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.
167 lines
6.6 KiB
C++
167 lines
6.6 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
#include "FullColumn.h"
|
|
#include "FullRow.h"
|
|
#include "FullMatrix.h"
|
|
#include "DiagonalMatrix.h"
|
|
#include "SparseMatrix.h"
|
|
#include "enum.h"
|
|
|
|
namespace MbD {
|
|
class System;
|
|
class Constraint;
|
|
class StateData;
|
|
|
|
class Item : public std::enable_shared_from_this<Item>
|
|
{
|
|
//name
|
|
public:
|
|
Item();
|
|
Item(const std::string& str);
|
|
virtual ~Item() {}
|
|
virtual System* root();
|
|
void noop();
|
|
|
|
virtual void calcPostDynCorrectorIteration();
|
|
virtual void checkForCollisionDiscontinuityBetweenand(double impulsePrevious, double impulse);
|
|
virtual double checkForDynDiscontinuityBetweenand(double tprev, double t);
|
|
virtual std::string classname();
|
|
virtual void constraintsReport();
|
|
virtual void discontinuityAtaddTypeTo(double t, std::shared_ptr<std::vector<DiscontinuityType>> disconTypes);
|
|
virtual void discontinuityAtICAddTo(std::shared_ptr<std::vector<DiscontinuityType>> disconTypes);
|
|
virtual void fillAccICIterError(FColDsptr col);
|
|
virtual void fillAccICIterJacob(SpMatDsptr mat);
|
|
virtual void fillCollisionDerivativeICError(FColDsptr col);
|
|
virtual void fillCollisionDerivativeICJacob(SpMatDsptr mat);
|
|
virtual void fillCollisionError(FColDsptr col);
|
|
virtual void fillCollisionpFpy(SpMatDsptr mat);
|
|
virtual void fillCollisionpFpydot(SpMatDsptr mat);
|
|
virtual void fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints);
|
|
virtual void fillDispConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints);
|
|
virtual void fillDynError(FColDsptr col);
|
|
virtual void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints);
|
|
virtual void fillPerpenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints);
|
|
virtual void fillpFpy(SpMatDsptr mat);
|
|
virtual void fillpFpydot(SpMatDsptr mat);
|
|
virtual void fillPosICError(FColDsptr col);
|
|
virtual void fillPosICJacob(FMatDsptr mat);
|
|
virtual void fillPosICJacob(SpMatDsptr mat);
|
|
virtual void fillPosKineError(FColDsptr col);
|
|
virtual void fillPosKineJacob(SpMatDsptr mat);
|
|
virtual void fillpqsumu(FColDsptr col);
|
|
virtual void fillpqsumudot(FColDsptr col);
|
|
virtual void fillqsu(FColDsptr col);
|
|
virtual void fillqsuddotlam(FColDsptr col);
|
|
virtual void fillqsudot(FColDsptr col);
|
|
virtual void fillqsudotPlam(FColDsptr col);
|
|
virtual void fillqsudotPlamDeriv(FColDsptr col);
|
|
virtual void fillqsudotWeights(DiagMatDsptr diagMat);
|
|
virtual void fillqsulam(FColDsptr col);
|
|
virtual void fillqsuWeights(DiagMatDsptr diagMat);
|
|
virtual void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints);
|
|
virtual void fillStaticError(FColDsptr col);
|
|
virtual void fillStaticJacob(FMatDsptr mat);
|
|
virtual void fillVelICError(FColDsptr col);
|
|
virtual void fillVelICJacob(SpMatDsptr mat);
|
|
virtual void initialize();
|
|
virtual void initializeGlobally();
|
|
virtual void initializeLocally();
|
|
virtual bool isJointForce();
|
|
virtual bool isJointTorque();
|
|
virtual bool isKinedotIJ();
|
|
virtual bool isKineIJ();
|
|
virtual void logString(const std::string& str);
|
|
virtual void logStringwithArgument(const std::string& chars, const std::string& chars1);
|
|
virtual void logStringwithArguments(const std::string& chars, std::shared_ptr<std::vector<std::string>> arrayOfChars);
|
|
virtual void normalImpulse(double imp);
|
|
virtual void postAccIC();
|
|
virtual void postAccICIteration();
|
|
virtual void postCollisionCorrector();
|
|
virtual void postCollisionCorrectorIteration();
|
|
virtual void postCollisionDerivativeIC();
|
|
virtual void postCollisionPredictor();
|
|
virtual void postCollisionStep();
|
|
virtual void postDyn();
|
|
virtual void postDynCorrector();
|
|
virtual void postDynCorrectorIteration();
|
|
virtual void postDynFirstStep();
|
|
virtual void postDynOutput();
|
|
virtual void postDynPredictor();
|
|
virtual void postDynStep();
|
|
virtual void postInput();
|
|
virtual void postPosIC();
|
|
virtual void postPosICIteration();
|
|
virtual void postStatic();
|
|
virtual void postStaticIteration();
|
|
virtual void postVelIC();
|
|
virtual void preAccIC();
|
|
virtual void preCollision();
|
|
virtual void preCollisionCorrector();
|
|
virtual void preCollisionCorrectorIteration();
|
|
virtual void preCollisionDerivativeIC();
|
|
virtual void preCollisionPredictor();
|
|
virtual void preCollisionStep();
|
|
virtual void preDyn();
|
|
virtual void preDynCorrector();
|
|
virtual void preDynCorrectorIteration();
|
|
virtual void preDynFirstStep();
|
|
virtual void preDynOutput();
|
|
virtual void preDynPredictor();
|
|
virtual void preDynStep();
|
|
virtual void preICRestart();
|
|
virtual void prePosIC();
|
|
virtual void prePosKine();
|
|
virtual void preStatic();
|
|
virtual void preVelIC();
|
|
virtual void reactivateRedundantConstraints();
|
|
virtual void registerName();
|
|
virtual void removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos);
|
|
virtual void setpqsumu(FColDsptr col);
|
|
virtual void setpqsumuddot(FColDsptr col);
|
|
virtual void setpqsumudot(FColDsptr col);
|
|
virtual void setqsu(FColDsptr qsuOld);
|
|
virtual void setqsuddotlam(FColDsptr col);
|
|
virtual void setqsudot(FColDsptr col);
|
|
virtual void setqsudotlam(FColDsptr col);
|
|
virtual void setqsudotPlam(FColDsptr col);
|
|
virtual void setqsudotPlamDeriv(FColDsptr col);
|
|
virtual void setqsulam(FColDsptr col);
|
|
virtual void simUpdateAll();
|
|
virtual std::shared_ptr<StateData> stateData();
|
|
virtual void storeCollisionState();
|
|
virtual void storeDynState();
|
|
virtual double suggestSmallerOrAcceptCollisionFirstStepSize(double hnew);
|
|
virtual double suggestSmallerOrAcceptCollisionStepSize(double hnew);
|
|
virtual double suggestSmallerOrAcceptDynFirstStepSize(double hnew);
|
|
virtual double suggestSmallerOrAcceptDynStepSize(double hnew);
|
|
virtual void useEquationNumbers();
|
|
|
|
virtual std::ostream& printOn(std::ostream& s) const;
|
|
friend std::ostream& operator<<(std::ostream& s, const Item& item)
|
|
{
|
|
// the following if cannot be false
|
|
// if (&item) {
|
|
return item.printOn(s);
|
|
// }
|
|
// else {
|
|
// s << "NULL";
|
|
// }
|
|
//return s;
|
|
}
|
|
|
|
std::string name;
|
|
Item* owner = nullptr; //Use raw pointer when pointing backwards.
|
|
};
|
|
}
|
|
|