92ae57751f
Add a Python decomposition layer using NetworkX that partitions the constraint graph into biconnected components (rigid clusters), orders them via a block-cut tree, and solves each cluster independently. Articulation-point bodies propagate as boundary conditions between clusters. New module kindred_solver/decompose.py: - DOF table mapping BaseJointKind to residual counts - Constraint graph construction (nx.MultiGraph) - Biconnected component detection + articulation points - Block-cut tree solve ordering (root-first from grounded cluster) - Cluster-by-cluster solver with boundary body fix/unfix cycling - Pebble game integration for per-cluster rigidity classification Changes to existing modules: - params.py: add unfix() for boundary body cycling - solver.py: extract _monolithic_solve(), add decomposition branch for assemblies with >= 8 free bodies Performance: for k clusters of ~n/k params each, total cost drops from O(n^3) to O(n^3/k^2). 220 tests passing (up from 207).
Kindred Solver
Assembly constraint solver addon for Kindred Create. Implements the IKCSolver interface via kcsolve.register_solver().
Components
Kindred Solver (Phase 1)
Expression-based Newton-Raphson constraint solver. Pure Python, registered as a Create addon.
- Expression DAG with eval, symbolic differentiation, simplification:
kindred_solver/expr.py - Parameter table with fixed/free tracking:
kindred_solver/params.py - Quaternion rotation as polynomial Expr trees:
kindred_solver/quat.py - RigidBody entity (7 params: position + unit quaternion):
kindred_solver/entities.py - Constraint residual generators (Coincident, DistancePointPoint, Fixed):
kindred_solver/constraints.py - Newton-Raphson solver with symbolic Jacobian:
kindred_solver/newton.py - Pre-solve passes (substitution, single-equation):
kindred_solver/prepass.py - DOF counting via Jacobian rank:
kindred_solver/dof.py - KCSolve IKCSolver bridge:
kindred_solver/solver.py
GNN (future phases)
Graph neural network constraint prediction layer. OndselSolver C++ engine and ML training infrastructure. Moved to GNN/ — will be integrated in later phases.
Create Addon Integration
This repo is a git submodule at mods/solver/ in the Create repository. The addon loader discovers package.xml and executes Init.py, which registers the solver:
import kcsolve
from kindred_solver import KindredSolver
kcsolve.register_solver("kindred", KindredSolver)
Testing
python3 -m venv .venv && . .venv/bin/activate
pip install pytest numpy
PYTHONPATH=. pytest tests/ -v
Repository Structure
├── package.xml # Create addon manifest
├── Init.py # Solver registration entry point
├── kindred_solver/ # Phase 1: expression-based Newton solver
│ ├── expr.py # Expression DAG
│ ├── params.py # Parameter table
│ ├── quat.py # Quaternion math as Expr trees
│ ├── entities.py # RigidBody entity
│ ├── constraints.py # Constraint residual generators
│ ├── newton.py # Newton-Raphson solver
│ ├── prepass.py # Pre-solve passes
│ ├── dof.py # DOF counting
│ └── solver.py # IKCSolver bridge
├── tests/ # Unit tests (82 tests)
└── GNN/ # GNN solver layer (future phases)
License
LGPL-2.1-or-later (see LICENSE)