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.
108 lines
3.0 KiB
C++
108 lines
3.0 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include <iostream>
|
|
|
|
#include "AnyPosICNewtonRaphson.h"
|
|
#include "SystemSolver.h"
|
|
#include "Item.h"
|
|
#include "Part.h"
|
|
#include "Constraint.h"
|
|
|
|
using namespace MbD;
|
|
|
|
void AnyPosICNewtonRaphson::initialize()
|
|
{
|
|
NewtonRaphson::initialize();
|
|
nSingularMatrixError = 0;
|
|
}
|
|
|
|
void AnyPosICNewtonRaphson::initializeGlobally()
|
|
{
|
|
SystemNewtonRaphson::initializeGlobally();
|
|
system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
|
|
item->fillqsu(qsuOld);
|
|
item->fillqsuWeights(qsuWeights);
|
|
item->fillqsulam(x);
|
|
});
|
|
}
|
|
|
|
void AnyPosICNewtonRaphson::createVectorsAndMatrices()
|
|
{
|
|
qsuOld = std::make_shared<FullColumn<double>>(nqsu);
|
|
qsuWeights = std::make_shared<DiagonalMatrix<double>>(nqsu);
|
|
SystemNewtonRaphson::createVectorsAndMatrices();
|
|
}
|
|
|
|
void AnyPosICNewtonRaphson::fillY()
|
|
{
|
|
auto newMinusOld = qsuOld->negated();
|
|
newMinusOld->equalSelfPlusFullColumnAt(x, 0);
|
|
y->zeroSelf();
|
|
y->atiminusFullColumn(0, (qsuWeights->timesFullColumn(newMinusOld)));
|
|
system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
|
|
item->fillPosICError(y);
|
|
//std::cout << item->name << *y << std::endl;
|
|
//noop();
|
|
});
|
|
//std::cout << "Final" << *y << std::endl;
|
|
}
|
|
|
|
void AnyPosICNewtonRaphson::fillPyPx()
|
|
{
|
|
pypx->zeroSelf();
|
|
pypx->atijminusDiagonalMatrix(0, 0, qsuWeights);
|
|
system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
|
|
item->fillPosICJacob(pypx);
|
|
//std::cout << *(pypx->at(3)) << std::endl;
|
|
});
|
|
//std::cout << *pypx << std::endl;
|
|
}
|
|
|
|
void AnyPosICNewtonRaphson::passRootToSystem()
|
|
{
|
|
system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->setqsulam(x); });
|
|
}
|
|
|
|
void MbD::AnyPosICNewtonRaphson::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.
|
|
nqsu = nEqns;
|
|
for (auto& con : *constraints) {
|
|
con->iG = eqnNo;
|
|
eqnNo += 1;
|
|
}
|
|
//auto lastEqnNo = eqnNo - 1;
|
|
nEqns = eqnNo; //C++ uses index 0.
|
|
n = nEqns;
|
|
}
|
|
|
|
bool MbD::AnyPosICNewtonRaphson::isConverged()
|
|
{
|
|
return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit();
|
|
}
|