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.
89 lines
2.6 KiB
C++
89 lines
2.6 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 "DirectionCosineIeqctJeqc.h"
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#include "EndFrameqc.h"
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#include "EndFrameqct.h"
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using namespace MbD;
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DirectionCosineIeqctJeqc::DirectionCosineIeqctJeqc()
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{
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}
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DirectionCosineIeqctJeqc::DirectionCosineIeqctJeqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
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DirectionCosineIeqcJeqc(frmi, frmj, axisi, axisj)
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{
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}
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void DirectionCosineIeqctJeqc::initialize()
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{
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DirectionCosineIeqcJeqc::initialize();
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ppAijIeJepEIpt = std::make_shared<FullRow<double>>(4);
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ppAijIeJepEJpt = std::make_shared<FullRow<double>>(4);
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}
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void DirectionCosineIeqctJeqc::initializeGlobally()
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{
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ppAjOJepEJpEJ = std::static_pointer_cast<EndFrameqc>(frmJ)->ppAjOepEpE(axisJ);
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}
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FRowDsptr MbD::DirectionCosineIeqctJeqc::ppvaluepEIpt()
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{
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return ppAijIeJepEIpt;
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}
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FRowDsptr MbD::DirectionCosineIeqctJeqc::ppvaluepEJpt()
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{
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return ppAijIeJepEJpt;
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}
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double MbD::DirectionCosineIeqctJeqc::ppvalueptpt()
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{
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return ppAijIeJeptpt;
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}
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void DirectionCosineIeqctJeqc::calcPostDynCorrectorIteration()
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{
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//"ppAjOIepEIpEI is not longer constant and must be set before any calculation."
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ppAjOIepEIpEI = std::static_pointer_cast<EndFrameqc>(frmI)->ppAjOepEpE(axisI);
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DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration();
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}
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void DirectionCosineIeqctJeqc::preVelIC()
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{
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Item::preVelIC();
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auto pAjOIept = std::static_pointer_cast<EndFrameqct>(frmI)->pAjOept(axisI);
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pAijIeJept = pAjOIept->dot(aAjOJe);
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}
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double DirectionCosineIeqctJeqc::pvaluept()
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{
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return pAijIeJept;
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}
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void DirectionCosineIeqctJeqc::preAccIC()
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{
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//| ppAjOIepEITpt ppAjOIeptpt ppAjOIepEITpti pAjOIept |
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Item::preAccIC();
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auto pAjOIept = std::static_pointer_cast<EndFrameqct>(frmI)->pAjOept(axisI);
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auto ppAjOIepEITpt = std::static_pointer_cast<EndFrameqct>(frmI)->ppAjOepETpt(axisI);
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auto ppAjOIeptpt = std::static_pointer_cast<EndFrameqct>(frmI)->ppAjOeptpt(axisI);
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for (size_t i = 0; i < 4; i++)
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{
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auto& ppAjOIepEITpti = ppAjOIepEITpt->at(i);
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ppAijIeJepEIpt->atiput(i, ppAjOIepEITpti->dot(aAjOJe));
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}
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for (size_t i = 0; i < 4; i++)
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{
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ppAijIeJepEJpt->atiput(i, pAjOIept->dot(pAjOJepEJT->at(i)));
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}
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ppAijIeJeptpt = ppAjOIeptpt->dot(aAjOJe);
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}
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