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.
66 lines
2.3 KiB
C++
66 lines
2.3 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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#include "DirectionCosineConstraintIqctJqc.h"
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#include "DirectionCosineIeqctJeqc.h"
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#include "CREATE.h"
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using namespace MbD;
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DirectionCosineConstraintIqctJqc::DirectionCosineConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
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DirectionCosineConstraintIqcJqc(frmi, frmj, axisi, axisj)
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{
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}
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void DirectionCosineConstraintIqctJqc::initaAijIeJe()
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{
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aAijIeJe = CREATE<DirectionCosineIeqctJeqc>::With(frmI, frmJ, axisI, axisJ);
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}
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ConstraintType DirectionCosineConstraintIqctJqc::type()
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{
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return essential;
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}
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std::string MbD::DirectionCosineConstraintIqctJqc::constraintSpec()
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{
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return DirectionCosineConstraintIqcJqc::constraintSpec();
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}
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void DirectionCosineConstraintIqctJqc::preVelIC()
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{
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DirectionCosineConstraintIJ::preVelIC();
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pGpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->pAijIeJept;
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}
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void DirectionCosineConstraintIqctJqc::fillVelICError(FColDsptr col)
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{
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col->atiminusNumber(iG, pGpt);
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}
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void DirectionCosineConstraintIqctJqc::preAccIC()
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{
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DirectionCosineConstraintIJ::preAccIC();
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ppGpEIpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->ppAijIeJepEIpt;
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ppGpEJpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->ppAijIeJepEJpt;
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ppGptpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->ppAijIeJeptpt;
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}
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void DirectionCosineConstraintIqctJqc::fillAccICIterError(FColDsptr col)
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{
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DirectionCosineConstraintIqcJqc::fillAccICIterError(col);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qEdotI = efrmIqc->qEdot();
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auto qEdotJ = efrmJqc->qEdot();
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double sum = (ppGpEIpt->timesFullColumn(qEdotI)) * 2.0;
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sum += (ppGpEJpt->timesFullColumn(qEdotJ)) * 2.0;
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sum += ppGptpt;
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col->atiplusNumber(iG, sum);
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}
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