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.
59 lines
2.0 KiB
C++
59 lines
2.0 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 <vector>
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#include "Integrator.h"
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namespace MbD {
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class IntegratorInterface;
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class DifferenceOperator;
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class BasicIntegrator : public Integrator
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{
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//istep iTry maxTry tpast t tnew h hnew order orderNew orderMax opBDF continue
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public:
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virtual void calcOperatorMatrix();
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virtual void incrementTime();
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virtual void incrementTry();
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void initialize() override;
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void initializeGlobally() override;
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void initializeLocally() override;
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void iStep(size_t i) override;
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void postFirstStep() override;
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void postStep() override;
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void postRun() override;
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void preFirstStep() override;
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void preRun() override;
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void preStep() override;
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void reportStats() override;
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void run() override;
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void selectOrder() override;
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void subsequentSteps() override;
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void setSystem(Solver* sys) override;
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void logString(const std::string& str) override;
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virtual void setorder(size_t o);
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virtual void settnew(double t);
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virtual void sett(double t);
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void settime(double t);
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double tprevious();
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IntegratorInterface* system;
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size_t istep = 0, iTry = 0, maxTry = 0;
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std::shared_ptr<std::vector<double>> tpast;
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double t = 0.0, tnew = 0.0, h = 0, hnew = 0.0;
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size_t order = 0, orderNew = 0, orderMax = 0;
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std::shared_ptr<DifferenceOperator> opBDF;
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bool _continue = false;
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};
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}
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