Add a trait method to normalize representations
This corrects the dispatching of the normalization routine for spheres, and it adds a (perhaps redundant) normalization routine for points.
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2 changed files with 31 additions and 14 deletions
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@ -1,6 +1,5 @@
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use nalgebra::{DMatrix, DVector, DVectorView};
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use std::{
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any::{Any, TypeId},
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cell::Cell,
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collections::{BTreeMap, BTreeSet},
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cmp::Ordering,
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@ -19,6 +18,8 @@ use crate::{
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Q,
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change_half_curvature,
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local_unif_to_std,
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normalize_mut_point,
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normalize_mut_sphere,
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point,
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realize_gram,
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sphere,
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@ -106,6 +107,9 @@ pub trait Element: Serial + ProblemPoser + DisplayItem {
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// element is responsible for keeping this set up to date
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fn regulators(&self) -> Signal<BTreeSet<Rc<dyn Regulator>>>;
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// normalize a representation vector for this kind of element
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fn normalize_mut_rep(&self, rep: &mut DVector<f64>);
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// the configuration matrix column index that was assigned to the element
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// last time the assembly was realized, or `None` if the element has never
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// been through a realization
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@ -214,6 +218,10 @@ impl Element for Sphere {
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self.regulators
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}
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fn normalize_mut_rep(&self, rep: &mut DVector<f64>) {
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normalize_mut_sphere(rep);
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}
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fn column_index(&self) -> Option<usize> {
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self.column_index.get()
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}
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@ -300,6 +308,10 @@ impl Element for Point {
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self.regulators
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}
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fn normalize_mut_rep(&self, rep: &mut DVector<f64>) {
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normalize_mut_point(rep);
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}
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fn column_index(&self) -> Option<usize> {
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self.column_index.get()
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}
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@ -769,24 +781,14 @@ impl Assembly {
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// step the assembly along the deformation. this changes the elements'
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// normalizations, so we restore those afterward
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/* KLUDGE */
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// for now, we only restore the normalizations of spheres
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for elt in self.elements.get_clone_untracked() {
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elt.representation().update_silent(|rep| {
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match elt.column_index() {
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Some(column_index) => {
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// step the assembly along the deformation
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// step the element along the deformation and then
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// restore its normalization
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*rep += motion_proj.column(column_index);
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if elt.type_id() == TypeId::of::<Sphere>() {
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// restore normalization by contracting toward the
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// last coordinate axis
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let q_sp = rep.fixed_rows::<3>(0).norm_squared();
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let half_q_lt = -2.0 * rep[3] * rep[4];
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let half_q_lt_sq = half_q_lt * half_q_lt;
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let scaling = half_q_lt + (q_sp + half_q_lt_sq).sqrt();
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rep.fixed_rows_mut::<4>(0).scale_mut(1.0 / scaling);
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}
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elt.normalize_mut_rep(rep);
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},
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None => {
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console::log_1(&JsValue::from(
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@ -34,6 +34,21 @@ pub fn sphere_with_offset(dir_x: f64, dir_y: f64, dir_z: f64, off: f64, curv: f6
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])
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}
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// normalize a sphere's representation vector by contracting toward the last
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// coordinate axis
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pub fn normalize_mut_sphere(rep: &mut DVector<f64>) {
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let q_sp = rep.fixed_rows::<3>(0).norm_squared();
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let half_q_lt = -2.0 * rep[3] * rep[4];
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let half_q_lt_sq = half_q_lt * half_q_lt;
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let scaling = half_q_lt + (q_sp + half_q_lt_sq).sqrt();
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rep.fixed_rows_mut::<4>(0).scale_mut(1.0 / scaling);
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}
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// normalize a point's representation vector by scaling
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pub fn normalize_mut_point(rep: &mut DVector<f64>) {
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rep.scale_mut(0.5 / rep[3]);
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}
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// given a sphere's representation vector, change the sphere's half-curvature to
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// `half-curv` and then restore normalization by contracting the representation
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// vector toward the curvature axis
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