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.
62 lines
1.8 KiB
C++
62 lines
1.8 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 "DispCompIeqctJeqcO.h"
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#include "EndFrameqct.h"
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using namespace MbD;
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DispCompIeqctJeqcO::DispCompIeqctJeqcO()
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{
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}
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DispCompIeqctJeqcO::DispCompIeqctJeqcO(EndFrmsptr frmi, EndFrmsptr frmj, size_t axis) : DispCompIeqcJeqcO(frmi, frmj, axis)
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{
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}
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void DispCompIeqctJeqcO::initializeGlobally()
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{
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//ToDo: Check why not using super classes.
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ppriIeJeOpEJpEJ = std::static_pointer_cast<EndFrameqct>(frmJ)->ppriOeOpEpE(axis);
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}
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FRowDsptr MbD::DispCompIeqctJeqcO::ppvaluepEIpt()
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{
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return ppriIeJeOpEIpt;
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}
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double MbD::DispCompIeqctJeqcO::ppvalueptpt()
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{
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return ppriIeJeOptpt;
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}
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void DispCompIeqctJeqcO::calcPostDynCorrectorIteration()
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{
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//"ppriIeJeOpEIpEI is not a constant now."
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DispCompIeqcJeqcO::calcPostDynCorrectorIteration();
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ppriIeJeOpEIpEI = std::static_pointer_cast<EndFrameqct>(frmI)->ppriOeOpEpE(axis)->negated();
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}
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void DispCompIeqctJeqcO::preVelIC()
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{
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Item::preVelIC();
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priIeJeOpt = -(std::static_pointer_cast<EndFrameqct>(frmI)->priOeOpt(axis));
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}
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double DispCompIeqctJeqcO::pvaluept()
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{
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return priIeJeOpt;
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}
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void DispCompIeqctJeqcO::preAccIC()
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{
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Item::preAccIC();
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ppriIeJeOpEIpt = (std::static_pointer_cast<EndFrameqct>(frmI)->ppriOeOpEpt(axis))->negated();
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ppriIeJeOptpt = -(std::static_pointer_cast<EndFrameqct>(frmI)->ppriOeOptpt(axis));
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}
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