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.
45 lines
1.4 KiB
C++
45 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 "PosICDragNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "Part.h"
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#include "Constraint.h"
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using namespace MbD;
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std::shared_ptr<PosICDragNewtonRaphson> MbD::PosICDragNewtonRaphson::With()
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{
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auto newtonRaphson = std::make_shared<PosICDragNewtonRaphson>();
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newtonRaphson->initialize();
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return newtonRaphson;
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}
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void MbD::PosICDragNewtonRaphson::initializeGlobally()
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{
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AnyPosICNewtonRaphson::initializeGlobally();
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iterMax = system->iterMaxPosKine;
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dxTol = system->errorTolPosKine;
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for (size_t i = 0; i < qsuWeights->size(); i++)
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{
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qsuWeights->at(i) = 1.0e3; //minimum weight
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}
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for (auto& part : *dragParts) {
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auto iqX = part->iqX();
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for (size_t i = 0; i < 3; i++)
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{
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qsuWeights->at((size_t)iqX + i) = 1.0e6; //maximum weight
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}
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}
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}
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void MbD::PosICDragNewtonRaphson::setdragParts(std::shared_ptr<std::vector<std::shared_ptr<Part>>> _dragParts)
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{
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dragParts = _dragParts;
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}
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