茂之钳
77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
#pragma once
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/**
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* @file constraint_solver.h
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* @brief 3D constraint solver for assembly
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*
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* Iterative relaxation solver for spatial constraints between assembly nodes.
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* Supports coincident, concentric, distance, angle, parallel, perpendicular,
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* and tangent constraints over 3D bounding box proxies.
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*
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* @ingroup brep
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*/
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#include "vde/brep/assembly.h"
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#include "vde/core/point.h"
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#include <vector>
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#include <functional>
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namespace vde::brep {
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/// Constraint type for 3D assembly solving
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enum class Constraint3D {
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Coincident, ///< Face-face alignment (coplanar, opposite normals)
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Concentric, ///< Axis-axis alignment
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Distance, ///< Fixed distance between faces
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Angle, ///< Fixed angle between faces
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Parallel, ///< Face normals parallel
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Perpendicular, ///< Face normals perpendicular
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Tangent ///< Face tangent contact
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};
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/// A single constraint between two assembly nodes
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struct ConstraintEntry {
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int node_a; ///< Index into a flattened node list (or 0-based child index)
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int node_b; ///< Index of the node that moves to satisfy constraint
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Constraint3D type;
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double value = 0.0; ///< Distance or angle value (radians for Angle)
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};
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/// Solve a system of 3D constraints on an assembly using iterative relaxation.
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///
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/// Repeatedly adjusts transforms for each constraint in round-robin order
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/// until all constraints are satisfied within tolerance or max_iterations
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/// is exhausted.
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///
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/// @param assembly Target assembly (root children are the constrained nodes)
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/// @param constraints Ordered list of constraints to satisfy
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/// @param max_iterations Maximum number of relaxation passes (default 100)
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/// @param tolerance Convergence tolerance (default 1e-6)
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/// @return true if all constraints satisfied within tolerance
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[[nodiscard]] bool solve_constraints(
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Assembly& assembly,
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const std::vector<ConstraintEntry>& constraints,
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int max_iterations = 100,
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double tolerance = 1e-6);
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/// Apply a single coincident (mate) constraint: align the closest opposing
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/// faces of node_a and node_b so they are coplanar.
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///
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/// @return The correction transform that was applied to node_b
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[[nodiscard]] core::Transform3D apply_coincident(
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const AssemblyNode& node_a, AssemblyNode& node_b);
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/// Apply a single concentric constraint: align the bounding-box-estimated
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/// cylinder axes of node_a and node_b.
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///
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/// @return The correction transform that was applied to node_b
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[[nodiscard]] core::Transform3D apply_concentric(
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const AssemblyNode& node_a, AssemblyNode& node_b);
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/// Apply a distance constraint: set the closest-approach gap between
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/// the bounding boxes of node_a and node_b to @p distance.
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///
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/// @return The correction transform that was applied to node_b
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[[nodiscard]] core::Transform3D apply_distance(
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const AssemblyNode& node_a, AssemblyNode& node_b, double distance);
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} // namespace vde::brep
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