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.
25 lines
827 B
C++
25 lines
827 B
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "ConstraintIJ.h"
|
|
|
|
#include <utility>
|
|
#include "EndFramec.h"
|
|
|
|
using namespace MbD;
|
|
|
|
ConstraintIJ::ConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : frmI(std::move(frmi)), frmJ(std::move(frmj))
|
|
{
|
|
}
|
|
|
|
void ConstraintIJ::initialize()
|
|
{
|
|
Constraint::initialize();
|
|
aConstant = 0.0;
|
|
}
|