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.
59 lines
1.7 KiB
C++
59 lines
1.7 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 "ASMTConstantGravity.h"
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#include "ASMTAssembly.h"
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#include "Units.h"
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#include "ConstantGravity.h"
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#include "System.h"
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#include "Part.h"
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using namespace MbD;
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std::shared_ptr<ASMTConstantGravity> MbD::ASMTConstantGravity::With()
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{
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auto asmt = std::make_shared<ASMTConstantGravity>();
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asmt->initialize();
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return asmt;
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}
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void MbD::ASMTConstantGravity::parseASMT(std::vector<std::string>& lines)
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{
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g = readColumnOfDoubles(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTConstantGravity::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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auto mbdGravity = CREATE<ConstantGravity>::With();
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mbdObject = mbdGravity;
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mbdGravity->gXYZ = g->times(1.0 / mbdUnits->acceleration);
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mbdSys->addForceTorque(mbdGravity);
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}
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FColDsptr MbD::ASMTConstantGravity::getg()
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{
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return g;
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}
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void MbD::ASMTConstantGravity::setg(FColDsptr gravity)
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{
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g = gravity;
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}
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void MbD::ASMTConstantGravity::setg(double a, double b, double c)
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{
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g = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
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}
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void MbD::ASMTConstantGravity::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "ConstantGravity");
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storeOnLevelArray(os, level + 1, *g);
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}
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