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Author SHA1 Message Date
Aaron Fenyes
f332f755e0 Improve the naming of the normalization methods
All checks were successful
/ test (pull_request) Successful in 2m29s
2025-06-02 13:47:05 -07:00
Aaron Fenyes
e19792d961 Explain the new check-cfg lint 2025-06-02 13:47:05 -07:00
Aaron Fenyes
0cfdd59e23 Test curvature drift during position nudging
The test fails, as expected, if you disable sphere normalization by
making `Sphere::normalize_mut_rep` do nothing. Since the tests aren't
built for WebAssembly, we have to replace `console::log` with
`console_log!` in all of the functions they use. We'll eventually want
to do this replacement everywhere.
2025-06-02 13:47:05 -07:00
Aaron Fenyes
f4e5c34fde 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.
2025-06-02 13:47:05 -07:00
a671a8273a Introduce ghost mode for elements (#85)
All checks were successful
/ test (push) Successful in 2m24s
Allows any element to be put in "ghost mode," decreasing its opacity and making it insensitive to click-to-select. Ghost mode is toggled using a checkbox in the outline view.

Co-authored-by: Aaron Fenyes <aaron.fenyes@fareycircles.ooo>
Reviewed-on: #85
Co-authored-by: Vectornaut <vectornaut@nobody@nowhere.net>
Co-committed-by: Vectornaut <vectornaut@nobody@nowhere.net>
2025-06-02 15:56:06 +00:00
9 changed files with 189 additions and 83 deletions

View file

@ -46,6 +46,13 @@ features = [
dyna3 = { path = ".", default-features = false, features = ["dev"] }
wasm-bindgen-test = "0.3.34"
# turn off spurious warnings about the custom config that Sycamore uses
#
# https://sycamore.dev/book/troubleshooting#unexpected-cfg-condition-name--sycamore-force-ssr
#
[lints.rust]
unexpected_cfgs = { level = "warn", check-cfg = ["cfg(sycamore_force_ssr)"] }
[profile.release]
opt-level = "s" # optimize for small code size
debug = true # include debug symbols

View file

@ -90,6 +90,10 @@ summary > div, .regulator {
padding-right: 8px;
}
.element > input {
margin-left: 8px;
}
.element-switch {
width: 18px;
padding-left: 2px;

View file

@ -1,6 +1,5 @@
use nalgebra::{DMatrix, DVector, DVectorView};
use std::{
any::{Any, TypeId},
cell::Cell,
collections::{BTreeMap, BTreeSet},
cmp::Ordering,
@ -20,6 +19,8 @@ use crate::{
change_half_curvature,
local_unif_to_std,
point,
project_point_to_normalized,
project_sphere_to_normalized,
realize_gram,
sphere,
ConfigSubspace,
@ -101,11 +102,16 @@ pub trait Element: Serial + ProblemPoser + DisplayItem {
fn id(&self) -> &String;
fn label(&self) -> &String;
fn representation(&self) -> Signal<DVector<f64>>;
fn ghost(&self) -> Signal<bool>;
// the regulators the element is subject to. the assembly that owns the
// element is responsible for keeping this set up to date
fn regulators(&self) -> Signal<BTreeSet<Rc<dyn Regulator>>>;
// project a representation vector for this kind of element onto its
// normalization variety
fn project_to_normalized(&self, rep: &mut DVector<f64>);
// the configuration matrix column index that was assigned to the element
// last time the assembly was realized, or `None` if the element has never
// been through a realization
@ -154,6 +160,7 @@ pub struct Sphere {
pub label: String,
pub color: ElementColor,
pub representation: Signal<DVector<f64>>,
pub ghost: Signal<bool>,
pub regulators: Signal<BTreeSet<Rc<dyn Regulator>>>,
serial: u64,
column_index: Cell<Option<usize>>
@ -173,6 +180,7 @@ impl Sphere {
label: label,
color: color,
representation: create_signal(representation),
ghost: create_signal(false),
regulators: create_signal(BTreeSet::new()),
serial: Self::next_serial(),
column_index: None.into()
@ -210,10 +218,18 @@ impl Element for Sphere {
self.representation
}
fn ghost(&self) -> Signal<bool> {
self.ghost
}
fn regulators(&self) -> Signal<BTreeSet<Rc<dyn Regulator>>> {
self.regulators
}
fn project_to_normalized(&self, rep: &mut DVector<f64>) {
project_sphere_to_normalized(rep);
}
fn column_index(&self) -> Option<usize> {
self.column_index.get()
}
@ -244,6 +260,7 @@ pub struct Point {
pub label: String,
pub color: ElementColor,
pub representation: Signal<DVector<f64>>,
pub ghost: Signal<bool>,
pub regulators: Signal<BTreeSet<Rc<dyn Regulator>>>,
serial: u64,
column_index: Cell<Option<usize>>
@ -263,6 +280,7 @@ impl Point {
label,
color,
representation: create_signal(representation),
ghost: create_signal(false),
regulators: create_signal(BTreeSet::new()),
serial: Self::next_serial(),
column_index: None.into()
@ -296,10 +314,18 @@ impl Element for Point {
self.representation
}
fn ghost(&self) -> Signal<bool> {
self.ghost
}
fn regulators(&self) -> Signal<BTreeSet<Rc<dyn Regulator>>> {
self.regulators
}
fn project_to_normalized(&self, rep: &mut DVector<f64>) {
project_point_to_normalized(rep);
}
fn column_index(&self) -> Option<usize> {
self.column_index.get()
}
@ -598,9 +624,7 @@ impl Assembly {
create_effect(move || {
/* DEBUG */
// log the regulator update
console::log_1(&JsValue::from(
format!("Updated regulator with subjects {:?}", regulator.subjects())
));
console_log!("Updated regulator with subjects {:?}", regulator.subjects());
if regulator.try_activate() {
self_for_effect.realize();
@ -609,10 +633,10 @@ impl Assembly {
/* DEBUG */
// print an updated list of regulators
console::log_1(&JsValue::from("Regulators:"));
console_log!("Regulators:");
self.regulators.with_untracked(|regs| {
for reg in regs.into_iter() {
console::log_1(&JsValue::from(format!(
console_log!(
" {:?}: {}",
reg.subjects(),
reg.set_point().with_untracked(
@ -625,7 +649,7 @@ impl Assembly {
}
}
)
)));
);
}
});
}
@ -656,19 +680,11 @@ impl Assembly {
/* DEBUG */
// log the Gram matrix
console::log_1(&JsValue::from("Gram matrix:"));
problem.gram.log_to_console();
console_log!("Gram matrix:\n{}", problem.gram);
/* DEBUG */
// log the initial configuration matrix
console::log_1(&JsValue::from("Old configuration:"));
for j in 0..problem.guess.nrows() {
let mut row_str = String::new();
for k in 0..problem.guess.ncols() {
row_str.push_str(format!(" {:>8.3}", problem.guess[(j, k)]).as_str());
}
console::log_1(&JsValue::from(row_str));
}
console_log!("Old configuration:{:>8.3}", problem.guess);
// look for a configuration with the given Gram matrix
let (config, tangent, success, history) = realize_gram(
@ -677,16 +693,14 @@ impl Assembly {
/* DEBUG */
// report the outcome of the search
console::log_1(&JsValue::from(
if success {
"Target accuracy achieved!"
} else {
"Failed to reach target accuracy"
}
));
console::log_2(&JsValue::from("Steps:"), &JsValue::from(history.scaled_loss.len() - 1));
console::log_2(&JsValue::from("Loss:"), &JsValue::from(*history.scaled_loss.last().unwrap()));
console::log_2(&JsValue::from("Tangent dimension:"), &JsValue::from(tangent.dim()));
if success {
console_log!("Target accuracy achieved!")
} else {
console_log!("Failed to reach target accuracy")
}
console_log!("Steps: {}", history.scaled_loss.len() - 1);
console_log!("Loss: {}", *history.scaled_loss.last().unwrap());
console_log!("Tangent dimension: {}", tangent.dim());
if success {
// read out the solution
@ -769,29 +783,17 @@ impl Assembly {
// step the assembly along the deformation. this changes the elements'
// normalizations, so we restore those afterward
/* KLUDGE */
// for now, we only restore the normalizations of spheres
for elt in self.elements.get_clone_untracked() {
elt.representation().update_silent(|rep| {
match elt.column_index() {
Some(column_index) => {
// step the assembly along the deformation
// step the element along the deformation and then
// restore its normalization
*rep += motion_proj.column(column_index);
if elt.type_id() == TypeId::of::<Sphere>() {
// restore normalization by contracting toward the
// last coordinate axis
let q_sp = rep.fixed_rows::<3>(0).norm_squared();
let half_q_lt = -2.0 * rep[3] * rep[4];
let half_q_lt_sq = half_q_lt * half_q_lt;
let scaling = half_q_lt + (q_sp + half_q_lt_sq).sqrt();
rep.fixed_rows_mut::<4>(0).scale_mut(1.0 / scaling);
}
elt.project_to_normalized(rep);
},
None => {
console::log_1(&JsValue::from(
format!("No velocity to unpack for fresh element \"{}\"", elt.id())
))
console_log!("No velocity to unpack for fresh element \"{}\"", elt.id())
}
};
});
@ -808,6 +810,8 @@ impl Assembly {
mod tests {
use super::*;
use crate::engine;
#[test]
#[should_panic(expected = "Sphere \"sphere\" should be indexed before writing problem data")]
fn unindexed_element_test() {
@ -833,4 +837,50 @@ mod tests {
}.pose(&mut ConstraintProblem::new(2));
});
}
#[test]
fn curvature_drift_test() {
const INITIAL_RADIUS: f64 = 0.25;
let _ = create_root(|| {
// set up an assembly containing a single sphere centered at the
// origin
let assembly = Assembly::new();
let sphere_id = "sphere0";
let _ = assembly.try_insert_element(
// we create the sphere by hand for two reasons: to choose the
// curvature (which can affect drift rate) and to make the test
// independent of `Sphere::default`
Sphere::new(
String::from(sphere_id),
String::from("Sphere 0"),
[0.75_f32, 0.75_f32, 0.75_f32],
engine::sphere(0.0, 0.0, 0.0, INITIAL_RADIUS)
)
);
// nudge the sphere repeatedly along the `z` axis
const STEP_SIZE: f64 = 0.0025;
const STEP_CNT: usize = 400;
let sphere = assembly.elements_by_id.with(|elts_by_id| elts_by_id[sphere_id].clone());
let velocity = DVector::from_column_slice(&[0.0, 0.0, STEP_SIZE, 0.0]);
for _ in 0..STEP_CNT {
assembly.deform(
vec![
ElementMotion {
element: sphere.clone(),
velocity: velocity.as_view()
}
]
);
}
// check how much the sphere's curvature has drifted
const INITIAL_HALF_CURV: f64 = 0.5 / INITIAL_RADIUS;
const DRIFT_TOL: f64 = 0.015;
let final_half_curv = sphere.representation().with_untracked(
|rep| rep[Sphere::CURVATURE_COMPONENT]
);
assert!((final_half_curv / INITIAL_HALF_CURV - 1.0).abs() < DRIFT_TOL);
});
}
}

View file

@ -20,11 +20,23 @@ use crate::{
assembly::{Element, ElementColor, ElementMotion, Point, Sphere}
};
// --- color ---
const COLOR_SIZE: usize = 3;
type ColorWithOpacity = [f32; COLOR_SIZE + 1];
fn combine_channels(color: ElementColor, opacity: f32) -> ColorWithOpacity {
let mut color_with_opacity = [0.0; COLOR_SIZE + 1];
color_with_opacity[..COLOR_SIZE].copy_from_slice(&color);
color_with_opacity[COLOR_SIZE] = opacity;
color_with_opacity
}
// --- scene data ---
struct SceneSpheres {
representations: Vec<DVector<f64>>,
colors: Vec<ElementColor>,
colors_with_opacity: Vec<ColorWithOpacity>,
highlights: Vec<f32>
}
@ -32,7 +44,7 @@ impl SceneSpheres {
fn new() -> SceneSpheres{
SceneSpheres {
representations: Vec::new(),
colors: Vec::new(),
colors_with_opacity: Vec::new(),
highlights: Vec::new()
}
}
@ -41,16 +53,16 @@ impl SceneSpheres {
self.representations.len().try_into().expect("Number of spheres must fit in a 32-bit integer")
}
fn push(&mut self, representation: DVector<f64>, color: ElementColor, highlight: f32) {
fn push(&mut self, representation: DVector<f64>, color: ElementColor, opacity: f32, highlight: f32) {
self.representations.push(representation);
self.colors.push(color);
self.colors_with_opacity.push(combine_channels(color, opacity));
self.highlights.push(highlight);
}
}
struct ScenePoints {
representations: Vec<DVector<f64>>,
colors: Vec<ElementColor>,
colors_with_opacity: Vec<ColorWithOpacity>,
highlights: Vec<f32>,
selections: Vec<f32>
}
@ -59,15 +71,15 @@ impl ScenePoints {
fn new() -> ScenePoints {
ScenePoints {
representations: Vec::new(),
colors: Vec::new(),
colors_with_opacity: Vec::new(),
highlights: Vec::new(),
selections: Vec::new()
}
}
fn push(&mut self, representation: DVector<f64>, color: ElementColor, highlight: f32, selected: bool) {
fn push(&mut self, representation: DVector<f64>, color: ElementColor, opacity: f32, highlight: f32, selected: bool) {
self.representations.push(representation);
self.colors.push(color);
self.colors_with_opacity.push(combine_channels(color, opacity));
self.highlights.push(highlight);
self.selections.push(if selected { 1.0 } else { 0.0 });
}
@ -98,11 +110,16 @@ pub trait DisplayItem {
impl DisplayItem for Sphere {
fn show(&self, scene: &mut Scene, selected: bool) {
const HIGHLIGHT: f32 = 0.2; /* SCAFFOLDING */
/* SCAFFOLDING */
const DEFAULT_OPACITY: f32 = 0.5;
const GHOST_OPACITY: f32 = 0.2;
const HIGHLIGHT: f32 = 0.2;
let representation = self.representation.get_clone_untracked();
let color = if selected { self.color.map(|channel| 0.2 + 0.8*channel) } else { self.color };
let opacity = if self.ghost.get() { GHOST_OPACITY } else { DEFAULT_OPACITY };
let highlight = if selected { 1.0 } else { HIGHLIGHT };
scene.spheres.push(representation, color, highlight);
scene.spheres.push(representation, color, opacity, highlight);
}
// this method should be kept synchronized with `sphere_cast` in
@ -148,11 +165,15 @@ impl DisplayItem for Sphere {
impl DisplayItem for Point {
fn show(&self, scene: &mut Scene, selected: bool) {
const HIGHLIGHT: f32 = 0.5; /* SCAFFOLDING */
/* SCAFFOLDING */
const GHOST_OPACITY: f32 = 0.4;
const HIGHLIGHT: f32 = 0.5;
let representation = self.representation.get_clone_untracked();
let color = if selected { self.color.map(|channel| 0.2 + 0.8*channel) } else { self.color };
let opacity = if self.ghost.get() { GHOST_OPACITY } else { 1.0 };
let highlight = if selected { 1.0 } else { HIGHLIGHT };
scene.points.push(representation, color, highlight, selected);
scene.points.push(representation, color, opacity, highlight, selected);
}
/* SCAFFOLDING */
@ -365,6 +386,7 @@ pub fn Display() -> View {
state.assembly.elements.with(|elts| {
for elt in elts {
elt.representation().track();
elt.ghost().track();
}
});
state.selection.track();
@ -395,7 +417,6 @@ pub fn Display() -> View {
const SHRINKING_SPEED: f64 = 0.15; // in length units per second
// display parameters
const OPACITY: f32 = 0.5; /* SCAFFOLDING */
const LAYER_THRESHOLD: i32 = 0; /* DEBUG */
const DEBUG_MODE: i32 = 0; /* DEBUG */
@ -469,7 +490,6 @@ pub fn Display() -> View {
);
let resolution_loc = ctx.get_uniform_location(&sphere_program, "resolution");
let shortdim_loc = ctx.get_uniform_location(&sphere_program, "shortdim");
let opacity_loc = ctx.get_uniform_location(&sphere_program, "opacity");
let layer_threshold_loc = ctx.get_uniform_location(&sphere_program, "layer_threshold");
let debug_mode_loc = ctx.get_uniform_location(&sphere_program, "debug_mode");
@ -654,9 +674,9 @@ pub fn Display() -> View {
sphere_lt_locs[n].as_ref(),
v.rows(3, 2).as_slice()
);
ctx.uniform3fv_with_f32_array(
ctx.uniform4fv_with_f32_array(
sphere_color_locs[n].as_ref(),
&scene.spheres.colors[n]
&scene.spheres.colors_with_opacity[n]
);
ctx.uniform1f(
sphere_highlight_locs[n].as_ref(),
@ -665,7 +685,6 @@ pub fn Display() -> View {
}
// pass the display parameters
ctx.uniform1f(opacity_loc.as_ref(), OPACITY);
ctx.uniform1i(layer_threshold_loc.as_ref(), LAYER_THRESHOLD);
ctx.uniform1i(debug_mode_loc.as_ref(), DEBUG_MODE);
@ -703,7 +722,7 @@ pub fn Display() -> View {
// bind them to the corresponding attributes in the vertex
// shader
bind_new_buffer_to_attribute(&ctx, point_position_attr, SPACE_DIM as i32, point_positions.as_slice());
bind_new_buffer_to_attribute(&ctx, point_color_attr, COLOR_SIZE as i32, scene.points.colors.concat().as_slice());
bind_new_buffer_to_attribute(&ctx, point_color_attr, (COLOR_SIZE + 1) as i32, scene.points.colors_with_opacity.concat().as_slice());
bind_new_buffer_to_attribute(&ctx, point_highlight_attr, 1 as i32, scene.points.highlights.as_slice());
bind_new_buffer_to_attribute(&ctx, point_selection_attr, 1 as i32, scene.points.selections.as_slice());
@ -851,7 +870,11 @@ pub fn Display() -> View {
let (dir, pixel_size) = event_dir(&event);
console::log_1(&JsValue::from(dir.to_string()));
let mut clicked: Option<(Rc<dyn Element>, f64)> = None;
for elt in state.assembly.elements.get_clone_untracked() {
let tangible_elts = state.assembly.elements
.get_clone_untracked()
.into_iter()
.filter(|elt| !elt.ghost().get());
for elt in tangible_elts {
match assembly_to_world.with(|asm_to_world| elt.cast(dir, asm_to_world, pixel_size)) {
Some(depth) => match clicked {
Some((_, best_depth)) => {

View file

@ -1,5 +1,6 @@
use lazy_static::lazy_static;
use nalgebra::{Const, DMatrix, DVector, DVectorView, Dyn, SymmetricEigen};
use std::fmt::{Display, Error, Formatter};
use web_sys::{console, wasm_bindgen::JsValue}; /* DEBUG */
// --- elements ---
@ -34,6 +35,21 @@ pub fn sphere_with_offset(dir_x: f64, dir_y: f64, dir_z: f64, off: f64, curv: f6
])
}
// project a sphere's representation vector to the normalization variety by
// contracting toward the last coordinate axis
pub fn project_sphere_to_normalized(rep: &mut DVector<f64>) {
let q_sp = rep.fixed_rows::<3>(0).norm_squared();
let half_q_lt = -2.0 * rep[3] * rep[4];
let half_q_lt_sq = half_q_lt * half_q_lt;
let scaling = half_q_lt + (q_sp + half_q_lt_sq).sqrt();
rep.fixed_rows_mut::<4>(0).scale_mut(1.0 / scaling);
}
// normalize a point's representation vector by scaling
pub fn project_point_to_normalized(rep: &mut DVector<f64>) {
rep.scale_mut(0.5 / rep[3]);
}
// given a sphere's representation vector, change the sphere's half-curvature to
// `half-curv` and then restore normalization by contracting the representation
// vector toward the curvature axis
@ -94,15 +110,6 @@ impl PartialMatrix {
}
}
/* DEBUG */
pub fn log_to_console(&self) {
for &MatrixEntry { index: (row, col), value } in self {
console::log_1(&JsValue::from(
format!(" {} {} {}", row, col, value)
));
}
}
fn freeze(&self, a: &DMatrix<f64>) -> DMatrix<f64> {
let mut result = a.clone();
for &MatrixEntry { index, value } in self {
@ -128,6 +135,15 @@ impl PartialMatrix {
}
}
impl Display for PartialMatrix {
fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error> {
for &MatrixEntry { index: (row, col), value } in self {
writeln!(f, " {row} {col} {value}")?;
}
Ok(())
}
}
impl IntoIterator for PartialMatrix {
type Item = MatrixEntry;
type IntoIter = std::vec::IntoIter<Self::Item>;

View file

@ -202,7 +202,11 @@ fn ElementOutlineItem(element: Rc<dyn Element>) -> View {
) {
div(class="element-label") { (label) }
div(class="element-representation") { (rep_components) }
div(class="status")
input(
r#type="checkbox",
bind:checked=element.ghost(),
on:click=|event: MouseEvent| event.stop_propagation()
)
}
}
ul(class="regulators") {

View file

@ -2,7 +2,7 @@
precision highp float;
in vec3 point_color;
in vec4 point_color;
in float point_highlight;
in float total_radius;
@ -13,6 +13,7 @@ void main() {
const float POINT_RADIUS = 4.;
float border = smoothstep(POINT_RADIUS - 1., POINT_RADIUS, r);
vec3 color = mix(point_color, vec3(1.), border * point_highlight);
outColor = vec4(color, 1. - smoothstep(total_radius - 1., total_radius, r));
float disk = 1. - smoothstep(total_radius - 1., total_radius, r);
vec4 color = mix(point_color, vec4(1.), border * point_highlight);
outColor = vec4(vec3(1.), disk) * color;
}

View file

@ -1,11 +1,11 @@
#version 300 es
in vec4 position;
in vec3 color;
in vec4 color;
in float highlight;
in float selected;
out vec3 point_color;
out vec4 point_color;
out float point_highlight;
out float total_radius;

View file

@ -17,7 +17,7 @@ struct vecInv {
const int SPHERE_MAX = 200;
uniform int sphere_cnt;
uniform vecInv sphere_list[SPHERE_MAX];
uniform vec3 color_list[SPHERE_MAX];
uniform vec4 color_list[SPHERE_MAX];
uniform float highlight_list[SPHERE_MAX];
// view
@ -25,7 +25,6 @@ uniform vec2 resolution;
uniform float shortdim;
// controls
uniform float opacity;
uniform int layer_threshold;
uniform bool debug_mode;
@ -69,7 +68,7 @@ struct Fragment {
vec4 color;
};
Fragment sphere_shading(vecInv v, vec3 pt, vec3 base_color) {
Fragment sphere_shading(vecInv v, vec3 pt, vec4 base_color) {
// the expression for normal needs to be checked. it's supposed to give the
// negative gradient of the lorentz product between the impact point vector
// and the sphere vector with respect to the coordinates of the impact
@ -79,7 +78,7 @@ Fragment sphere_shading(vecInv v, vec3 pt, vec3 base_color) {
float incidence = dot(normal, light_dir);
float illum = mix(0.4, 1.0, max(incidence, 0.0));
return Fragment(pt, normal, vec4(illum * base_color, opacity));
return Fragment(pt, normal, vec4(illum * base_color.rgb, base_color.a));
}
float intersection_dist(Fragment a, Fragment b) {
@ -192,10 +191,11 @@ void main() {
vec3 color = vec3(0.);
int layer = layer_cnt - 1;
TaggedDepth hit = top_hits[layer];
vec4 sphere_color = color_list[hit.id];
Fragment frag_next = sphere_shading(
sphere_list[hit.id],
hit.depth * dir,
hit.dimming * color_list[hit.id]
vec4(hit.dimming * sphere_color.rgb, sphere_color.a)
);
float highlight_next = highlight_list[hit.id];
--layer;
@ -206,10 +206,11 @@ void main() {
// shade the next fragment
hit = top_hits[layer];
sphere_color = color_list[hit.id];
frag_next = sphere_shading(
sphere_list[hit.id],
hit.depth * dir,
hit.dimming * color_list[hit.id]
vec4(hit.dimming * sphere_color.rgb, sphere_color.a)
);
highlight_next = highlight_list[hit.id];