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.
38 lines
1.5 KiB
C++
38 lines
1.5 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 "DistanceConstraintIJ.h"
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namespace MbD {
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class DistanceConstraintIqcJc : public DistanceConstraintIJ
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{
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//pGpXI pGpEI ppGpXIpXI ppGpXIpEI ppGpEIpEI iqXI iqEI
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public:
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DistanceConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj);
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void addToJointForceI(FColDsptr col) override;
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void addToJointTorqueI(FColDsptr col) override;
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void calcPostDynCorrectorIteration() override;
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void fillAccICIterError(FColDsptr col) override;
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void fillPosICError(FColDsptr col) override;
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void fillPosICJacob(SpMatDsptr mat) override;
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void fillPosKineJacob(SpMatDsptr mat) override;
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void fillVelICJacob(SpMatDsptr mat) override;
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void init_distIeJe() override;
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void useEquationNumbers() override;
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FRowDsptr pGpXI, pGpEI;
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FMatDsptr ppGpXIpXI, ppGpXIpEI, ppGpEIpEI;
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size_t iqXI = SIZE_MAX, iqEI = SIZE_MAX;
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};
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}
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