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.
88 lines
4.7 KiB
C++
88 lines
4.7 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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/*********************************************************************
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* @file MbDCode.cpp
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*
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* @brief Program to assemble a piston crank system.
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*********************************************************************/
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#include "../OndselSolver/CADSystem.h"
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#include "../OndselSolver/CREATE.h"
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#include "../OndselSolver/GESpMatParPvPrecise.h"
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#include "../OndselSolver/ASMTAssembly.h"
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#include "../OndselSolver/MomentOfInertiaSolver.h"
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using namespace MbD;
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void sharedptrTest();
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int main()
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{
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ASMTAssembly::runFile("C:/Users/askoh/Downloads/pistonDebug.asmt");
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return 0;
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//auto assembly = ASMTAssembly::assemblyFromFile("C:/Users/askoh/OneDrive/askoh/visualstudio/Ondsel/OndselFreeCAD/build/src/Main/runPreDrag.asmt");
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//assembly->runDraggingLog("C:/Users/askoh/OneDrive/askoh/visualstudio/Ondsel/OndselFreeCAD/build/src/Main/dragging.log");
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//return 0;
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auto assembly = ASMTAssembly::assemblyFromFile(std::string(TEST_DATA_PATH) + "/runPreDragBackhoe3.asmt");
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assembly->runDraggingLog(std::string(TEST_DATA_PATH) + "/draggingBackhoe3.log");
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//return 0;
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ASMTAssembly::runDraggingLogTest3();
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ASMTAssembly::runDraggingLogTest2();
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ASMTAssembly::runDraggingLogTest();
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/pistonAllowZRotation.asmt");
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/Schmidt_Coupling_Ass_1-1.asmt");
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/RevRevJt.asmt");
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/RevCylJt.asmt");
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/CylSphJt.asmt");
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/SphSphJt.asmt");
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ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/Gears.asmt");
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ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/anglejoint.asmt");
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ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/constvel.asmt");
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ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/rackscrew.asmt");
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ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/planarbug.asmt");
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/cirpendu2.asmt"); //Under constrained. Testing ICKine.
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/quasikine.asmt"); //Under constrained. Testing ICKine.
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ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/piston.asmt");
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////ASMTAssembly::runSinglePendulumSuperSimplified(); //Mass is missing
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////ASMTAssembly::runSinglePendulumSuperSimplified2(); //DOF has infinite acceleration due to zero mass and inertias
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ASMTAssembly::runSinglePendulumSimplified();
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ASMTAssembly::runSinglePendulum();
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/piston.asmt");
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/00backhoe.asmt");
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//ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/circular.asmt"); //Needs checking
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//ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/engine1.asmt"); //Needs checking
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/fourbar.asmt");
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//ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/fourbot.asmt"); //Very large but works
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ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/wobpump.asmt");
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auto cadSystem = std::make_shared<CADSystem>();
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cadSystem->runOndselSinglePendulum();
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cadSystem->runOndselDoublePendulum();
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//cadSystem->runOndselPiston(); //For debugging
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cadSystem->runPiston();
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MomentOfInertiaSolver::example1();
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sharedptrTest();
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}
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void sharedptrTest() {
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auto assm = ASMTAssembly::With();
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std::shared_ptr<ASMTAssembly> assm1 = assm; //New shared_ptr to old object. Reference count incremented.
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assert(assm == assm1);
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assert(assm.get() == assm1.get());
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assert(&assm != &assm1);
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assert(assm->constantGravity == assm1->constantGravity);
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assert(&(assm->constantGravity) == &(assm1->constantGravity));
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auto assm2 = std::make_shared<ASMTAssembly>(*assm); //New shared_ptr to new object. Member variables copy old member variables
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assert(assm != assm2);
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assert(assm.get() != assm2.get());
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assert(&assm != &assm2);
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assert(assm->constantGravity == assm2->constantGravity); //constantGravity is same object pointed to
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assert(&(assm->constantGravity) != &(assm2->constantGravity)); //Different shared_ptrs of same reference counter
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}
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