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.
162 lines
8.0 KiB
C++
162 lines
8.0 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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#pragma once
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#include <fstream>
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#include "ASMTSpatialContainer.h"
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//Required for initialization
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#include "ASMTConstantGravity.h"
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#include "ASMTSimulationParameters.h"
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#include "ASMTAnimationParameters.h"
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#include "ASMTTime.h"
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#include "Units.h"
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namespace MbD {
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class ASMTPart;
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class ASMTKinematicIJ;
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class ASMTConstraintSet;
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class ASMTForceTorque;
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class ASMTJoint;
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class ASMTMotion;
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class ASMTLimit;
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class SystemSolver;
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class ASMTItemIJ;
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class ExternalSystem;
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class ASMTAssembly : public ASMTSpatialContainer
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{
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//
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public:
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ASMTAssembly();
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static std::shared_ptr<ASMTAssembly> With();
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static void runSinglePendulumSuperSimplified();
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static void runSinglePendulumSuperSimplified2();
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static void runSinglePendulumSimplified();
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static void runSinglePendulum();
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static std::shared_ptr<ASMTAssembly> assemblyFromFile(const std::string& fileName);
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static void runFile(const std::string& chars);
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static void runDraggingLogTest();
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static void runDraggingLogTest2();
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static void runDraggingLogTest3();
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static void runDraggingTest();
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static void runDraggingTest2();
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static void runDraggingTest3();
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static void readWriteFile(const std::string& chars);
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void initialize() override;
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ASMTAssembly* root() override;
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void setNotes(const std::string& str);
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void parseASMT(std::vector<std::string>& lines) override;
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void readNotes(std::vector<std::string>& lines);
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void readParts(std::vector<std::string>& lines);
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void readPart(std::vector<std::string>& lines);
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void readKinematicIJs(std::vector<std::string>& lines);
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void readKinematicIJ(std::vector<std::string>& lines);
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void readConstraintSets(std::vector<std::string>& lines);
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void readJoints(std::vector<std::string>& lines);
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void readMotions(std::vector<std::string>& lines);
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void readLimits(std::vector<std::string>& lines);
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void readGeneralConstraintSets(std::vector<std::string>& lines) const;
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void readForcesTorques(std::vector<std::string>& lines);
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void readConstantGravity(std::vector<std::string>& lines);
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void readSimulationParameters(std::vector<std::string>& lines);
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void readAnimationParameters(std::vector<std::string>& lines);
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void readTimeSeries(std::vector<std::string>& lines);
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void readTimes(std::vector<std::string>& lines);
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void readAssemblySeries(std::vector<std::string>& lines);
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void readPartSeriesMany(std::vector<std::string>& lines);
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void readPartSeries(std::vector<std::string>& lines);
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void readJointSeriesMany(std::vector<std::string>& lines);
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void readJointSeries(std::vector<std::string>& lines);
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void readMotionSeriesMany(std::vector<std::string>& lines);
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void readMotionSeries(std::vector<std::string>& lines);
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void runDraggingLog(const std::string& chars);
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void outputFor(AnalysisType type);
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void preMbDrun(std::shared_ptr<System> mbdSys);
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void preMbDrunDragStep(std::shared_ptr<System> mbdSys, std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
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void postMbDrun();
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void calcCharacteristicDimensions();
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double calcCharacteristicTime() const;
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double calcCharacteristicMass() const;
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double calcCharacteristicLength() const;
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std::shared_ptr<std::vector<std::shared_ptr<ASMTItemIJ>>> connectorList() const;
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std::shared_ptr<std::map<std::string, std::shared_ptr<ASMTMarker>>>markerMap() const;
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void deleteMbD() override;
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void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
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void outputFile(const std::string& filename);
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void storeOnLevel(std::ofstream& os, size_t level) override;
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size_t numberOfFrames();
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/* This function performs a one shot solve of the assembly.*/
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void solve();
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void runPreDrag();
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void runDragStep(std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> dragParts);
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void runPostDrag();
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void restorePosRot();
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void runKINEMATIC();
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void initprincipalMassMarker();
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std::shared_ptr<ASMTSpatialContainer> spatialContainerAt(std::shared_ptr<ASMTAssembly> self, std::string& longname) const;
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std::shared_ptr<ASMTPart> partAt(const std::string& longname) const;
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std::shared_ptr<ASMTMarker> markerAt(const std::string& longname) const;
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std::shared_ptr<ASMTJoint> jointAt(const std::string& longname) const;
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std::shared_ptr<ASMTMotion> motionAt(const std::string& longname) const;
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std::shared_ptr<ASMTForceTorque> forceTorqueAt(const std::string& longname) const;
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FColDsptr vOcmO() override;
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FColDsptr omeOpO() override;
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std::shared_ptr<ASMTTime> geoTime() const;
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void updateFromMbD() override;
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void compareResults(AnalysisType type) override;
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void outputResults(AnalysisType type) override;
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void addPart(std::shared_ptr<ASMTPart> part);
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void addJoint(std::shared_ptr<ASMTJoint> joint);
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void addMotion(std::shared_ptr<ASMTMotion> motion);
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void addLimit(std::shared_ptr<ASMTLimit> limit);
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void setConstantGravity(std::shared_ptr<ASMTConstantGravity> constantGravity);
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void setSimulationParameters(std::shared_ptr<ASMTSimulationParameters> simulationParameters);
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std::shared_ptr<ASMTPart> partNamed(const std::string& partName) const;
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std::shared_ptr<ASMTPart> partPartialNamed(const std::string& partialName) const;
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void storeOnLevelNotes(std::ofstream& os, size_t level);
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void storeOnLevelParts(std::ofstream& os, size_t level);
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void storeOnLevelKinematicIJs(std::ofstream& os, size_t level);
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void storeOnLevelConstraintSets(std::ofstream& os, size_t level);
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void storeOnLevelForceTorques(std::ofstream& os, size_t level);
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void storeOnLevelJoints(std::ofstream& os, size_t level);
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void storeOnLevelMotions(std::ofstream& os, size_t level);
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void storeOnLevelLimits(std::ofstream& os, size_t level);
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void storeOnLevelGeneralConstraintSets(std::ofstream& os, size_t level);
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void storeOnTimeSeries(std::ofstream& os) override;
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void setFilename(const std::string& filename);
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void setDebug(bool todebug);
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void updateForFrame(size_t index) override;
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std::string filename = "";
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std::string notes = "(Text string: '' runs: (Core.RunArray runs: #() values: #()))";
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std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTKinematicIJ>>> kinematicIJs = std::make_shared<std::vector<std::shared_ptr<ASMTKinematicIJ>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTConstraintSet>>> constraintSets = std::make_shared<std::vector<std::shared_ptr<ASMTConstraintSet>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTJoint>>> joints = std::make_shared<std::vector<std::shared_ptr<ASMTJoint>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTMotion>>> motions = std::make_shared<std::vector<std::shared_ptr<ASMTMotion>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTLimit>>> limits = std::make_shared<std::vector<std::shared_ptr<ASMTLimit>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTForceTorque>>> forcesTorques = std::make_shared<std::vector<std::shared_ptr<ASMTForceTorque>>>();
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std::shared_ptr<ASMTConstantGravity> constantGravity = ASMTConstantGravity::With();
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std::shared_ptr<ASMTSimulationParameters> simulationParameters = ASMTSimulationParameters::With();
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std::shared_ptr<ASMTAnimationParameters> animationParameters = ASMTAnimationParameters::With();
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std::shared_ptr<std::vector<double>> times = std::make_shared<std::vector<double>>();
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std::shared_ptr<ASMTTime> asmtTime = ASMTTime::With();
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std::shared_ptr<Units> mbdUnits = std::make_shared<Units>();
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std::shared_ptr<System> mbdSystem;
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bool debug = false;
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std::shared_ptr<ExternalSystem> externalSystem;
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};
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}
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