forked from StudioInfinity/dyna3
Try using pinned vertices as the hard constraints
This commit is contained in:
Aaron Fenyes
parent
476b13c87f
commit
096a153f04
2 changed files with 518 additions and 4 deletions
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@ -1,6 +1,7 @@
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use enum_iterator::{all, Sequence};
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use nalgebra::{DMatrix, DVector, DVectorView};
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use std::{
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any::Any,
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cell::Cell,
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cmp::Ordering,
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collections::{BTreeMap, BTreeSet},
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@ -375,7 +376,7 @@ impl ProblemPoser for Point {
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}
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}
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pub trait Regulator: Serial + ProblemPoser + OutlineItem {
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pub trait Regulator: Any + Serial + ProblemPoser + OutlineItem {
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fn subjects(&self) -> Vec<Rc<dyn Element>>;
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fn measurement(&self) -> ReadSignal<f64>;
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fn set_point(&self) -> Signal<SpecifiedValue>;
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@ -385,6 +386,7 @@ pub trait Regulator: Serial + ProblemPoser + OutlineItem {
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fn distortion(&self) -> Option<ReadSignal<f64>> { /* KLUDGE */
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None
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}
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fn as_any(&self) -> &dyn Any;
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}
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impl Hash for dyn Regulator {
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@ -475,6 +477,10 @@ impl Regulator for InversiveDistanceRegulator {
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fn distortion(&self) -> Option<ReadSignal<f64>> {
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self.distortion
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}
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fn as_any(&self) -> &dyn Any {
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self
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}
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}
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impl Serial for InversiveDistanceRegulator {
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@ -535,6 +541,10 @@ impl Regulator for HalfCurvatureRegulator {
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fn set_point(&self) -> Signal<SpecifiedValue> {
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self.set_point
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}
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fn as_any(&self) -> &dyn Any {
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self
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}
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}
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impl Serial for HalfCurvatureRegulator {
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@ -587,9 +597,21 @@ impl Serial for PointCoordinateRegulator {
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}
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impl Regulator for PointCoordinateRegulator {
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fn subjects(&self) -> Vec<Rc<dyn Element>> { vec![self.subject.clone()] }
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fn measurement(&self) -> ReadSignal<f64> { self.measurement }
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fn set_point(&self) -> Signal<SpecifiedValue> { self.set_point }
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fn subjects(&self) -> Vec<Rc<dyn Element>> {
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vec![self.subject.clone()]
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}
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fn measurement(&self) -> ReadSignal<f64> {
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self.measurement
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}
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fn set_point(&self) -> Signal<SpecifiedValue> {
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self.set_point
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}
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fn as_any(&self) -> &dyn Any {
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self
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}
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}
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impl ProblemPoser for PointCoordinateRegulator {
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@ -12,6 +12,8 @@ use crate::{
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ElementColor,
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InversiveDistanceRegulator,
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Point,
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PointCoordinateRegulator,
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Regulator,
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Sphere,
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},
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engine,
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@ -3144,6 +3146,494 @@ fn load_554_domed(assembly: &Assembly) {
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}
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}
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fn load_554_domed_pinned(assembly: &Assembly) {
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// create the vertices
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const COLOR_A: ElementColor = [0.75_f32, 0.00_f32, 0.75_f32];
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const COLOR_Z: ElementColor = [1.00_f32, 0.40_f32, 0.60_f32];
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const COLOR_B: ElementColor = [1.00_f32, 0.00_f32, 0.25_f32];
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const COLOR_Y: ElementColor = [1.00_f32, 0.75_f32, 0.25_f32];
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const COLOR_C: ElementColor = [0.75_f32, 0.50_f32, 0.00_f32];
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const COLOR_D: ElementColor = [0.90_f32, 0.90_f32, 0.00_f32];
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const COLOR_E: ElementColor = [0.25_f32, 0.75_f32, 0.00_f32];
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const COLOR_F: ElementColor = [0.00_f32, 0.50_f32, 0.75_f32];
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const COLOR_G: ElementColor = [0.25_f32, 0.00_f32, 1.00_f32];
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const COLOR_H: ElementColor = COLOR_A;
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const COLOR_I: ElementColor = COLOR_B;
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const COLOR_J: ElementColor = COLOR_C;
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let vertices = [
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Point::new(
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"a_NE".to_string(),
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"A-NE".to_string(),
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COLOR_A,
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engine::point(0.5, 0.5, 0.0),
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),
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Point::new(
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"a_NW".to_string(),
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"A-NW".to_string(),
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COLOR_A,
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engine::point(-0.5, 0.5, 0.0),
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),
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Point::new(
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"a_SW".to_string(),
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"A-SW".to_string(),
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COLOR_A,
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engine::point(-0.5, -0.5, 0.0),
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),
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Point::new(
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"a_SE".to_string(),
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"A-SE".to_string(),
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COLOR_A,
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engine::point(0.5, -0.5, 0.0),
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),
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Point::new(
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"z_S".to_string(),
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"Z-S".to_string(),
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COLOR_Z,
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engine::point(0.0, -0.4, 0.6),
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),
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Point::new(
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"z_E".to_string(),
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"Z-E".to_string(),
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COLOR_Z,
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engine::point(0.4, 0.0, 0.6),
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),
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Point::new(
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"b_NE".to_string(),
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"B-NE".to_string(),
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COLOR_B,
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engine::point(0.7, 0.7, 0.9),
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),
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Point::new(
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"b_NW".to_string(),
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"B-NW".to_string(),
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COLOR_B,
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engine::point(-0.7, 0.7, 0.9),
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),
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Point::new(
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"b_SW".to_string(),
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"B-SW".to_string(),
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COLOR_B,
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engine::point(-0.7, -0.7, 0.9),
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),
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Point::new(
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"b_SE".to_string(),
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"B-SE".to_string(),
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COLOR_B,
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engine::point(0.7, -0.7, 0.9),
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),
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Point::new(
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"y_NE".to_string(),
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"Y-NE".to_string(),
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COLOR_Y,
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engine::point(0.1, 0.1, 1.0),
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),
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Point::new(
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"y_NW".to_string(),
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"Y-NW".to_string(),
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COLOR_Y,
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engine::point(-0.1, 0.1, 1.0),
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),
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Point::new(
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"y_SW".to_string(),
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"Y-SW".to_string(),
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COLOR_Y,
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engine::point(-0.1, -0.1, 1.0),
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),
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Point::new(
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"y_SE".to_string(),
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"Y-SE".to_string(),
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COLOR_Y,
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engine::point(0.1, -0.1, 1.0),
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),
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Point::new(
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"c_N".to_string(),
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"C-N".to_string(),
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COLOR_C,
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engine::point(0.0, 0.8, 1.4),
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),
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Point::new(
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"c_W".to_string(),
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"C-W".to_string(),
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COLOR_C,
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engine::point(-0.8, 0.0, 1.4),
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),
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Point::new(
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"c_S".to_string(),
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"C-S".to_string(),
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COLOR_C,
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engine::point(0.0, -0.8, 1.4),
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),
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Point::new(
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"c_E".to_string(),
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"C-E".to_string(),
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COLOR_C,
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engine::point(0.8, 0.0, 1.4),
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),
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Point::new(
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"d_NE".to_string(),
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"D-NE".to_string(),
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COLOR_D,
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engine::point(0.1, 0.1, 1.8),
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),
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Point::new(
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"d_NW".to_string(),
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"D-NW".to_string(),
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COLOR_D,
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engine::point(-0.1, 0.1, 1.8),
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),
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Point::new(
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"d_SW".to_string(),
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"D-SW".to_string(),
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COLOR_D,
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engine::point(-0.1, -0.1, 1.8),
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),
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Point::new(
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"d_SE".to_string(),
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"D-SE".to_string(),
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COLOR_D,
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engine::point(0.1, -0.1, 1.8),
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),
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Point::new(
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"e_N".to_string(),
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"E-N".to_string(),
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COLOR_E,
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engine::point(0.0, 0.7, 2.3),
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),
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Point::new(
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"e_W".to_string(),
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"E-W".to_string(),
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COLOR_E,
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engine::point(-0.7, 0.0, 2.3),
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),
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Point::new(
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"e_S".to_string(),
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"E-S".to_string(),
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COLOR_E,
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engine::point(0.0, -0.7, 2.3),
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),
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Point::new(
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"e_E".to_string(),
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"E-E".to_string(),
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COLOR_E,
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engine::point(0.7, 0.0, 2.3),
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),
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Point::new(
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"f_NE".to_string(),
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"F-NE".to_string(),
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COLOR_F,
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engine::point(0.2, 0.2, 2.7),
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),
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Point::new(
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"f_NW".to_string(),
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"F-NW".to_string(),
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COLOR_F,
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engine::point(-0.2, 0.2, 2.7),
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),
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Point::new(
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"f_SW".to_string(),
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"F-SW".to_string(),
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COLOR_F,
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engine::point(-0.2, -0.2, 2.7),
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),
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Point::new(
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"f_SE".to_string(),
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"F-SE".to_string(),
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COLOR_F,
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engine::point(0.2, -0.2, 2.7),
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),
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Point::new(
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"g_NNE".to_string(),
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"G-NNE".to_string(),
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COLOR_G,
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engine::point(0.5, 1.2, 3.0),
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),
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Point::new(
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"g_NNW".to_string(),
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"G-NNW".to_string(),
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COLOR_G,
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engine::point(-0.5, 1.2, 3.0),
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),
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Point::new(
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"g_WNW".to_string(),
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"G-WNW".to_string(),
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COLOR_G,
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engine::point(-1.2, 0.5, 3.0),
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),
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Point::new(
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"g_WSW".to_string(),
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"G-WSW".to_string(),
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COLOR_G,
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engine::point(-1.2, -0.5, 3.0),
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),
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Point::new(
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"g_SSW".to_string(),
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"G-SSW".to_string(),
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COLOR_G,
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engine::point(-0.5, -1.2, 3.0),
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),
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Point::new(
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"g_SSE".to_string(),
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"G-SSE".to_string(),
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COLOR_G,
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engine::point(0.5, -1.2, 3.0),
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),
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Point::new(
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"g_ESE".to_string(),
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"G-ESE".to_string(),
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COLOR_G,
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engine::point(1.2, -0.5, 3.0),
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),
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Point::new(
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"g_ENE".to_string(),
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"G-ENE".to_string(),
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COLOR_G,
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engine::point(1.2, 0.5, 3.0),
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),
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Point::new(
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"h_N".to_string(),
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"H-N".to_string(),
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COLOR_H,
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engine::point(0.0, 0.6, 2.9),
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),
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Point::new(
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"h_W".to_string(),
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"H-W".to_string(),
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COLOR_H,
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engine::point(-0.6, 0.0, 2.9),
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),
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Point::new(
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"h_S".to_string(),
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"H-S".to_string(),
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COLOR_H,
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engine::point(0.0, -0.6, 2.9),
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),
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Point::new(
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"h_E".to_string(),
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"H-E".to_string(),
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COLOR_H,
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engine::point(0.6, 0.0, 2.9),
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),
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Point::new(
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"i_NE".to_string(),
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"I-NE".to_string(),
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COLOR_I,
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engine::point(0.5, 0.5, 3.5),
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),
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Point::new(
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"i_NW".to_string(),
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"I-NW".to_string(),
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COLOR_I,
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engine::point(-0.5, 0.5, 3.5),
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),
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Point::new(
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"i_SW".to_string(),
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"I-SW".to_string(),
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COLOR_I,
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engine::point(-0.5, -0.5, 3.5),
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),
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Point::new(
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"i_SE".to_string(),
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"I-SE".to_string(),
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COLOR_I,
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engine::point(0.5, -0.5, 3.5),
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),
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Point::new(
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"j".to_string(),
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"J".to_string(),
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COLOR_J,
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engine::point(0.0, 0.0, 3.0),
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),
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];
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for vertex in vertices {
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let _ = assembly.try_insert_element(vertex);
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}
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// fix the distances between adjacent vertices
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let struts: Vec<_> = vec![
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(false, 1.0, vec![
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["a_SE", "b_SE"],
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["b_SW", "c_S"],
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["b_SE", "c_S"],
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["b_SE", "c_E"],
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["b_NE", "c_E"],
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["z_S", "a_SW"],
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["z_S", "a_SE"],
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["z_E", "a_SE"],
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["z_E", "a_NE"],
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["z_S", "b_SW"],
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["z_S", "b_SE"],
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["z_E", "b_SE"],
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["z_E", "b_NE"],
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["z_S", "c_S"],
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["z_E", "c_E"],
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["c_N", "d_NE"],
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["c_N", "d_NW"],
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["c_W", "d_NW"],
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["c_W", "d_SW"],
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["c_S", "d_SW"],
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["c_S", "d_SE"],
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["c_E", "d_SE"],
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["c_E", "d_NE"],
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["y_NE", "b_NE"],
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["y_NW", "b_NW"],
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["y_SW", "b_SW"],
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["y_SE", "b_SE"],
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["y_NE", "c_N"],
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["y_NW", "c_N"],
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["y_NW", "c_W"],
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["y_SW", "c_W"],
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["y_SW", "c_S"],
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["y_SE", "c_S"],
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["y_SE", "c_E"],
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["y_NE", "c_E"],
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["y_NE", "d_NE"],
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["y_NW", "d_NW"],
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["y_SW", "d_SW"],
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["y_SE", "d_SE"],
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["d_NE", "e_N"],
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["d_NW", "e_N"],
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["d_NW", "e_W"],
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["d_SW", "e_W"],
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["d_SW", "e_S"],
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["d_SE", "e_S"],
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["d_SE", "e_E"],
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["d_NE", "e_E"],
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["c_N", "e_N"],
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["c_W", "e_W"],
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["c_S", "e_S"],
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["c_E", "e_E"],
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["e_N", "f_NE"],
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["e_N", "f_NW"],
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["e_W", "f_NW"],
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["e_W", "f_SW"],
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["e_S", "f_SW"],
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["e_S", "f_SE"],
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["e_E", "f_SE"],
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["e_E", "f_NE"],
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["d_NE", "f_NE"],
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["d_NW", "f_NW"],
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["d_SW", "f_SW"],
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["d_SE", "f_SE"],
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["f_NE", "g_ENE"],
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["f_NE", "g_NNE"],
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["f_NW", "g_NNW"],
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["f_NW", "g_WNW"],
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["f_SW", "g_WSW"],
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["f_SW", "g_SSW"],
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["f_SE", "g_SSE"],
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["f_SE", "g_ESE"],
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["e_N", "g_NNE"],
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["e_N", "g_NNW"],
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["e_W", "g_WNW"],
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["e_W", "g_WSW"],
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["e_S", "g_SSW"],
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["e_S", "g_SSE"],
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["e_E", "g_ESE"],
|
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["e_E", "g_ENE"],
|
||||
["g_NNE", "g_NNW"],
|
||||
["g_NNW", "g_WNW"],
|
||||
["g_WNW", "g_WSW"],
|
||||
["g_WSW", "g_SSW"],
|
||||
["g_SSW", "g_SSE"],
|
||||
["g_SSE", "g_ESE"],
|
||||
["g_ESE", "g_ENE"],
|
||||
["g_ENE", "g_NNE"],
|
||||
["g_NNE", "h_N"],
|
||||
["g_NNW", "h_N"],
|
||||
["g_WNW", "h_W"],
|
||||
["g_WSW", "h_W"],
|
||||
["g_SSW", "h_S"],
|
||||
["g_SSE", "h_S"],
|
||||
["g_ESE", "h_E"],
|
||||
["g_ENE", "h_E"],
|
||||
["h_N", "i_NE"],
|
||||
["h_N", "i_NW"],
|
||||
["h_W", "i_NW"],
|
||||
["h_W", "i_SW"],
|
||||
["h_S", "i_SW"],
|
||||
["h_S", "i_SE"],
|
||||
["h_E", "i_SE"],
|
||||
["h_E", "i_NE"],
|
||||
["g_NNE", "i_NE"],
|
||||
["g_NNW", "i_NW"],
|
||||
["g_WNW", "i_NW"],
|
||||
["g_WSW", "i_SW"],
|
||||
["g_SSW", "i_SW"],
|
||||
["g_SSE", "i_SE"],
|
||||
["g_ESE", "i_SE"],
|
||||
["g_ENE", "i_NE"],
|
||||
["i_NE", "i_NW"],
|
||||
["i_NW", "i_SW"],
|
||||
["i_SW", "i_SE"],
|
||||
["i_SE", "i_NE"],
|
||||
["i_NE", "j"],
|
||||
["i_NW", "j"],
|
||||
["i_SW", "j"],
|
||||
["i_SE", "j"],
|
||||
]),
|
||||
];
|
||||
for (soft, length, vertex_pairs) in struts {
|
||||
let inv_dist = Some(-0.5 * length * length);
|
||||
for pair in vertex_pairs {
|
||||
let adjacent_vertices = pair.map(
|
||||
|id| assembly.elements_by_id.with_untracked(
|
||||
|elts_by_id| elts_by_id[id].clone()
|
||||
)
|
||||
);
|
||||
let distance = InversiveDistanceRegulator::new(adjacent_vertices);
|
||||
distance.set_point.set(SpecifiedValue::from(inv_dist));
|
||||
distance.soft.set(soft);
|
||||
assembly.insert_regulator(Rc::new(distance));
|
||||
}
|
||||
}
|
||||
|
||||
// pin the vertices of the rigid faces
|
||||
let phi = 0.5 + 1.25_f64.sqrt(); /* TO DO */ // replace with std::f64::consts::PHI when that gets stabilized
|
||||
let phi_2 = 0.5 * phi;
|
||||
let height_b = phi_2.sqrt();
|
||||
let height_c = (phi + 0.5).sqrt();
|
||||
let pinned_vertices = [
|
||||
("a_NE", [0.5, 0.5, 0.0]),
|
||||
("a_NW", [-0.5, 0.5, 0.0]),
|
||||
("a_SW", [-0.5, -0.5, 0.0]),
|
||||
("a_SE", [0.5, -0.5, 0.0]),
|
||||
("b_NE", [phi_2, phi_2, height_b]),
|
||||
("b_NW", [-phi_2, phi_2, height_b]),
|
||||
("b_SW", [-phi_2, -phi_2, height_b]),
|
||||
("c_N", [0.0, 1.0, height_c]),
|
||||
("c_W", [-1.0, 0.0, height_c]),
|
||||
];
|
||||
for (id, coords) in pinned_vertices {
|
||||
// get the point's coordinate regulators
|
||||
let point = assembly.elements_by_id.with_untracked(
|
||||
|elts_by_id| elts_by_id[id].clone()
|
||||
);
|
||||
let coord_regs: Vec<Rc<dyn Regulator>> = point.regulators().with_untracked(
|
||||
|regs| regs.into_iter().filter_map(
|
||||
/* KLUDGE */
|
||||
// there must be a better way to do the type-checking here
|
||||
move |reg| reg
|
||||
.as_any()
|
||||
.downcast_ref::<PointCoordinateRegulator>()
|
||||
.map(|_| reg.clone())
|
||||
).collect()
|
||||
);
|
||||
|
||||
// set the coordinates
|
||||
for reg in coord_regs {
|
||||
let reg_downcast_ref = reg
|
||||
.as_any()
|
||||
.downcast_ref::<PointCoordinateRegulator>();
|
||||
if let Some(coord_reg) = reg_downcast_ref {
|
||||
let coord_val = SpecifiedValue::from(
|
||||
Some(coords[coord_reg.axis as usize])
|
||||
);
|
||||
reg.set_point().set(coord_val);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// --- chooser ---
|
||||
|
||||
/* DEBUG */
|
||||
|
|
@ -3185,6 +3675,7 @@ pub fn TestAssemblyChooser() -> View {
|
|||
"554-aug1-inner" => load_554_aug1_inner(assembly),
|
||||
"554-aug2" => load_554_aug2(assembly),
|
||||
"554-domed" => load_554_domed(assembly),
|
||||
"554-domed-pinned" => load_554_domed_pinned(assembly),
|
||||
_ => (),
|
||||
};
|
||||
});
|
||||
|
|
@ -3207,6 +3698,7 @@ pub fn TestAssemblyChooser() -> View {
|
|||
option(value = "554-aug1-inner") { "5-5-4 once augmented (inner)" }
|
||||
option(value = "554-aug2") { "5-5-4 twice augmented" }
|
||||
option(value = "554-domed") { "5-5-4 domed" }
|
||||
option(value = "554-domed-pinned") { "5-5-4 domed (pinned)" }
|
||||
option(value = "empty") { "Empty" }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue