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.
121 lines
4.3 KiB
C++
121 lines
4.3 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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#pragma once
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#include <memory>
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#include <vector>
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#include <functional>
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#include <set>
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#include "Solver.h"
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#include "System.h"
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#include "IntegratorInterface.h"
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//#include "Constraint.h"
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//#include "NewtonRaphson.h"
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//#include "QuasiIntegrator.h"
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namespace MbD {
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class System;
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class Constraint;
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class Solver;
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class QuasiIntegrator;
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class Limit;
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class SystemSolver : public Solver
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{
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//system parts jointsMotions forcesTorques sensors variables icTypeSolver setsOfRedundantConstraints errorTolPosKine errorTolAccKine
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//iterMaxPosKine iterMaxAccKine basicIntegrator tstartPasts tstart hmin hmax tend toutFirst hout direction corAbsTol corRelTol
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//intAbsTol intRelTol iterMaxDyn orderMax translationLimit rotationLimit
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public:
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SystemSolver(System* x) : system(x) {
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initialize();
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}
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void setSystem(Solver* sys) override;
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void initialize() override;
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void initializeLocally() override;
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void initializeGlobally() override;
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void runAllIC();
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void runPosIC();
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void runVelIC();
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void runAccIC();
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bool needToRedoPosIC();
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void preCollision();
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void runCollisionDerivativeIC();
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void runBasicCollision();
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void runBasicKinematic();
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void runPreDrag();
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void runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
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void runQuasiKinematic();
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void runPosKine();
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void runVelKine();
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void runAccKine();
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void runPosICDrag(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
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void runPosICDragLimit();
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void runPosICKine();
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void runVelICKine();
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void runAccICKine();
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void logString(const std::string& str) override;
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std::shared_ptr<std::vector<std::shared_ptr<Part>>> parts();
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std::shared_ptr<std::vector<std::shared_ptr<LimitIJ>>> limits();
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//std::shared_ptr<std::vector<ContactEndFrame>> contactEndFrames();
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//std::shared_ptr<std::vector<UHolder>> uHolders();
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essentialConstraints();
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> displacementConstraints();
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpendicularConstraints();
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allRedundantConstraints();
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints();
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virtual void postNewtonRaphson();
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void partsJointsMotionsDo(const std::function <void(std::shared_ptr<Item>)>& f);
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void partsJointsMotionsForcesTorquesDo(const std::function <void(std::shared_ptr<Item>)>& f);
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void partsJointsMotionsLimitsDo(const std::function <void(std::shared_ptr<Item>)>& f);
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void partsJointsMotionsLimitsForcesTorquesDo(const std::function <void(std::shared_ptr<Item>)>& f);
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void discontinuityBlock();
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double startTime();
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double outputStepSize();
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double maxStepSize();
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double minStepSize();
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double firstOutputTime();
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double endTime();
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void settime(double tnew);
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System* system; //Use raw pointer when pointing backwards.
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std::shared_ptr<Solver> icTypeSolver;
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std::shared_ptr<std::vector<std::shared_ptr<std::set<std::string>>>> setsOfRedundantConstraints;
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void tstartPastsAddFirst(double t);
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void output();
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void time(double t);
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bool limitsSatisfied();
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void deactivateLimits();
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double errorTolPosKine = 1.0e-6;
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double errorTolAccKine = 1.0e-6;
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size_t iterMaxPosKine = 25;
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size_t iterMaxAccKine = 25;
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std::shared_ptr <IntegratorInterface> basicIntegrator;
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std::shared_ptr<std::vector<double>> tstartPasts;
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double tstart = 0.0;
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double tend = 25;
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double toutFirst = 0.0;
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double hmin = 1.0e-9;
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double hmax = 1.0;
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double hout = 1.0e-1;
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double direction = 1;
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double corAbsTol = 0.0;
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double corRelTol = 0.0;
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double intAbsTol = 0.0;
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double intRelTol = 0.0;
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size_t iterMaxDyn = 0;
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size_t orderMax = 0;
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double translationLimit = 0.0;
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double rotationLimit = 0.0;
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};
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}
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