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.
143 lines
4.0 KiB
C++
143 lines
4.0 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include <iostream>
|
|
|
|
#include "AccNewtonRaphson.h"
|
|
#include "SystemSolver.h"
|
|
#include "Part.h"
|
|
#include "Constraint.h"
|
|
#include "SimulationStoppingError.h"
|
|
#include "GESpMatParPvPrecise.h"
|
|
#include "CREATE.h"
|
|
|
|
using namespace MbD;
|
|
|
|
void AccNewtonRaphson::askSystemToUpdate()
|
|
{
|
|
system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->postAccICIteration(); });
|
|
}
|
|
|
|
void AccNewtonRaphson::assignEquationNumbers()
|
|
{
|
|
auto parts = system->parts();
|
|
//auto contactEndFrames = system->contactEndFrames();
|
|
//auto uHolders = system->uHolders();
|
|
auto constraints = system->allConstraints();
|
|
size_t eqnNo = 0;
|
|
for (auto& part : *parts) {
|
|
part->iqX(eqnNo);
|
|
eqnNo = eqnNo + 3;
|
|
part->iqE(eqnNo);
|
|
eqnNo = eqnNo + 4;
|
|
}
|
|
//for (auto& endFrm : *contactEndFrames) {
|
|
// endFrm->is(eqnNo);
|
|
// eqnNo = eqnNo + endFrm->sSize();
|
|
//}
|
|
//for (auto& uHolder : *uHolders) {
|
|
// uHolder->iu(eqnNo);
|
|
// eqnNo += 1;
|
|
//}
|
|
auto nEqns = eqnNo; //C++ uses index 0.
|
|
for (auto& con : *constraints) {
|
|
con->iG = eqnNo;
|
|
eqnNo += 1;
|
|
}
|
|
//auto lastEqnNo = eqnNo - 1;
|
|
nEqns = eqnNo; //C++ uses index 0.
|
|
n = nEqns;
|
|
}
|
|
|
|
void AccNewtonRaphson::fillPyPx()
|
|
{
|
|
pypx->zeroSelf();
|
|
system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) {
|
|
item->fillAccICIterJacob(pypx);
|
|
});
|
|
}
|
|
|
|
void AccNewtonRaphson::fillY()
|
|
{
|
|
y->zeroSelf();
|
|
system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) {
|
|
item->fillAccICIterError(y);
|
|
//std::cout << item->name << *y << std::endl;
|
|
});
|
|
//std::cout << "Final" << *y << std::endl;
|
|
}
|
|
|
|
void AccNewtonRaphson::incrementIterNo()
|
|
{
|
|
iterNo++;
|
|
if (iterNo > iterMax)
|
|
{
|
|
std::stringstream ss;
|
|
ss << "MbD: No convergence after " << iterNo << " iterations.";
|
|
auto str = ss.str();
|
|
system->logString(str);
|
|
ss.str("");
|
|
ss << "A force function of joint reactions can cause this problem";
|
|
str = ss.str();
|
|
system->logString(str);
|
|
ss.str("");
|
|
ss << "if the function returns large values.";
|
|
str = ss.str();
|
|
system->logString(str);
|
|
|
|
throw SimulationStoppingError("iterNo > iterMax");
|
|
}
|
|
}
|
|
|
|
void AccNewtonRaphson::initializeGlobally()
|
|
{
|
|
SystemNewtonRaphson::initializeGlobally();
|
|
system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->fillqsuddotlam(x); });
|
|
}
|
|
|
|
void AccNewtonRaphson::logSingularMatrixMessage()
|
|
{
|
|
std::string str = "MbD: Some parts with zero masses or moment of inertias have infinite accelerations.";
|
|
system->logString(str);
|
|
str = "Add masses and inertias to or properly constrain those parts.";
|
|
system->logString(str);
|
|
}
|
|
|
|
void AccNewtonRaphson::passRootToSystem()
|
|
{
|
|
system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->setqsuddotlam(x); });
|
|
}
|
|
|
|
void AccNewtonRaphson::postRun()
|
|
{
|
|
system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->postAccIC(); });
|
|
}
|
|
|
|
void AccNewtonRaphson::preRun()
|
|
{
|
|
system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->preAccIC(); });
|
|
}
|
|
|
|
void MbD::AccNewtonRaphson::handleSingularMatrix()
|
|
{
|
|
auto& r = *matrixSolver;
|
|
std::string str = typeid(r).name();
|
|
if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
|
|
matrixSolver = CREATE<GESpMatParPvPrecise>::With();
|
|
this->solveEquations();
|
|
} else {
|
|
str = typeid(r).name();
|
|
if (str.find("GESpMatParPvPrecise") != std::string::npos) {
|
|
this->logSingularMatrixMessage();
|
|
matrixSolver->throwSingularMatrixError("AccAccNewtonRaphson");
|
|
} else {
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
}
|
|
}
|