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.
94 lines
2.3 KiB
C++
94 lines
2.3 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "TranslationConstraintIJ.h"
|
|
#include "CREATE.h"
|
|
|
|
using namespace MbD;
|
|
|
|
TranslationConstraintIJ::TranslationConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi) :
|
|
ConstraintIJ(frmi, frmj), axisI(axisi)
|
|
{
|
|
}
|
|
|
|
std::shared_ptr<TranslationConstraintIJ> MbD::TranslationConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi)
|
|
{
|
|
assert(frmi->isEndFrameqc());
|
|
assert(frmj->isEndFrameqc());
|
|
auto tranConIJ = std::make_shared<TranslationConstraintIqcJqc>(frmi, frmj, axisi);
|
|
tranConIJ->initialize();
|
|
return tranConIJ;
|
|
}
|
|
|
|
void TranslationConstraintIJ::initialize()
|
|
{
|
|
ConstraintIJ::initialize();
|
|
initriIeJeIe();
|
|
}
|
|
|
|
void TranslationConstraintIJ::initializeLocally()
|
|
{
|
|
riIeJeIe->initializeLocally();
|
|
}
|
|
|
|
void TranslationConstraintIJ::initializeGlobally()
|
|
{
|
|
riIeJeIe->initializeGlobally();
|
|
}
|
|
|
|
void TranslationConstraintIJ::initriIeJeIe()
|
|
{
|
|
riIeJeIe = CREATE<DispCompIecJecKec>::With(frmI, frmJ, frmI, axisI);
|
|
}
|
|
|
|
void TranslationConstraintIJ::postInput()
|
|
{
|
|
riIeJeIe->postInput();
|
|
Constraint::postInput();
|
|
}
|
|
|
|
void TranslationConstraintIJ::calcPostDynCorrectorIteration()
|
|
{
|
|
aG = riIeJeIe->value() - aConstant;
|
|
}
|
|
|
|
void TranslationConstraintIJ::prePosIC()
|
|
{
|
|
riIeJeIe->prePosIC();
|
|
Constraint::prePosIC();
|
|
}
|
|
|
|
ConstraintType TranslationConstraintIJ::type()
|
|
{
|
|
return displacement;
|
|
}
|
|
|
|
void TranslationConstraintIJ::postPosICIteration()
|
|
{
|
|
riIeJeIe->postPosICIteration();
|
|
Item::postPosICIteration();
|
|
}
|
|
|
|
void TranslationConstraintIJ::preVelIC()
|
|
{
|
|
riIeJeIe->preVelIC();
|
|
Item::preVelIC();
|
|
}
|
|
|
|
void MbD::TranslationConstraintIJ::simUpdateAll()
|
|
{
|
|
riIeJeIe->simUpdateAll();
|
|
Constraint::simUpdateAll();
|
|
}
|
|
|
|
void TranslationConstraintIJ::preAccIC()
|
|
{
|
|
riIeJeIe->preAccIC();
|
|
Constraint::preAccIC();
|
|
}
|