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.
55 lines
2.1 KiB
C++
55 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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#pragma once
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#include "ASMTItem.h"
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namespace MbD {
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class ASMTSpatialItem : public ASMTItem
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{
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//
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public:
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ASMTSpatialItem();
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void setPosition3D(FColDsptr position3D);
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void setRotationMatrix(FMatDsptr rotationMatrix);
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void readPosition3D(std::vector<std::string>& lines);
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void readRotationMatrix(std::vector<std::string>& lines);
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// Overloads to simplify syntax.
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void getPosition3D(double& a, double& b, double& c);
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void getQuarternions(double& q0, double& q1, double& q2, double& q3);
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void setPosition3D(double a, double b, double c);
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void setQuarternions(double q0, double q1, double q2, double q3);
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void setRotationMatrix(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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void storeOnLevel(std::ofstream& os, size_t level) override;
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void storeOnLevelPosition(std::ofstream& os, size_t level);
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void storeOnLevelPositionRaw(std::ofstream& os, size_t level);
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void storeOnLevelRotationMatrix(std::ofstream& os, size_t level);
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void storeOnLevelRotationMatrixRaw(std::ofstream& os, size_t level);
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FColDsptr getPosition3D(size_t i);
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FMatDsptr getRotationMatrix(size_t i);
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void restorePosRot();
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FColDsptr position3D = std::make_shared<FullColumn<double>>(3);
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FMatDsptr rotationMatrix = std::make_shared<FullMatrix<double>>(ListListD{
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{ 1, 0, 0 },
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{ 0, 1, 0 },
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{ 0, 0, 1 }
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});
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FColDsptr oldPos3D = position3D;
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FMatDsptr oldRotMat = rotationMatrix;
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FRowDsptr xs, ys, zs, bryxs, bryys, bryzs;
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FRowDsptr inxs, inys, inzs, inbryxs, inbryys, inbryzs;
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};
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}
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