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.
35 lines
1.0 KiB
C++
35 lines
1.0 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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#include "Units.h"
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MbD::Units::Units()
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{
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}
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MbD::Units::Units(double unitTime, double unitMass, double unitLength, double unitAngle) : time(unitTime), mass(unitMass), length(unitLength), angle(unitAngle)
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{
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calc();
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}
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void MbD::Units::initialize()
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{
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}
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void MbD::Units::calc()
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{
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//"Calculate derived units."
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aJ = mass * length * length;
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velocity = length / time;
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omega = angle / time;
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acceleration = velocity / time;
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alpha = omega / time;
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force = mass * acceleration;
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torque = force * length;
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}
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