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.
73 lines
2.4 KiB
C++
73 lines
2.4 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 "TranslationConstraintIqctJqc.h"
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#include "DispCompIeqctJeqcKeqct.h"
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#include "CREATE.h"
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using namespace MbD;
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TranslationConstraintIqctJqc::TranslationConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi) :
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TranslationConstraintIqcJqc(frmi, frmj, axisi)
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{
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}
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void TranslationConstraintIqctJqc::initriIeJeIe()
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{
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riIeJeIe = CREATE<DispCompIeqctJeqcKeqct>::With(frmI, frmJ, frmI, axisI);
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}
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ConstraintType TranslationConstraintIqctJqc::type()
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{
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return essential;
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}
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std::string MbD::TranslationConstraintIqctJqc::constraintSpec()
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{
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return TranslationConstraintIqcJqc::constraintSpec();
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}
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void TranslationConstraintIqctJqc::preVelIC()
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{
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TranslationConstraintIJ::preVelIC();
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pGpt = std::static_pointer_cast<DispCompIeqctJeqcKeqct>(riIeJeIe)->pvaluept();
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}
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void TranslationConstraintIqctJqc::fillVelICError(FColDsptr col)
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{
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col->atiminusNumber(iG, pGpt);
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}
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void TranslationConstraintIqctJqc::preAccIC()
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{
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TranslationConstraintIJ::preAccIC();
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auto riIeJeIeqct = std::static_pointer_cast<DispCompIeqctJeqcKeqct>(riIeJeIe);
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ppGpXIpt = riIeJeIeqct->ppvaluepXIpt();
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ppGpEIpt = riIeJeIeqct->ppvaluepEIpt()->plusFullRow(riIeJeIeqct->ppvaluepEKpt());
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ppGpXJpt = riIeJeIeqct->ppvaluepXJpt();
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ppGpEJpt = riIeJeIeqct->ppvaluepEJpt();
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ppGptpt = riIeJeIeqct->ppvalueptpt();
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}
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void TranslationConstraintIqctJqc::fillAccICIterError(FColDsptr col)
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{
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TranslationConstraintIqcJqc::fillAccICIterError(col);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qXdotI = efrmIqc->qXdot();
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auto qEdotI = efrmIqc->qEdot();
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auto qXdotJ = efrmJqc->qXdot();
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auto qEdotJ = efrmJqc->qEdot();
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double sum = 2.0 * ppGpXIpt->timesFullColumn(qXdotI);
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sum += 2.0 * ppGpEIpt->timesFullColumn(qEdotI);
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sum += 2.0 * ppGpXJpt->timesFullColumn(qXdotJ);
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sum += 2.0 * ppGpEJpt->timesFullColumn(qEdotJ);
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sum += ppGptpt;
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col->atiplusNumber(iG, sum);
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}
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