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
1.3 KiB
C++
49 lines
1.3 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "GearJoint.h"
|
|
#include "CREATE.h"
|
|
#include "GearConstraintIJ.h"
|
|
#include "System.h"
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::GearJoint::GearJoint()
|
|
{
|
|
}
|
|
|
|
MbD::GearJoint::GearJoint(const std::string& str) : Joint(str)
|
|
{
|
|
}
|
|
//
|
|
//void MbD::GearJoint::initializeLocally()
|
|
//{
|
|
// if (!constraints->empty())
|
|
// {
|
|
// auto constraint = std::static_pointer_cast<GearConstraintIJ>(constraints->back());
|
|
// constraint->initorbitsIJ();
|
|
// }
|
|
// Joint::initializeLocally();
|
|
//}
|
|
|
|
void MbD::GearJoint::initializeGlobally()
|
|
{
|
|
if (constraints->empty())
|
|
{
|
|
auto gearIJ = GearConstraintIJ::With(frmI, frmJ);
|
|
gearIJ->radiusI = radiusI;
|
|
gearIJ->radiusJ = radiusJ;
|
|
gearIJ->setConstant(std::numeric_limits<double>::min());
|
|
addConstraint(gearIJ);
|
|
this->root()->hasChanged = true;
|
|
}
|
|
else {
|
|
Joint::initializeGlobally();
|
|
}
|
|
}
|