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.
65 lines
2.5 KiB
Markdown
65 lines
2.5 KiB
Markdown
# Kindred Solver
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Assembly constraint solver addon for [Kindred Create](https://git.kindred-systems.com/kindred/create). Implements the `IKCSolver` interface via `kcsolve.register_solver()`.
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## Components
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### Kindred Solver (Phase 1)
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Expression-based Newton-Raphson constraint solver. Pure Python, registered as a Create addon.
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- Expression DAG with eval, symbolic differentiation, simplification: `kindred_solver/expr.py`
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- Parameter table with fixed/free tracking: `kindred_solver/params.py`
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- Quaternion rotation as polynomial Expr trees: `kindred_solver/quat.py`
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- RigidBody entity (7 params: position + unit quaternion): `kindred_solver/entities.py`
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- Constraint residual generators (Coincident, DistancePointPoint, Fixed): `kindred_solver/constraints.py`
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- Newton-Raphson solver with symbolic Jacobian: `kindred_solver/newton.py`
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- Pre-solve passes (substitution, single-equation): `kindred_solver/prepass.py`
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- DOF counting via Jacobian rank: `kindred_solver/dof.py`
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- KCSolve IKCSolver bridge: `kindred_solver/solver.py`
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### GNN (future phases)
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Graph neural network constraint prediction layer. OndselSolver C++ engine and ML training infrastructure. Moved to `GNN/` — will be integrated in later phases.
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## Create Addon Integration
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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:
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```python
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import kcsolve
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from kindred_solver import KindredSolver
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kcsolve.register_solver("kindred", KindredSolver)
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```
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## Testing
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```bash
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python3 -m venv .venv && . .venv/bin/activate
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pip install pytest numpy
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PYTHONPATH=. pytest tests/ -v
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```
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## Repository Structure
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```
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├── package.xml # Create addon manifest
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├── Init.py # Solver registration entry point
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├── kindred_solver/ # Phase 1: expression-based Newton solver
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│ ├── expr.py # Expression DAG
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│ ├── params.py # Parameter table
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│ ├── quat.py # Quaternion math as Expr trees
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│ ├── entities.py # RigidBody entity
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│ ├── constraints.py # Constraint residual generators
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│ ├── newton.py # Newton-Raphson solver
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│ ├── prepass.py # Pre-solve passes
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│ ├── dof.py # DOF counting
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│ └── solver.py # IKCSolver bridge
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├── tests/ # Unit tests (82 tests)
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└── GNN/ # GNN solver layer (future phases)
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```
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## License
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LGPL-2.1-or-later (see [LICENSE](LICENSE))
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