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.
89 lines
3.3 KiB
C++
89 lines
3.3 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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#include "DirectionCosineConstraintIqcJqc.h"
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#include "DirectionCosineIeqcJeqc.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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using namespace MbD;
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DirectionCosineConstraintIqcJqc::DirectionCosineConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
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DirectionCosineConstraintIqcJc(frmi, frmj, axisi, axisj)
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{
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}
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void DirectionCosineConstraintIqcJqc::initaAijIeJe()
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{
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aAijIeJe = CREATE<DirectionCosineIeqcJeqc>::With(frmI, frmJ, axisI, axisJ);
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}
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void DirectionCosineConstraintIqcJqc::calcPostDynCorrectorIteration()
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{
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DirectionCosineConstraintIqcJc::calcPostDynCorrectorIteration();
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auto aAijIeqJqe = std::static_pointer_cast<DirectionCosineIeqcJeqc>(aAijIeJe);
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pGpEJ = aAijIeqJqe->pAijIeJepEJ;
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ppGpEIpEJ = aAijIeqJqe->ppAijIeJepEIpEJ;
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ppGpEJpEJ = aAijIeqJqe->ppAijIeJepEJpEJ;
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}
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void DirectionCosineConstraintIqcJqc::useEquationNumbers()
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{
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DirectionCosineConstraintIqcJc::useEquationNumbers();
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iqEJ = std::static_pointer_cast<EndFrameqc>(frmJ)->iqE();
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}
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std::string MbD::DirectionCosineConstraintIqcJqc::constraintSpec()
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{
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return "DirectionCosineConstraintI" + MbDMath::xyzFromInt(axisI) + "J" + MbDMath::xyzFromInt(axisJ);
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}
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void DirectionCosineConstraintIqcJqc::fillPosICError(FColDsptr col)
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{
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DirectionCosineConstraintIqcJc::fillPosICError(col);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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}
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void DirectionCosineConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
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{
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DirectionCosineConstraintIqcJc::fillPosICJacob(mat);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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auto ppGpEIpEJlam = ppGpEIpEJ->times(lam);
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mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam);
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mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam);
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mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam);
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}
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void DirectionCosineConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
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{
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DirectionCosineConstraintIqcJc::fillPosKineJacob(mat);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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}
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void DirectionCosineConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
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{
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DirectionCosineConstraintIqcJc::fillVelICJacob(mat);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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}
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void DirectionCosineConstraintIqcJqc::fillAccICIterError(FColDsptr col)
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{
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DirectionCosineConstraintIqcJc::fillAccICIterError(col);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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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 qEdotI = efrmIqc->qEdot();
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auto qEdotJ = efrmJqc->qEdot();
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double sum = pGpEJ->timesFullColumn(efrmJqc->qEddot());
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sum += (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ))) * 2.0;
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sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ));
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col->atiplusNumber(iG, sum);
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}
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