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.
59 lines
1.7 KiB
C++
59 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 "ConstantVelocityJoint.h"
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#include "System.h"
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#include "AtPointConstraintIJ.h"
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#include "CREATE.h"
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#include "ConstVelConstraintIJ.h"
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using namespace MbD;
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MbD::ConstantVelocityJoint::ConstantVelocityJoint()
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{
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}
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MbD::ConstantVelocityJoint::ConstantVelocityJoint(const std::string& str) : AtPointJoint(str)
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{
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}
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//
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//void MbD::ConstantVelocityJoint::initializeLocally()
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//{
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// if (!constraints->empty())
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// {
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// auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
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// constraint->initA01IeJe();
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// constraint->initA10IeJe();
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// }
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// Joint::initializeLocally();
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//}
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void MbD::ConstantVelocityJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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createAtPointConstraints();
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auto constVelIJ = ConstVelConstraintIJ::With(frmI, frmJ);
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constVelIJ->setConstant(0.0);
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addConstraint(constVelIJ);
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this->root()->hasChanged = true;
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}
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else {
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Joint::initializeGlobally();
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}
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}
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void MbD::ConstantVelocityJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe)
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{
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//"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames."
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//"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct."
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frmI = frmIe->newCopyEndFrameqc();
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frmJ = frmJe->newCopyEndFrameqc();
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}
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