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.
96 lines
3.2 KiB
C++
96 lines
3.2 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "AtPointConstraintIqcJqc.h"
|
|
#include "DispCompIeqcJeqcO.h"
|
|
#include "CREATE.h"
|
|
#include "EndFrameqc.h"
|
|
|
|
using namespace MbD;
|
|
|
|
AtPointConstraintIqcJqc::AtPointConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi) :
|
|
AtPointConstraintIqcJc(frmi, frmj, axisi)
|
|
{
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::initializeGlobally()
|
|
{
|
|
AtPointConstraintIqcJc::initializeGlobally();
|
|
ppGpEJpEJ = (std::static_pointer_cast<DispCompIeqcJeqcO>(riIeJeO))->ppriIeJeOpEJpEJ;
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::initriIeJeO()
|
|
{
|
|
riIeJeO = CREATE<DispCompIeqcJeqcO>::With(frmI, frmJ, axis);
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::calcPostDynCorrectorIteration()
|
|
{
|
|
AtPointConstraintIqcJc::calcPostDynCorrectorIteration();
|
|
pGpEJ = std::static_pointer_cast<DispCompIeqcJeqcO>(riIeJeO)->priIeJeOpEJ;
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::useEquationNumbers()
|
|
{
|
|
AtPointConstraintIqcJc::useEquationNumbers();
|
|
auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
|
|
iqXJminusOnePlusAxis = frmJeqc->iqX() + axis;
|
|
iqEJ = frmJeqc->iqE();
|
|
}
|
|
|
|
std::string MbD::AtPointConstraintIqcJqc::constraintSpec()
|
|
{
|
|
return "AtPointConstraintIJ" + MbDMath::XYZFromInt(axis);
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::fillPosICError(FColDsptr col)
|
|
{
|
|
AtPointConstraintIqcJc::fillPosICError(col);
|
|
col->atiplusNumber(iqXJminusOnePlusAxis, lam);
|
|
col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
|
|
{
|
|
AtPointConstraintIqcJc::fillPosICJacob(mat);
|
|
mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
|
|
mat->atijplusNumber(iqXJminusOnePlusAxis, iG, 1.0);
|
|
mat->atijplusFullRow(iG, iqEJ, pGpEJ);
|
|
mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
|
|
mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam);
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
|
|
{
|
|
AtPointConstraintIqcJc::fillPosKineJacob(mat);
|
|
mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
|
|
mat->atijplusFullRow(iG, iqEJ, pGpEJ);
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
|
|
{
|
|
AtPointConstraintIqcJc::fillVelICJacob(mat);
|
|
mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
|
|
mat->atijplusNumber(iqXJminusOnePlusAxis, iG, 1.0);
|
|
mat->atijplusFullRow(iG, iqEJ, pGpEJ);
|
|
mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
|
|
}
|
|
|
|
void AtPointConstraintIqcJqc::fillAccICIterError(FColDsptr col)
|
|
{
|
|
AtPointConstraintIqcJc::fillAccICIterError(col);
|
|
col->atiplusNumber(iqXJminusOnePlusAxis, lam);
|
|
col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
|
|
auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
|
|
auto qEdotJ = efrmJqc->qEdot();
|
|
auto sum = efrmJqc->qXddot()->at(axis);
|
|
sum += pGpEJ->timesFullColumn(efrmJqc->qEddot());
|
|
sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ));
|
|
col->atiplusNumber(iG, sum);
|
|
}
|