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.
49 lines
1.4 KiB
C++
49 lines
1.4 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 "DispCompIeqcJecO.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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DispCompIeqcJecO::DispCompIeqcJecO()
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{
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}
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DispCompIeqcJecO::DispCompIeqcJecO(EndFrmsptr frmi, EndFrmsptr frmj, size_t axis) : DispCompIecJecO(frmi, frmj, axis)
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{
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}
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void DispCompIeqcJecO::initializeGlobally()
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{
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priIeJeOpXI = std::make_shared<FullRow<double>>(3, 0.0);
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priIeJeOpXI->at(axis) = -1.0;
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ppriIeJeOpEIpEI = std::static_pointer_cast<EndFrameqc>(frmI)->ppriOeOpEpE(axis)->negated();
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}
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FMatDsptr MbD::DispCompIeqcJecO::ppvaluepEIpEI()
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{
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return ppriIeJeOpEIpEI;
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}
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FRowDsptr MbD::DispCompIeqcJecO::pvaluepEI()
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{
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return priIeJeOpEI;
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}
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FRowDsptr MbD::DispCompIeqcJecO::pvaluepXI()
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{
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return priIeJeOpXI;
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}
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void DispCompIeqcJecO::calcPostDynCorrectorIteration()
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{
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DispCompIecJecO::calcPostDynCorrectorIteration();
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priIeJeOpEI = std::static_pointer_cast<EndFrameqc>(frmI)->priOeOpE(axis)->negated();
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}
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