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.
94 lines
2.2 KiB
C++
94 lines
2.2 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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#include "DistanceConstraintIJ.h"
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#include "DistanceConstraintIqcJqc.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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MbD::DistanceConstraintIJ::DistanceConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj)
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{
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}
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std::shared_ptr<DistanceConstraintIJ> MbD::DistanceConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
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{
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assert(frmi->isEndFrameqc());
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assert(frmj->isEndFrameqc());
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auto distCon = std::make_shared<DistanceConstraintIqcJqc>(frmi, frmj);
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distCon->init_distIeJe();
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return distCon;
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}
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void MbD::DistanceConstraintIJ::calcPostDynCorrectorIteration()
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{
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aG = distIeJe->value() - aConstant;
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}
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void MbD::DistanceConstraintIJ::init_distIeJe()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::DistanceConstraintIJ::initialize()
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{
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ConstraintIJ::initialize();
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this->init_distIeJe();
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}
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void MbD::DistanceConstraintIJ::initializeGlobally()
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{
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distIeJe->initializeGlobally();
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}
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void MbD::DistanceConstraintIJ::initializeLocally()
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{
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distIeJe->initializeLocally();
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}
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void MbD::DistanceConstraintIJ::postInput()
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{
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distIeJe->postInput();
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ConstraintIJ::postInput();
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}
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void MbD::DistanceConstraintIJ::postPosICIteration()
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{
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distIeJe->postPosICIteration();
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ConstraintIJ::postPosICIteration();
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}
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void MbD::DistanceConstraintIJ::preAccIC()
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{
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distIeJe->preAccIC();
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ConstraintIJ::preAccIC();
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}
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void MbD::DistanceConstraintIJ::prePosIC()
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{
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distIeJe->prePosIC();
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ConstraintIJ::prePosIC();
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}
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void MbD::DistanceConstraintIJ::preVelIC()
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{
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distIeJe->preVelIC();
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ConstraintIJ::preVelIC();
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}
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void MbD::DistanceConstraintIJ::simUpdateAll()
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{
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distIeJe->simUpdateAll();
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ConstraintIJ::simUpdateAll();
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}
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ConstraintType MbD::DistanceConstraintIJ::type()
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{
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return ConstraintType::displacement;
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}
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