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PaddleStroke
774c45a512
* claim: #9719 Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> * Dynamics: rigid-body solver core with joints, gravity and springs (#9719) A new L1 crate, solidcraft-dynamics (geom only): rigid bodies in maximal coordinates, joint constraint equations with analytic Jacobians for rigid, revolute, slider, cylindrical, planar and ball joints, gravity, linear spring-dampers and constant loads; the index-1 equations of motion solved through a rank-revealing Schur complement (repeated joint equations are solved, not refused); RK4 and Dormand-Prince 5(4) with position and velocity projection; joint values, rates, reactions and energies at every output sample; caps on bodies, joints, rows, steps and samples; Result errors only. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> * Dynamics: take Vec3 from the record crate after the layer split, refresh the lock file Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com> Co-authored-by: bherbruck <brennen.herbruck@gmail.com>
14 lines
941 B
Markdown
14 lines
941 B
Markdown
# Architecture
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<!-- ANCHOR: architecture -->
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| Layer | Crates | Role |
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| L0 | `geom` | vectors, planes, profiles, meshes and their measures |
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| L1 | `sketch`, `kernel`, `render`, `dynamics` | constraint solver and profiles; the B-rep kernel boundary (truck); view math and the headless scene description; multibody dynamics (rigid bodies, joints, forces, time integration) |
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| L2 | `doc` | parameters, expressions, the feature timeline and its incremental evaluation |
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| L3 | `io` | design files, STL/OBJ/STEP/3MF export, STEP and 3MF/STL/OBJ/glTF import features |
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| L4 | `engine` | the session and the command registry (everything is a command) |
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| L5 | `gpu`, `ui-egui`, `mcp` | compute-shader evaluation of display tessellation plans; the swappable desktop front end; the MCP server (headless or bridged to the app) |
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| apps | `solidcraft`, `solidcraft-cli` | desktop app, headless CLI |
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