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.
64 lines
2.2 KiB
C++
64 lines
2.2 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 "EndFrameqc.h"
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//#include "Symbolic.h"
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namespace MbD {
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class Time;
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class Symbolic;
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class EndFrameqct : public EndFrameqc
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{
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//time rmemBlks prmemptBlks pprmemptptBlks phiThePsiBlks pPhiThePsiptBlks ppPhiThePsiptptBlks
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//rmem prmempt pprmemptpt aAme pAmept ppAmeptpt prOeOpt pprOeOpEpt pprOeOptpt pAOept ppAOepEpt ppAOeptpt
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public:
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EndFrameqct();
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EndFrameqct(const std::string& str);
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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 initprmemptBlks();
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void initpprmemptptBlks();
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virtual void initpPhiThePsiptBlks();
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virtual void initppPhiThePsiptptBlks();
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void postInput() override;
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void calcPostDynCorrectorIteration() override;
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void prePosIC() override;
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void evalrmem();
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virtual void evalAme();
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void preVelIC() override;
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void postVelIC() override;
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FColDsptr pAjOept(size_t j);
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FMatDsptr ppAjOepETpt(size_t j);
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FColDsptr ppAjOeptpt(size_t j);
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double time = 0.0;
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double priOeOpt(size_t i);
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FRowDsptr ppriOeOpEpt(size_t i);
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double ppriOeOptpt(size_t i);
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void evalprmempt();
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virtual void evalpAmept();
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void evalpprmemptpt();
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virtual void evalppAmeptpt();
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FColDsptr rmeO() override;
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FColDsptr rpep() override;
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void preAccIC() override;
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bool isEndFrameqc() override;
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std::shared_ptr<FullColumn<Symsptr>> rmemBlks, prmemptBlks, pprmemptptBlks;
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std::shared_ptr<FullColumn<Symsptr>> phiThePsiBlks, pPhiThePsiptBlks, ppPhiThePsiptptBlks;
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FColDsptr rmem, prmempt, pprmemptpt, prOeOpt, pprOeOptpt;
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FMatDsptr aAme, pAmept, ppAmeptpt, pAOept, ppAOeptpt;
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FMatDsptr pprOeOpEpt;
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FColFMatDsptr ppAOepEpt;
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};
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}
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