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.
115 lines
2.7 KiB
C++
115 lines
2.7 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 <cmath>
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#include "ScrewConstraintIJ.h"
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#include "ScrewConstraintIqcJqc.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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MbD::ScrewConstraintIJ::ScrewConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj)
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{
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}
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std::shared_ptr<ScrewConstraintIJ> MbD::ScrewConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
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{
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assert(frmi->isEndFrameqc());
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assert(frmj->isEndFrameqc());
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auto screwCon = std::make_shared<ScrewConstraintIqcJqc>(frmi, frmj);
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screwCon->initzIeJeIe();
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screwCon->initthezIeJe();
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return screwCon;
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}
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void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration()
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{
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auto z = zIeJeIe->value();
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auto thez = thezIeJe->thez;
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aG = (2.0 * M_PI * z) - (pitch * thez) - aConstant;
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}
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void MbD::ScrewConstraintIJ::init_zthez()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::ScrewConstraintIJ::initzIeJeIe()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::ScrewConstraintIJ::initthezIeJe()
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{
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throw SimulationStoppingError("To be implemented.");
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}
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void MbD::ScrewConstraintIJ::initialize()
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{
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ConstraintIJ::initialize();
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this->init_zthez();
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}
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void MbD::ScrewConstraintIJ::initializeGlobally()
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{
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zIeJeIe->initializeGlobally();
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thezIeJe->initializeGlobally();
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}
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void MbD::ScrewConstraintIJ::initializeLocally()
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{
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zIeJeIe->initializeLocally();
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thezIeJe->initializeLocally();
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}
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void MbD::ScrewConstraintIJ::postInput()
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{
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zIeJeIe->postInput();
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thezIeJe->postInput();
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if (aConstant == std::numeric_limits<double>::min()) {
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aConstant = (2.0 * M_PI * zIeJeIe->value()) - (thezIeJe->value() * pitch);
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}
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ConstraintIJ::postInput();
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}
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void MbD::ScrewConstraintIJ::postPosICIteration()
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{
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zIeJeIe->postPosICIteration();
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thezIeJe->postPosICIteration();
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ConstraintIJ::postPosICIteration();
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}
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void MbD::ScrewConstraintIJ::preAccIC()
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{
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zIeJeIe->preAccIC();
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thezIeJe->preAccIC();
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ConstraintIJ::preAccIC();
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}
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void MbD::ScrewConstraintIJ::prePosIC()
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{
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zIeJeIe->prePosIC();
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thezIeJe->prePosIC();
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ConstraintIJ::prePosIC();
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}
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void MbD::ScrewConstraintIJ::preVelIC()
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{
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zIeJeIe->preVelIC();
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thezIeJe->preVelIC();
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ConstraintIJ::preVelIC();
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}
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void MbD::ScrewConstraintIJ::simUpdateAll()
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{
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zIeJeIe->simUpdateAll();
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thezIeJe->simUpdateAll();
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ConstraintIJ::simUpdateAll();
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}
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