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.
97 lines
2.0 KiB
C++
97 lines
2.0 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 "DistxyIecJec.h"
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using namespace MbD;
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MbD::DistxyIecJec::DistxyIecJec()
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{
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}
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MbD::DistxyIecJec::DistxyIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj)
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{
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}
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void MbD::DistxyIecJec::calcPostDynCorrectorIteration()
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{
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auto x = xIeJeIe->value();
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auto y = yIeJeIe->value();
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distxy = std::sqrt(x * x + (y * y));
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}
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void MbD::DistxyIecJec::initialize()
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{
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KinematicIeJe::initialize();
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this->init_xyIeJeIe();
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}
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void MbD::DistxyIecJec::initializeGlobally()
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{
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xIeJeIe->initializeGlobally();
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yIeJeIe->initializeGlobally();
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}
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void MbD::DistxyIecJec::initializeLocally()
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{
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xIeJeIe->initializeLocally();
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yIeJeIe->initializeLocally();
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}
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void MbD::DistxyIecJec::init_xyIeJeIe()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::DistxyIecJec::postInput()
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{
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xIeJeIe->postInput();
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yIeJeIe->postInput();
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KinematicIeJe::postInput();
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}
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void MbD::DistxyIecJec::postPosICIteration()
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{
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xIeJeIe->postPosICIteration();
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yIeJeIe->postPosICIteration();
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KinematicIeJe::postPosICIteration();
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}
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void MbD::DistxyIecJec::preAccIC()
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{
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xIeJeIe->preAccIC();
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yIeJeIe->preAccIC();
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KinematicIeJe::preAccIC();
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}
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void MbD::DistxyIecJec::prePosIC()
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{
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xIeJeIe->prePosIC();
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yIeJeIe->prePosIC();
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KinematicIeJe::prePosIC();
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}
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void MbD::DistxyIecJec::preVelIC()
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{
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xIeJeIe->preVelIC();
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yIeJeIe->preVelIC();
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KinematicIeJe::preVelIC();
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}
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void MbD::DistxyIecJec::simUpdateAll()
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{
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xIeJeIe->simUpdateAll();
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yIeJeIe->simUpdateAll();
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KinematicIeJe::simUpdateAll();
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}
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double MbD::DistxyIecJec::value()
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{
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return distxy;
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}
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