readRefPoint(std::vector<std::string>& lines);
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void readRefCurves(std::vector<std::string>& lines);
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void readRefCurve(std::vector<std::string>& lines);
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void readRefSurfaces(std::vector<std::string>& lines);
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void readRefSurface(std::vector<std::string>& lines);
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void readXs(std::vector<std::string>& lines);
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void readYs(std::vector<std::string>& lines);
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void readZs(std::vector<std::string>& lines);
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void readBryantxs(std::vector<std::string>& lines);
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void readBryantys(std::vector<std::string>& lines);
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void readBryantzs(std::vector<std::string>& lines);
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void readVXs(std::vector<std::string>& lines);
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void readVYs(std::vector<std::string>& lines);
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void readVZs(std::vector<std::string>& lines);
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void readOmegaXs(std::vector<std::string>& lines);
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void readOmegaYs(std::vector<std::string>& lines);
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void readOmegaZs(std::vector<std::string>& lines);
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void readAXs(std::vector<std::string>& lines);
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void readAYs(std::vector<std::string>& lines);
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void readAZs(std::vector<std::string>& lines);
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void readAlphaXs(std::vector<std::string>& lines);
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void readAlphaYs(std::vector<std::string>& lines);
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void readAlphaZs(std::vector<std::string>& lines);
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void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
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void updateMbDFromPosition3D(FColDsptr position3D);
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void updateMbDFromPosition3D(double a, double b, double c);
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void updateMbDFromRotationMatrix(FMatDsptr mat);
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void updateMbDFromRotationMatrix(double v11, double v12, double v13,
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double v21, double v22, double v23,
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double v31, double v32, double v33);
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FColDsptr rOcmO();
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std::shared_ptr<EulerParameters<double>> qEp();
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virtual FColDsptr vOcmO();
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virtual FColDsptr omeOpO();
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ASMTSpatialContainer* partOrAssembly() override;
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void updateForFrame(size_t index) override;
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void updateFromInitiallyAssembledState() override;
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void updateFromInputState() override;
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void updateFromMbD() override;
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void compareResults(AnalysisType type) override;
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void outputResults(AnalysisType type) override;
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void addRefPoint(std::shared_ptr<ASMTRefPoint> refPoint);
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void addMarker(std::shared_ptr<ASMTMarker> marker);
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std::string generateUniqueMarkerName();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTMarker>>> markerList();
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void setVelocity3D(FColDsptr velocity3D);
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void setOmega3D(FColDsptr omega3D);
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void readVelocity3D(std::vector<std::string>& lines);
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void readOmega3D(std::vector<std::string>& lines);
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void setVelocity3D(double a, double b, double c);
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void setOmega3D(double a, double b, double c);
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void storeOnLevel(std::ofstream& os, size_t level) override;
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void storeOnLevelVelocity(std::ofstream& os, size_t level);
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void storeOnLevelOmega(std::ofstream& os, size_t level);
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void storeOnLevelRefPoints(std::ofstream& os, size_t level);
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void storeOnLevelRefCurves(std::ofstream& os, size_t level);
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void storeOnLevelRefSurfaces(std::ofstream& os, size_t level);
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void storeOnTimeSeries(std::ofstream& os) override;
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FColDsptr getVelocity3D(size_t i);
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FColDsptr getOmega3D(size_t i);
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FColDsptr getAcceleration3D(size_t i);
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FColDsptr getAlpha3D(size_t i);
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FColDsptr velocity3D = std::make_shared<FullColumn<double>>(3);
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FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
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FColDsptr acceleration3D = std::make_shared<FullColumn<double>>(3);
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FColDsptr alpha3D = std::make_shared<FullColumn<double>>(3);
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std::shared_ptr<std::vector<std::shared_ptr<ASMTRefPoint>>> refPoints;
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std::shared_ptr<std::vector<std::shared_ptr<ASMTRefCurve>>> refCurves;
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std::shared_ptr<std::vector<std::shared_ptr<ASMTRefSurface>>> refSurfaces;
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FRowDsptr vxs, vys, vzs, omexs, omeys, omezs;
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FRowDsptr axs, ays, azs, alpxs, alpys, alpzs;
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FRowDsptr invxs, invys, invzs, inomexs, inomeys, inomezs;
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FRowDsptr inaxs, inays, inazs, inalpxs, inalpys, inalpzs;
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std::shared_ptr<ASMTPrincipalMassMarker> principalMassMarker = ASMTPrincipalMassMarker::With();
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};
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}
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