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.
80 lines
1.7 KiB
C++
80 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 "AtPointConstraintIJ.h"
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#include "DispCompIecJecO.h"
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#include "CREATE.h"
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using namespace MbD;
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AtPointConstraintIJ::AtPointConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi) :
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ConstraintIJ(frmi, frmj), axis(axisi)
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{
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}
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void AtPointConstraintIJ::initialize()
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{
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ConstraintIJ::initialize();
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initriIeJeO();
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}
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void AtPointConstraintIJ::initializeLocally()
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{
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riIeJeO->initializeLocally();
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}
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void AtPointConstraintIJ::initializeGlobally()
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{
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riIeJeO->initializeGlobally();
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}
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void AtPointConstraintIJ::initriIeJeO()
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{
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riIeJeO = CREATE<DispCompIecJecO>::With(frmI, frmJ, axis);
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}
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void AtPointConstraintIJ::postInput()
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{
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riIeJeO->postInput();
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Constraint::postInput();
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}
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void AtPointConstraintIJ::calcPostDynCorrectorIteration()
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{
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aG = riIeJeO->riIeJeO - aConstant;
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}
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void AtPointConstraintIJ::prePosIC()
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{
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riIeJeO->prePosIC();
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Constraint::prePosIC();
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}
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ConstraintType AtPointConstraintIJ::type()
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{
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return displacement;
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}
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void AtPointConstraintIJ::postPosICIteration()
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{
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riIeJeO->postPosICIteration();
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Item::postPosICIteration();
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}
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void AtPointConstraintIJ::preVelIC()
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{
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riIeJeO->preVelIC();
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Item::preVelIC();
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}
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void AtPointConstraintIJ::preAccIC()
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{
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riIeJeO->preAccIC();
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Constraint::preAccIC();
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}
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