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.
60 lines
1.8 KiB
C++
60 lines
1.8 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 "RackPinJoint.h"
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#include "CREATE.h"
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#include "System.h"
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#include "RackPinConstraintIJ.h"
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using namespace MbD;
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MbD::RackPinJoint::RackPinJoint()
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{
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}
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MbD::RackPinJoint::RackPinJoint(const std::string& str) : Joint(str)
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{
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}
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//
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//void MbD::RackPinJoint::initializeLocally()
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//{
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// if (!constraints->empty())
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// {
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// auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
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// constraint->initxIeJeIe();
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// constraint->initthezIeJe();
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// }
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// Joint::initializeLocally();
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//}
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void MbD::RackPinJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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auto rackPinIJ = RackPinConstraintIJ::With(frmI, frmJ);
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rackPinIJ->setConstant(std::numeric_limits<double>::min());
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rackPinIJ->pitchRadius = pitchRadius;
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addConstraint(rackPinIJ);
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this->root()->hasChanged = true;
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}
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else {
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Joint::initializeGlobally();
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}
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}
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void MbD::RackPinJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe)
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{
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//"OODS J is on pinion. z axis is axis of pinion."
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//"OODS I is on rack. x axis is axis of rack. z axis is parallel to axis of pinion."
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//"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames."
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//"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct."
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frmI = frmIe->newCopyEndFrameqc();
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frmJ = frmJe->newCopyEndFrameqc();
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}
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