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.
69 lines
2.5 KiB
C++
69 lines
2.5 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 "ASMTAnimationParameters.h"
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using namespace MbD;
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std::shared_ptr<ASMTAnimationParameters> MbD::ASMTAnimationParameters::With()
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{
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auto asmt = std::make_shared<ASMTAnimationParameters>();
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asmt->initialize();
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return asmt;
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}
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void MbD::ASMTAnimationParameters::parseASMT(std::vector<std::string>& lines)
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{
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//size_t nframe, icurrent, istart, iend, framesPerSecond;
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//bool isForward;
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auto pos = lines[0].find_first_not_of("\t");
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auto leadingTabs = lines[0].substr(0, pos);
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assert(lines[0] == (leadingTabs + "nframe"));
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lines.erase(lines.begin());
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nframe = readSize_t(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "icurrent"));
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lines.erase(lines.begin());
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icurrent = readSize_t(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "istart"));
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lines.erase(lines.begin());
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istart = readSize_t(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "iend"));
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lines.erase(lines.begin());
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iend = readSize_t(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "isForward"));
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lines.erase(lines.begin());
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isForward = readBool(lines[0]);
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "framesPerSecond"));
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lines.erase(lines.begin());
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framesPerSecond = readSize_t(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTAnimationParameters::storeOnLevel(std::ofstream& os, size_t level)
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{
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storeOnLevelString(os, level, "AnimationParameters");
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storeOnLevelString(os, level + 1, "nframe");
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storeOnLevelSize_t(os, level + 2, nframe);
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storeOnLevelString(os, level + 1, "icurrent");
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storeOnLevelSize_t(os, level + 2, icurrent);
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storeOnLevelString(os, level + 1, "istart");
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storeOnLevelSize_t(os, level + 2, istart);
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storeOnLevelString(os, level + 1, "iend");
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storeOnLevelSize_t(os, level + 2, iend);
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storeOnLevelString(os, level + 1, "isForward");
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storeOnLevelBool(os, level + 2, isForward);
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storeOnLevelString(os, level + 1, "framesPerSecond");
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storeOnLevelSize_t(os, level + 2, framesPerSecond);
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}
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