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.
86 lines
2.4 KiB
C++
86 lines
2.4 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 <string>
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#include "IntegratorInterface.h"
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#include "SystemSolver.h"
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#include "BasicQuasiIntegrator.h"
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#include "SimulationStoppingError.h"
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using namespace MbD;
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void IntegratorInterface::initializeGlobally()
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{
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tstart = system->startTime();
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hout = system->outputStepSize();
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hmax = system->maxStepSize();
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hmin = system->minStepSize();
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tout = system->firstOutputTime();
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tend = system->endTime();
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direction = (tstart < tend) ? 1.0 : -1.0;
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}
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void IntegratorInterface::setSystem(Solver* sys)
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{
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system = static_cast<SystemSolver*>(sys);
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}
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void IntegratorInterface::logString(const std::string& str)
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{
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system->logString(str);
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}
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void IntegratorInterface::run()
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{
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this->preRun();
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this->initializeLocally();
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this->initializeGlobally();
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if (hout > (4 * std::numeric_limits<double>::epsilon()) && (direction * tout < (direction * (tend + (0.1 * direction * hout))))) {
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integrator->run();
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}
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this->finalize();
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this->reportStats();
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this->postRun();
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}
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size_t IntegratorInterface::orderMax()
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{
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return system->orderMax;
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}
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void IntegratorInterface::incrementTime(double tnew)
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{
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system->settime(tnew);
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}
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void IntegratorInterface::postFirstStep()
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{
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throw SimulationStoppingError("To be implemented."); //Not used.
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//system->postFirstStep();
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//if (integrator->istep > 0) {
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// //"Noise make checking at the start unreliable."
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// this->checkForDiscontinuity();
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//}
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//this->checkForOutputThrough(integrator->t);
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}
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void IntegratorInterface::interpolateAt(double)
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{
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//"Interpolate for system state at tArg and leave system in that state."
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throw SimulationStoppingError("To be implemented.");
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//auto yout = integrator->yDerivat(0, tArg);
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//auto ydotout = integrator->yDerivat(1, tArg);
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//auto yddotout = integrator->yDerivat(2, tArg);
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//system->time(tArg);
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//system->y(yout);
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//system->ydot(ydotout);
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//system->yddot(yddotout);
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//system->simUpdateAll();
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}
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