forked from StudioInfinity/dyna3
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7 changed files with 1371 additions and 305 deletions
788
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788
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||||
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|
||||
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|
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|
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|
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|
||||
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|
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|
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|
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|
||||
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||||
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|
||||
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|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
|
||||
dependencies = [
|
||||
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|
||||
"quote",
|
||||
"syn",
|
||||
]
|
||||
|
|
@ -1,26 +1,19 @@
|
|||
use nalgebra::DMatrix;
|
||||
|
||||
use dyna3::engine::{Q, point, realize_gram, sphere, PartialMatrix};
|
||||
use dyna3::engine::{Q, point, realize_gram, sphere, ConstraintProblem};
|
||||
|
||||
fn main() {
|
||||
let gram = {
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
for j in 0..2 {
|
||||
for k in j..2 {
|
||||
gram_to_be.push_sym(j, k, if (j, k) == (1, 1) { 1.0 } else { 0.0 });
|
||||
}
|
||||
}
|
||||
gram_to_be
|
||||
};
|
||||
let guess = DMatrix::from_columns(&[
|
||||
let mut problem = ConstraintProblem::from_guess(&[
|
||||
point(0.0, 0.0, 2.0),
|
||||
sphere(0.0, 0.0, 0.0, 1.0)
|
||||
]);
|
||||
let frozen = [(3, 0)];
|
||||
for j in 0..2 {
|
||||
for k in j..2 {
|
||||
problem.gram.push_sym(j, k, if (j, k) == (1, 1) { 1.0 } else { 0.0 });
|
||||
}
|
||||
}
|
||||
problem.frozen.push(3, 0, problem.guess[(3, 0)]);
|
||||
println!();
|
||||
let (config, _, success, history) = realize_gram(
|
||||
&gram, guess, &frozen,
|
||||
1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
&problem, 1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
print!("\nCompleted Gram matrix:{}", config.tr_mul(&*Q) * &config);
|
||||
print!("Configuration:{}", config);
|
||||
|
|
|
|||
|
|
@ -1,29 +1,22 @@
|
|||
use nalgebra::DMatrix;
|
||||
|
||||
use dyna3::engine::{Q, realize_gram, sphere, PartialMatrix};
|
||||
use dyna3::engine::{Q, realize_gram, sphere, ConstraintProblem};
|
||||
|
||||
fn main() {
|
||||
let gram = {
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
for j in 0..3 {
|
||||
for k in j..3 {
|
||||
gram_to_be.push_sym(j, k, if j == k { 1.0 } else { -1.0 });
|
||||
}
|
||||
}
|
||||
gram_to_be
|
||||
};
|
||||
let guess = {
|
||||
let mut problem = ConstraintProblem::from_guess({
|
||||
let a: f64 = 0.75_f64.sqrt();
|
||||
DMatrix::from_columns(&[
|
||||
&[
|
||||
sphere(1.0, 0.0, 0.0, 1.0),
|
||||
sphere(-0.5, a, 0.0, 1.0),
|
||||
sphere(-0.5, -a, 0.0, 1.0)
|
||||
])
|
||||
};
|
||||
]
|
||||
});
|
||||
for j in 0..3 {
|
||||
for k in j..3 {
|
||||
problem.gram.push_sym(j, k, if j == k { 1.0 } else { -1.0 });
|
||||
}
|
||||
}
|
||||
println!();
|
||||
let (config, _, success, history) = realize_gram(
|
||||
&gram, guess, &[],
|
||||
1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
&problem, 1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
print!("\nCompleted Gram matrix:{}", config.tr_mul(&*Q) * &config);
|
||||
if success {
|
||||
|
|
|
|||
|
|
@ -166,18 +166,7 @@ pub fn AddRemove() -> View {
|
|||
button(
|
||||
on:click=|_| {
|
||||
let state = use_context::<AppState>();
|
||||
state.assembly.insert_new_element();
|
||||
|
||||
/* DEBUG */
|
||||
// print updated list of elements by identifier
|
||||
console::log_1(&JsValue::from("elements by identifier:"));
|
||||
for (id, key) in state.assembly.elements_by_id.get_clone().iter() {
|
||||
console::log_3(
|
||||
&JsValue::from(" "),
|
||||
&JsValue::from(id),
|
||||
&JsValue::from(*key)
|
||||
);
|
||||
}
|
||||
state.assembly.insert_new_sphere();
|
||||
}
|
||||
) { "+" }
|
||||
button(
|
||||
|
|
@ -188,13 +177,18 @@ pub fn AddRemove() -> View {
|
|||
},
|
||||
on:click=|_| {
|
||||
let state = use_context::<AppState>();
|
||||
let subjects = state.selection.with(
|
||||
|sel| {
|
||||
let subject_vec: Vec<_> = sel.into_iter().collect();
|
||||
(subject_vec[0].clone(), subject_vec[1].clone())
|
||||
}
|
||||
let subjects: [_; 2] = state.selection.with(
|
||||
// the button is only enabled when two elements are
|
||||
// selected, so we know the cast to a two-element array
|
||||
// will succeed
|
||||
|sel| sel
|
||||
.clone()
|
||||
.into_iter()
|
||||
.collect::<Vec<_>>()
|
||||
.try_into()
|
||||
.unwrap()
|
||||
);
|
||||
state.assembly.insert_new_regulator(subjects);
|
||||
state.assembly.insert_new_product_regulator(subjects);
|
||||
state.selection.update(|sel| sel.clear());
|
||||
}
|
||||
) { "🔗" }
|
||||
|
|
|
|||
|
|
@ -1,12 +1,20 @@
|
|||
use nalgebra::{DMatrix, DVector, DVectorView, Vector3};
|
||||
use rustc_hash::FxHashMap;
|
||||
use slab::Slab;
|
||||
use std::{collections::BTreeSet, sync::atomic::{AtomicU64, Ordering}};
|
||||
use std::{collections::BTreeSet, rc::Rc, sync::atomic::{AtomicU64, Ordering}};
|
||||
use sycamore::prelude::*;
|
||||
use web_sys::{console, wasm_bindgen::JsValue}; /* DEBUG */
|
||||
|
||||
use crate::{
|
||||
engine::{Q, local_unif_to_std, realize_gram, ConfigSubspace, PartialMatrix},
|
||||
engine::{
|
||||
Q,
|
||||
local_unif_to_std,
|
||||
realize_gram,
|
||||
sphere,
|
||||
ConfigSubspace,
|
||||
ConstraintProblem
|
||||
},
|
||||
outline::OutlineItem,
|
||||
specified::SpecifiedValue
|
||||
};
|
||||
|
||||
|
|
@ -30,8 +38,8 @@ pub struct Element {
|
|||
pub color: ElementColor,
|
||||
pub representation: Signal<DVector<f64>>,
|
||||
|
||||
// All regulators with this element as a subject. The assembly owning
|
||||
// this element is responsible for keeping this set up to date.
|
||||
// the regulators this element is subject to. the assembly that owns the
|
||||
// element is responsible for keeping this set up to date
|
||||
pub regulators: Signal<BTreeSet<RegulatorKey>>,
|
||||
|
||||
// a serial number, assigned by `Element::new`, that uniquely identifies
|
||||
|
|
@ -115,15 +123,95 @@ impl Element {
|
|||
None
|
||||
}
|
||||
}
|
||||
|
||||
fn write_to_problem(&self, problem: &mut ConstraintProblem) {
|
||||
if let Some(index) = self.column_index {
|
||||
problem.gram.push_sym(index, index, 1.0);
|
||||
problem.guess.set_column(index, &self.representation.get_clone_untracked());
|
||||
} else {
|
||||
panic!("Tried to write problem data from an unindexed element: \"{}\"", self.id);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone, Copy)]
|
||||
pub struct Regulator {
|
||||
pub subjects: (ElementKey, ElementKey),
|
||||
pub trait Regulator: OutlineItem {
|
||||
// get information
|
||||
fn subjects(&self) -> Vec<ElementKey>;
|
||||
fn measurement(&self) -> ReadSignal<f64>;
|
||||
fn set_point(&self) -> Signal<SpecifiedValue>;
|
||||
|
||||
// write problem data
|
||||
fn write_to_problem(&self, problem: &mut ConstraintProblem, elts: &Slab<Element>);
|
||||
}
|
||||
|
||||
pub struct ProductRegulator {
|
||||
pub subjects: [ElementKey; 2],
|
||||
pub measurement: ReadSignal<f64>,
|
||||
pub set_point: Signal<SpecifiedValue>
|
||||
}
|
||||
|
||||
impl Regulator for ProductRegulator {
|
||||
fn subjects(&self) -> Vec<ElementKey> {
|
||||
self.subjects.into()
|
||||
}
|
||||
|
||||
fn measurement(&self) -> ReadSignal<f64> {
|
||||
self.measurement
|
||||
}
|
||||
|
||||
fn set_point(&self) -> Signal<SpecifiedValue> {
|
||||
self.set_point
|
||||
}
|
||||
|
||||
fn write_to_problem(&self, problem: &mut ConstraintProblem, elts: &Slab<Element>) {
|
||||
self.set_point.with_untracked(|set_pt| {
|
||||
if let Some(val) = set_pt.value {
|
||||
let subject_column_indices = self.subjects.map(
|
||||
|subj| elts[subj].column_index
|
||||
);
|
||||
if let [Some(row), Some(col)] = subject_column_indices {
|
||||
problem.gram.push_sym(row, col, val);
|
||||
} else {
|
||||
panic!("Tried to write problem data from a regulator with an unindexed subject");
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
pub struct HalfCurvatureRegulator {
|
||||
pub subject: ElementKey,
|
||||
pub measurement: ReadSignal<f64>,
|
||||
pub set_point: Signal<SpecifiedValue>
|
||||
}
|
||||
|
||||
impl Regulator for HalfCurvatureRegulator {
|
||||
fn subjects(&self) -> Vec<ElementKey> {
|
||||
vec![self.subject]
|
||||
}
|
||||
|
||||
fn measurement(&self) -> ReadSignal<f64> {
|
||||
self.measurement
|
||||
}
|
||||
|
||||
fn set_point(&self) -> Signal<SpecifiedValue> {
|
||||
self.set_point
|
||||
}
|
||||
|
||||
fn write_to_problem(&self, problem: &mut ConstraintProblem, elts: &Slab<Element>) {
|
||||
self.set_point.with_untracked(|set_pt| {
|
||||
if let Some(val) = set_pt.value {
|
||||
if let Some(col) = elts[self.subject].column_index {
|
||||
const CURVATURE_COMPONENT: usize = 3;
|
||||
problem.frozen.push(CURVATURE_COMPONENT, col, val);
|
||||
} else {
|
||||
panic!("Tried to write problem data from a regulator with an unindexed subject");
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
// the velocity is expressed in uniform coordinates
|
||||
pub struct ElementMotion<'a> {
|
||||
pub key: ElementKey,
|
||||
|
|
@ -137,7 +225,7 @@ type AssemblyMotion<'a> = Vec<ElementMotion<'a>>;
|
|||
pub struct Assembly {
|
||||
// elements and regulators
|
||||
pub elements: Signal<Slab<Element>>,
|
||||
pub regulators: Signal<Slab<Regulator>>,
|
||||
pub regulators: Signal<Slab<Rc<dyn Regulator>>>,
|
||||
|
||||
// solution variety tangent space. the basis vectors are stored in
|
||||
// configuration matrix format, ordered according to the elements' column
|
||||
|
|
@ -170,23 +258,25 @@ impl Assembly {
|
|||
// insert an element into the assembly without checking whether we already
|
||||
// have an element with the same identifier. any element that does have the
|
||||
// same identifier will get kicked out of the `elements_by_id` index
|
||||
fn insert_element_unchecked(&self, elt: Element) {
|
||||
fn insert_element_unchecked(&self, elt: Element) -> ElementKey {
|
||||
let id = elt.id.clone();
|
||||
let key = self.elements.update(|elts| elts.insert(elt));
|
||||
self.elements_by_id.update(|elts_by_id| elts_by_id.insert(id, key));
|
||||
key
|
||||
}
|
||||
|
||||
pub fn try_insert_element(&self, elt: Element) -> bool {
|
||||
pub fn try_insert_element(&self, elt: Element) -> Option<ElementKey> {
|
||||
let can_insert = self.elements_by_id.with_untracked(
|
||||
|elts_by_id| !elts_by_id.contains_key(&elt.id)
|
||||
);
|
||||
if can_insert {
|
||||
self.insert_element_unchecked(elt);
|
||||
Some(self.insert_element_unchecked(elt))
|
||||
} else {
|
||||
None
|
||||
}
|
||||
can_insert
|
||||
}
|
||||
|
||||
pub fn insert_new_element(&self) {
|
||||
pub fn insert_new_sphere(self) {
|
||||
// find the next unused identifier in the default sequence
|
||||
let mut id_num = 1;
|
||||
let mut id = format!("sphere{}", id_num);
|
||||
|
|
@ -197,67 +287,81 @@ impl Assembly {
|
|||
id = format!("sphere{}", id_num);
|
||||
}
|
||||
|
||||
// create and insert a new element
|
||||
self.insert_element_unchecked(
|
||||
// create and insert a sphere
|
||||
let key = self.insert_element_unchecked(
|
||||
Element::new(
|
||||
id,
|
||||
format!("Sphere {}", id_num),
|
||||
[0.75_f32, 0.75_f32, 0.75_f32],
|
||||
DVector::<f64>::from_column_slice(&[0.0, 0.0, 0.0, 0.5, -0.5])
|
||||
sphere(0.0, 0.0, 0.0, 1.0)
|
||||
)
|
||||
);
|
||||
|
||||
// create and insert a curvature regulator
|
||||
self.insert_new_half_curvature_regulator(key);
|
||||
}
|
||||
|
||||
fn insert_regulator(&self, regulator: Regulator) {
|
||||
let subjects = regulator.subjects;
|
||||
let key = self.regulators.update(|regs| regs.insert(regulator));
|
||||
let subject_regulators = self.elements.with(
|
||||
|elts| (elts[subjects.0].regulators, elts[subjects.1].regulators)
|
||||
fn insert_regulator(&self, regulator: Rc<dyn Regulator>) {
|
||||
let subjects = regulator.subjects();
|
||||
let key = self.regulators.update(
|
||||
|regs| regs.insert(regulator)
|
||||
);
|
||||
subject_regulators.0.update(|regs| regs.insert(key));
|
||||
subject_regulators.1.update(|regs| regs.insert(key));
|
||||
}
|
||||
|
||||
pub fn insert_new_regulator(self, subjects: (ElementKey, ElementKey)) {
|
||||
// create and insert a new regulator
|
||||
let measurement = self.elements.map(
|
||||
move |elts| {
|
||||
let reps = (
|
||||
elts[subjects.0].representation.get_clone(),
|
||||
elts[subjects.1].representation.get_clone()
|
||||
);
|
||||
reps.0.dot(&(&*Q * reps.1))
|
||||
}
|
||||
let subject_regulators: Vec<_> = self.elements.with(
|
||||
|elts| subjects.into_iter().map(
|
||||
|subj| elts[subj].regulators
|
||||
).collect()
|
||||
);
|
||||
let set_point = create_signal(SpecifiedValue::from_empty_spec());
|
||||
self.insert_regulator(Regulator {
|
||||
subjects: subjects,
|
||||
measurement: measurement,
|
||||
set_point: set_point
|
||||
});
|
||||
for regulators in subject_regulators {
|
||||
regulators.update(|regs| regs.insert(key));
|
||||
}
|
||||
|
||||
/* DEBUG */
|
||||
// print an updated list of regulators
|
||||
console::log_1(&JsValue::from("Regulators:"));
|
||||
self.regulators.with(|regs| {
|
||||
for (_, reg) in regs.into_iter() {
|
||||
console::log_5(
|
||||
&JsValue::from(" "),
|
||||
&JsValue::from(reg.subjects.0),
|
||||
&JsValue::from(reg.subjects.1),
|
||||
&JsValue::from(":"),
|
||||
®.set_point.with_untracked(
|
||||
|set_pt| JsValue::from(set_pt.spec.as_str())
|
||||
console::log_1(&JsValue::from(format!(
|
||||
" {:?}: {}",
|
||||
reg.subjects(),
|
||||
reg.set_point().with_untracked(
|
||||
|set_pt| {
|
||||
let spec = &set_pt.spec;
|
||||
if spec.is_empty() {
|
||||
"__".to_string()
|
||||
} else {
|
||||
spec.clone()
|
||||
}
|
||||
}
|
||||
)
|
||||
);
|
||||
)));
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
pub fn insert_new_product_regulator(self, subjects: [ElementKey; 2]) {
|
||||
// create and insert a new product regulator
|
||||
let measurement = self.elements.map(
|
||||
move |elts| {
|
||||
let representations = subjects.map(|subj| elts[subj].representation);
|
||||
representations[0].with(|rep_0|
|
||||
representations[1].with(|rep_1|
|
||||
rep_0.dot(&(&*Q * rep_1))
|
||||
)
|
||||
)
|
||||
}
|
||||
);
|
||||
let set_point = create_signal(SpecifiedValue::from_empty_spec());
|
||||
self.insert_regulator(Rc::new(ProductRegulator {
|
||||
subjects: subjects,
|
||||
measurement: measurement,
|
||||
set_point: set_point
|
||||
}));
|
||||
|
||||
// update the realization when the regulator becomes a constraint, or is
|
||||
// edited while acting as a constraint
|
||||
create_effect(move || {
|
||||
console::log_1(&JsValue::from(
|
||||
format!("Updated constraint with subjects ({}, {})", subjects.0, subjects.1)
|
||||
format!("Updated regulator with subjects {:?}", subjects)
|
||||
));
|
||||
if set_point.with(|set_pt| set_pt.is_present()) {
|
||||
self.realize();
|
||||
|
|
@ -265,6 +369,64 @@ impl Assembly {
|
|||
});
|
||||
}
|
||||
|
||||
pub fn insert_new_half_curvature_regulator(self, subject: ElementKey) {
|
||||
// create and insert a new half-curvature regulator
|
||||
let measurement = self.elements.map(
|
||||
move |elts| elts[subject].representation.with(|rep| rep[3])
|
||||
);
|
||||
let set_point = create_signal(SpecifiedValue::from_empty_spec());
|
||||
self.insert_regulator(Rc::new(HalfCurvatureRegulator {
|
||||
subject: subject,
|
||||
measurement: measurement,
|
||||
set_point: set_point
|
||||
}));
|
||||
|
||||
// update the realization when the regulator becomes a constraint, or is
|
||||
// edited while acting as a constraint
|
||||
create_effect(move || {
|
||||
console::log_1(&JsValue::from(
|
||||
format!("Updated regulator with subjects [{}]", subject)
|
||||
));
|
||||
if let Some(half_curv) = set_point.with(|set_pt| set_pt.value) {
|
||||
let representation = self.elements.with(
|
||||
|elts| elts[subject].representation
|
||||
);
|
||||
representation.update(|rep| {
|
||||
// set the sphere's half-curvature to the desired value
|
||||
rep[3] = half_curv;
|
||||
|
||||
// restore normalization by contracting toward the curvature
|
||||
// axis
|
||||
const SIZE_THRESHOLD: f64 = 1e-9;
|
||||
let half_q_lt = -2.0 * half_curv * rep[4];
|
||||
let half_q_lt_sq = half_q_lt * half_q_lt;
|
||||
let mut spatial = rep.fixed_rows_mut::<3>(0);
|
||||
let q_sp = spatial.norm_squared();
|
||||
if q_sp < SIZE_THRESHOLD && half_q_lt_sq < SIZE_THRESHOLD {
|
||||
spatial.copy_from_slice(
|
||||
&[0.0, 0.0, (1.0 - 2.0 * half_q_lt).sqrt()]
|
||||
);
|
||||
} else {
|
||||
let scaling = half_q_lt + (q_sp + half_q_lt_sq).sqrt();
|
||||
spatial.scale_mut(1.0 / scaling);
|
||||
rep[4] /= scaling;
|
||||
}
|
||||
|
||||
/* DEBUG */
|
||||
// verify normalization
|
||||
let rep_for_debug = rep.clone();
|
||||
console::log_1(&JsValue::from(
|
||||
format!(
|
||||
"Sphere self-product after curvature change: {}",
|
||||
rep_for_debug.dot(&(&*Q * &rep_for_debug))
|
||||
)
|
||||
));
|
||||
});
|
||||
self.realize();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
// --- realization ---
|
||||
|
||||
pub fn realize(&self) {
|
||||
|
|
@ -275,55 +437,39 @@ impl Assembly {
|
|||
}
|
||||
});
|
||||
|
||||
// set up the Gram matrix and the initial configuration matrix
|
||||
let (gram, guess) = self.elements.with_untracked(|elts| {
|
||||
// set up the off-diagonal part of the Gram matrix
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
// set up the constraint problem
|
||||
let problem = self.elements.with_untracked(|elts| {
|
||||
let mut problem_to_be = ConstraintProblem::new(elts.len());
|
||||
for (_, elt) in elts {
|
||||
elt.write_to_problem(&mut problem_to_be);
|
||||
}
|
||||
self.regulators.with_untracked(|regs| {
|
||||
for (_, reg) in regs {
|
||||
reg.set_point.with_untracked(|set_pt| {
|
||||
if let Some(val) = set_pt.value {
|
||||
let subjects = reg.subjects;
|
||||
let row = elts[subjects.0].column_index.unwrap();
|
||||
let col = elts[subjects.1].column_index.unwrap();
|
||||
gram_to_be.push_sym(row, col, val);
|
||||
}
|
||||
});
|
||||
reg.write_to_problem(&mut problem_to_be, elts);
|
||||
}
|
||||
});
|
||||
|
||||
// set up the initial configuration matrix and the diagonal of the
|
||||
// Gram matrix
|
||||
let mut guess_to_be = DMatrix::<f64>::zeros(5, elts.len());
|
||||
for (_, elt) in elts {
|
||||
let index = elt.column_index.unwrap();
|
||||
gram_to_be.push_sym(index, index, 1.0);
|
||||
guess_to_be.set_column(index, &elt.representation.get_clone_untracked());
|
||||
}
|
||||
|
||||
(gram_to_be, guess_to_be)
|
||||
problem_to_be
|
||||
});
|
||||
|
||||
/* DEBUG */
|
||||
// log the Gram matrix
|
||||
console::log_1(&JsValue::from("Gram matrix:"));
|
||||
gram.log_to_console();
|
||||
problem.gram.log_to_console();
|
||||
|
||||
/* DEBUG */
|
||||
// log the initial configuration matrix
|
||||
console::log_1(&JsValue::from("Old configuration:"));
|
||||
for j in 0..guess.nrows() {
|
||||
for j in 0..problem.guess.nrows() {
|
||||
let mut row_str = String::new();
|
||||
for k in 0..guess.ncols() {
|
||||
row_str.push_str(format!(" {:>8.3}", guess[(j, k)]).as_str());
|
||||
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));
|
||||
}
|
||||
|
||||
// look for a configuration with the given Gram matrix
|
||||
let (config, tangent, success, history) = realize_gram(
|
||||
&gram, guess, &[],
|
||||
1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
&problem, 1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
|
||||
/* DEBUG */
|
||||
|
|
@ -458,4 +604,48 @@ impl Assembly {
|
|||
// sync
|
||||
self.realize();
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::engine;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
#[should_panic(expected = "Tried to write problem data from an unindexed element: \"sphere\"")]
|
||||
fn unindexed_element_test() {
|
||||
let _ = create_root(|| {
|
||||
Element::new(
|
||||
"sphere".to_string(),
|
||||
"Sphere".to_string(),
|
||||
[1.0_f32, 1.0_f32, 1.0_f32],
|
||||
engine::sphere(0.0, 0.0, 0.0, 1.0)
|
||||
).write_to_problem(&mut ConstraintProblem::new(1));
|
||||
});
|
||||
}
|
||||
|
||||
#[test]
|
||||
#[should_panic(expected = "Tried to write problem data from a regulator with an unindexed subject")]
|
||||
fn unindexed_subject_test() {
|
||||
let _ = create_root(|| {
|
||||
let mut elts = Slab::new();
|
||||
let subjects = [0, 1].map(|k| {
|
||||
elts.insert(
|
||||
Element::new(
|
||||
format!("sphere{k}"),
|
||||
format!("Sphere {k}"),
|
||||
[1.0_f32, 1.0_f32, 1.0_f32],
|
||||
engine::sphere(0.0, 0.0, 0.0, 1.0)
|
||||
)
|
||||
)
|
||||
});
|
||||
elts[subjects[0]].column_index = Some(0);
|
||||
ProductRegulator {
|
||||
subjects: subjects,
|
||||
measurement: create_memo(|| 0.0),
|
||||
set_point: create_signal(SpecifiedValue::try_from("0.0".to_string()).unwrap())
|
||||
}.write_to_problem(&mut ConstraintProblem::new(2), &elts);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -37,7 +37,7 @@ pub fn sphere_with_offset(dir_x: f64, dir_y: f64, dir_z: f64, off: f64, curv: f6
|
|||
|
||||
// --- partial matrices ---
|
||||
|
||||
struct MatrixEntry {
|
||||
pub struct MatrixEntry {
|
||||
index: (usize, usize),
|
||||
value: f64
|
||||
}
|
||||
|
|
@ -49,42 +49,72 @@ impl PartialMatrix {
|
|||
PartialMatrix(Vec::<MatrixEntry>::new())
|
||||
}
|
||||
|
||||
pub fn push_sym(&mut self, row: usize, col: usize, value: f64) {
|
||||
pub fn push(&mut self, row: usize, col: usize, value: f64) {
|
||||
let PartialMatrix(entries) = self;
|
||||
entries.push(MatrixEntry { index: (row, col), value: value });
|
||||
}
|
||||
|
||||
pub fn push_sym(&mut self, row: usize, col: usize, value: f64) {
|
||||
self.push(row, col, value);
|
||||
if row != col {
|
||||
entries.push(MatrixEntry { index: (col, row), value: value });
|
||||
self.push(col, row, value);
|
||||
}
|
||||
}
|
||||
|
||||
/* DEBUG */
|
||||
pub fn log_to_console(&self) {
|
||||
let PartialMatrix(entries) = self;
|
||||
for ent in entries {
|
||||
let ent_str = format!(" {} {} {}", ent.index.0, ent.index.1, ent.value);
|
||||
console::log_1(&JsValue::from(ent_str.as_str()));
|
||||
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 {
|
||||
result[index] = value;
|
||||
}
|
||||
result
|
||||
}
|
||||
|
||||
fn proj(&self, a: &DMatrix<f64>) -> DMatrix<f64> {
|
||||
let mut result = DMatrix::<f64>::zeros(a.nrows(), a.ncols());
|
||||
let PartialMatrix(entries) = self;
|
||||
for ent in entries {
|
||||
result[ent.index] = a[ent.index];
|
||||
for &MatrixEntry { index, .. } in self {
|
||||
result[index] = a[index];
|
||||
}
|
||||
result
|
||||
}
|
||||
|
||||
fn sub_proj(&self, rhs: &DMatrix<f64>) -> DMatrix<f64> {
|
||||
let mut result = DMatrix::<f64>::zeros(rhs.nrows(), rhs.ncols());
|
||||
let PartialMatrix(entries) = self;
|
||||
for ent in entries {
|
||||
result[ent.index] = ent.value - rhs[ent.index];
|
||||
for &MatrixEntry { index, value } in self {
|
||||
result[index] = value - rhs[index];
|
||||
}
|
||||
result
|
||||
}
|
||||
}
|
||||
|
||||
impl IntoIterator for PartialMatrix {
|
||||
type Item = MatrixEntry;
|
||||
type IntoIter = std::vec::IntoIter<Self::Item>;
|
||||
|
||||
fn into_iter(self) -> Self::IntoIter {
|
||||
let PartialMatrix(entries) = self;
|
||||
entries.into_iter()
|
||||
}
|
||||
}
|
||||
|
||||
impl<'a> IntoIterator for &'a PartialMatrix {
|
||||
type Item = &'a MatrixEntry;
|
||||
type IntoIter = std::slice::Iter<'a, MatrixEntry>;
|
||||
|
||||
fn into_iter(self) -> Self::IntoIter {
|
||||
let PartialMatrix(entries) = self;
|
||||
entries.into_iter()
|
||||
}
|
||||
}
|
||||
|
||||
// --- configuration subspaces ---
|
||||
|
||||
#[derive(Clone)]
|
||||
|
|
@ -195,6 +225,34 @@ impl DescentHistory {
|
|||
}
|
||||
}
|
||||
|
||||
// --- constraint problems ---
|
||||
|
||||
pub struct ConstraintProblem {
|
||||
pub gram: PartialMatrix,
|
||||
pub frozen: PartialMatrix,
|
||||
pub guess: DMatrix<f64>,
|
||||
}
|
||||
|
||||
impl ConstraintProblem {
|
||||
pub fn new(element_count: usize) -> ConstraintProblem {
|
||||
const ELEMENT_DIM: usize = 5;
|
||||
ConstraintProblem {
|
||||
gram: PartialMatrix::new(),
|
||||
frozen: PartialMatrix::new(),
|
||||
guess: DMatrix::<f64>::zeros(ELEMENT_DIM, element_count)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "dev")]
|
||||
pub fn from_guess(guess_columns: &[DVector<f64>]) -> ConstraintProblem {
|
||||
ConstraintProblem {
|
||||
gram: PartialMatrix::new(),
|
||||
frozen: PartialMatrix::new(),
|
||||
guess: DMatrix::from_columns(guess_columns)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// --- gram matrix realization ---
|
||||
|
||||
// the Lorentz form
|
||||
|
|
@ -286,12 +344,12 @@ fn seek_better_config(
|
|||
None
|
||||
}
|
||||
|
||||
// seek a matrix `config` for which `config' * Q * config` matches the partial
|
||||
// matrix `gram`. use gradient descent starting from `guess`
|
||||
// seek a matrix `config` that matches the partial matrix `problem.frozen` and
|
||||
// has `config' * Q * config` matching the partial matrix `problem.gram`. start
|
||||
// at `problem.guess`, set the frozen entries to their desired values, and then
|
||||
// use a regularized Newton's method to seek the desired Gram matrix
|
||||
pub fn realize_gram(
|
||||
gram: &PartialMatrix,
|
||||
guess: DMatrix<f64>,
|
||||
frozen: &[(usize, usize)],
|
||||
problem: &ConstraintProblem,
|
||||
scaled_tol: f64,
|
||||
min_efficiency: f64,
|
||||
backoff: f64,
|
||||
|
|
@ -299,6 +357,11 @@ pub fn realize_gram(
|
|||
max_descent_steps: i32,
|
||||
max_backoff_steps: i32
|
||||
) -> (DMatrix<f64>, ConfigSubspace, bool, DescentHistory) {
|
||||
// destructure the problem data
|
||||
let ConstraintProblem {
|
||||
gram, guess, frozen
|
||||
} = problem;
|
||||
|
||||
// start the descent history
|
||||
let mut history = DescentHistory::new();
|
||||
|
||||
|
|
@ -313,11 +376,11 @@ pub fn realize_gram(
|
|||
|
||||
// convert the frozen indices to stacked format
|
||||
let frozen_stacked: Vec<usize> = frozen.into_iter().map(
|
||||
|index| index.1*element_dim + index.0
|
||||
|MatrixEntry { index: (row, col), .. }| col*element_dim + row
|
||||
).collect();
|
||||
|
||||
// use Newton's method with backtracking and gradient descent backup
|
||||
let mut state = SearchState::from_config(gram, guess);
|
||||
// use a regularized Newton's method with backtracking
|
||||
let mut state = SearchState::from_config(gram, frozen.freeze(guess));
|
||||
let mut hess = DMatrix::zeros(element_dim, assembly_dim);
|
||||
for _ in 0..max_descent_steps {
|
||||
// find the negative gradient of the loss function
|
||||
|
|
@ -415,7 +478,7 @@ pub fn realize_gram(
|
|||
|
||||
#[cfg(feature = "dev")]
|
||||
pub mod examples {
|
||||
use std::{array, f64::consts::PI};
|
||||
use std::f64::consts::PI;
|
||||
|
||||
use super::*;
|
||||
|
||||
|
|
@ -428,35 +491,7 @@ pub mod examples {
|
|||
// https://www.nippon.com/en/japan-topics/c12801/
|
||||
//
|
||||
pub fn realize_irisawa_hexlet(scaled_tol: f64) -> (DMatrix<f64>, ConfigSubspace, bool, DescentHistory) {
|
||||
let gram = {
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
for s in 0..9 {
|
||||
// each sphere is represented by a spacelike vector
|
||||
gram_to_be.push_sym(s, s, 1.0);
|
||||
|
||||
// the circumscribing sphere is tangent to all of the other
|
||||
// spheres, with matching orientation
|
||||
if s > 0 {
|
||||
gram_to_be.push_sym(0, s, 1.0);
|
||||
}
|
||||
|
||||
if s > 2 {
|
||||
// each chain sphere is tangent to the "sun" and "moon"
|
||||
// spheres, with opposing orientation
|
||||
for n in 1..3 {
|
||||
gram_to_be.push_sym(s, n, -1.0);
|
||||
}
|
||||
|
||||
// each chain sphere is tangent to the next chain sphere,
|
||||
// with opposing orientation
|
||||
let s_next = 3 + (s-2) % 6;
|
||||
gram_to_be.push_sym(s, s_next, -1.0);
|
||||
}
|
||||
}
|
||||
gram_to_be
|
||||
};
|
||||
|
||||
let guess = DMatrix::from_columns(
|
||||
let mut problem = ConstraintProblem::from_guess(
|
||||
[
|
||||
sphere(0.0, 0.0, 0.0, 15.0),
|
||||
sphere(0.0, 0.0, -9.0, 5.0),
|
||||
|
|
@ -471,42 +506,45 @@ pub mod examples {
|
|||
).collect::<Vec<_>>().as_slice()
|
||||
);
|
||||
|
||||
for s in 0..9 {
|
||||
// each sphere is represented by a spacelike vector
|
||||
problem.gram.push_sym(s, s, 1.0);
|
||||
|
||||
// the circumscribing sphere is tangent to all of the other
|
||||
// spheres, with matching orientation
|
||||
if s > 0 {
|
||||
problem.gram.push_sym(0, s, 1.0);
|
||||
}
|
||||
|
||||
if s > 2 {
|
||||
// each chain sphere is tangent to the "sun" and "moon"
|
||||
// spheres, with opposing orientation
|
||||
for n in 1..3 {
|
||||
problem.gram.push_sym(s, n, -1.0);
|
||||
}
|
||||
|
||||
// each chain sphere is tangent to the next chain sphere,
|
||||
// with opposing orientation
|
||||
let s_next = 3 + (s-2) % 6;
|
||||
problem.gram.push_sym(s, s_next, -1.0);
|
||||
}
|
||||
}
|
||||
|
||||
// the frozen entries fix the radii of the circumscribing sphere, the
|
||||
// "sun" and "moon" spheres, and one of the chain spheres
|
||||
let frozen: [(usize, usize); 4] = array::from_fn(|k| (3, k));
|
||||
for k in 0..4 {
|
||||
problem.frozen.push(3, k, problem.guess[(3, k)]);
|
||||
}
|
||||
|
||||
realize_gram(
|
||||
&gram, guess, &frozen,
|
||||
scaled_tol, 0.5, 0.9, 1.1, 200, 110
|
||||
)
|
||||
realize_gram(&problem, scaled_tol, 0.5, 0.9, 1.1, 200, 110)
|
||||
}
|
||||
|
||||
// set up a kaleidocycle, made of points with fixed distances between them,
|
||||
// and find its tangent space
|
||||
pub fn realize_kaleidocycle(scaled_tol: f64) -> (DMatrix<f64>, ConfigSubspace, bool, DescentHistory) {
|
||||
const N_POINTS: usize = 12;
|
||||
let gram = {
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
for block in (0..N_POINTS).step_by(2) {
|
||||
let block_next = (block + 2) % N_POINTS;
|
||||
for j in 0..2 {
|
||||
// diagonal and hinge edges
|
||||
for k in j..2 {
|
||||
gram_to_be.push_sym(block + j, block + k, if j == k { 0.0 } else { -0.5 });
|
||||
}
|
||||
|
||||
// non-hinge edges
|
||||
for k in 0..2 {
|
||||
gram_to_be.push_sym(block + j, block_next + k, -0.625);
|
||||
}
|
||||
}
|
||||
}
|
||||
gram_to_be
|
||||
};
|
||||
|
||||
let guess = {
|
||||
const N_HINGES: usize = 6;
|
||||
let guess_elts = (0..N_HINGES).step_by(2).flat_map(
|
||||
const N_HINGES: usize = 6;
|
||||
let mut problem = ConstraintProblem::from_guess(
|
||||
(0..N_HINGES).step_by(2).flat_map(
|
||||
|n| {
|
||||
let ang_hor = (n as f64) * PI/3.0;
|
||||
let ang_vert = ((n + 1) as f64) * PI/3.0;
|
||||
|
|
@ -519,16 +557,30 @@ pub mod examples {
|
|||
point(x_vert, y_vert, 0.5)
|
||||
]
|
||||
}
|
||||
).collect::<Vec<_>>();
|
||||
DMatrix::from_columns(&guess_elts)
|
||||
};
|
||||
).collect::<Vec<_>>().as_slice()
|
||||
);
|
||||
|
||||
let frozen: [_; N_POINTS] = array::from_fn(|k| (3, k));
|
||||
const N_POINTS: usize = 2 * N_HINGES;
|
||||
for block in (0..N_POINTS).step_by(2) {
|
||||
let block_next = (block + 2) % N_POINTS;
|
||||
for j in 0..2 {
|
||||
// diagonal and hinge edges
|
||||
for k in j..2 {
|
||||
problem.gram.push_sym(block + j, block + k, if j == k { 0.0 } else { -0.5 });
|
||||
}
|
||||
|
||||
// non-hinge edges
|
||||
for k in 0..2 {
|
||||
problem.gram.push_sym(block + j, block_next + k, -0.625);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
realize_gram(
|
||||
&gram, guess, &frozen,
|
||||
scaled_tol, 0.5, 0.9, 1.1, 200, 110
|
||||
)
|
||||
for k in 0..N_POINTS {
|
||||
problem.frozen.push(3, k, problem.guess[(3, k)])
|
||||
}
|
||||
|
||||
realize_gram(&problem, scaled_tol, 0.5, 0.9, 1.1, 200, 110)
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -539,6 +591,25 @@ mod tests {
|
|||
|
||||
use super::{*, examples::*};
|
||||
|
||||
#[test]
|
||||
fn freeze_test() {
|
||||
let frozen = PartialMatrix(vec![
|
||||
MatrixEntry { index: (0, 0), value: 14.0 },
|
||||
MatrixEntry { index: (0, 2), value: 28.0 },
|
||||
MatrixEntry { index: (1, 1), value: 42.0 },
|
||||
MatrixEntry { index: (1, 2), value: 49.0 }
|
||||
]);
|
||||
let config = DMatrix::<f64>::from_row_slice(2, 3, &[
|
||||
1.0, 2.0, 3.0,
|
||||
4.0, 5.0, 6.0
|
||||
]);
|
||||
let expected_result = DMatrix::<f64>::from_row_slice(2, 3, &[
|
||||
14.0, 2.0, 28.0,
|
||||
4.0, 42.0, 49.0
|
||||
]);
|
||||
assert_eq!(frozen.freeze(&config), expected_result);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn sub_proj_test() {
|
||||
let target = PartialMatrix(vec![
|
||||
|
|
@ -560,18 +631,12 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn zero_loss_test() {
|
||||
let gram = PartialMatrix({
|
||||
let mut entries = Vec::<MatrixEntry>::new();
|
||||
for j in 0..3 {
|
||||
for k in 0..3 {
|
||||
entries.push(MatrixEntry {
|
||||
index: (j, k),
|
||||
value: if j == k { 1.0 } else { -1.0 }
|
||||
});
|
||||
}
|
||||
let mut gram = PartialMatrix::new();
|
||||
for j in 0..3 {
|
||||
for k in 0..3 {
|
||||
gram.push(j, k, if j == k { 1.0 } else { -1.0 });
|
||||
}
|
||||
entries
|
||||
});
|
||||
}
|
||||
let config = {
|
||||
let a = 0.75_f64.sqrt();
|
||||
DMatrix::from_columns(&[
|
||||
|
|
@ -584,37 +649,33 @@ mod tests {
|
|||
assert!(state.loss.abs() < f64::EPSILON);
|
||||
}
|
||||
|
||||
/* TO DO */
|
||||
// at the frozen indices, the optimization steps should have exact zeros,
|
||||
// and the realized configuration should match the initial guess
|
||||
// and the realized configuration should have the desired values
|
||||
#[test]
|
||||
fn frozen_entry_test() {
|
||||
let gram = {
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
for j in 0..2 {
|
||||
for k in j..2 {
|
||||
gram_to_be.push_sym(j, k, if (j, k) == (1, 1) { 1.0 } else { 0.0 });
|
||||
}
|
||||
}
|
||||
gram_to_be
|
||||
};
|
||||
let guess = DMatrix::from_columns(&[
|
||||
let mut problem = ConstraintProblem::from_guess(&[
|
||||
point(0.0, 0.0, 2.0),
|
||||
sphere(0.0, 0.0, 0.0, 1.0)
|
||||
sphere(0.0, 0.0, 0.0, 0.95)
|
||||
]);
|
||||
let frozen = [(3, 0), (3, 1)];
|
||||
println!();
|
||||
for j in 0..2 {
|
||||
for k in j..2 {
|
||||
problem.gram.push_sym(j, k, if (j, k) == (1, 1) { 1.0 } else { 0.0 });
|
||||
}
|
||||
}
|
||||
problem.frozen.push(3, 0, problem.guess[(3, 0)]);
|
||||
problem.frozen.push(3, 1, 0.5);
|
||||
let (config, _, success, history) = realize_gram(
|
||||
&gram, guess.clone(), &frozen,
|
||||
1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
&problem, 1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
assert_eq!(success, true);
|
||||
for base_step in history.base_step.into_iter() {
|
||||
for index in frozen {
|
||||
for &MatrixEntry { index, .. } in &problem.frozen {
|
||||
assert_eq!(base_step[index], 0.0);
|
||||
}
|
||||
}
|
||||
for index in frozen {
|
||||
assert_eq!(config[index], guess[index]);
|
||||
for MatrixEntry { index, value } in problem.frozen {
|
||||
assert_eq!(config[index], value);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -635,34 +696,32 @@ mod tests {
|
|||
#[test]
|
||||
fn tangent_test_three_spheres() {
|
||||
const SCALED_TOL: f64 = 1.0e-12;
|
||||
let gram = {
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
for j in 0..3 {
|
||||
for k in j..3 {
|
||||
gram_to_be.push_sym(j, k, if j == k { 1.0 } else { -1.0 });
|
||||
}
|
||||
}
|
||||
gram_to_be
|
||||
};
|
||||
let guess = DMatrix::from_columns(&[
|
||||
const ELEMENT_DIM: usize = 5;
|
||||
let mut problem = ConstraintProblem::from_guess(&[
|
||||
sphere(0.0, 0.0, 0.0, -2.0),
|
||||
sphere(0.0, 0.0, 1.0, 1.0),
|
||||
sphere(0.0, 0.0, -1.0, 1.0)
|
||||
]);
|
||||
let frozen: [_; 5] = std::array::from_fn(|k| (k, 0));
|
||||
for j in 0..3 {
|
||||
for k in j..3 {
|
||||
problem.gram.push_sym(j, k, if j == k { 1.0 } else { -1.0 });
|
||||
}
|
||||
}
|
||||
for n in 0..ELEMENT_DIM {
|
||||
problem.frozen.push(n, 0, problem.guess[(n, 0)]);
|
||||
}
|
||||
let (config, tangent, success, history) = realize_gram(
|
||||
&gram, guess.clone(), &frozen,
|
||||
SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
&problem, SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
assert_eq!(config, guess);
|
||||
assert_eq!(config, problem.guess);
|
||||
assert_eq!(success, true);
|
||||
assert_eq!(history.scaled_loss.len(), 1);
|
||||
|
||||
// list some motions that should form a basis for the tangent space of
|
||||
// the solution variety
|
||||
const UNIFORM_DIM: usize = 4;
|
||||
let element_dim = guess.nrows();
|
||||
let assembly_dim = guess.ncols();
|
||||
let element_dim = problem.guess.nrows();
|
||||
let assembly_dim = problem.guess.ncols();
|
||||
let tangent_motions_unif = vec![
|
||||
basis_matrix((0, 1), UNIFORM_DIM, assembly_dim),
|
||||
basis_matrix((1, 1), UNIFORM_DIM, assembly_dim),
|
||||
|
|
@ -805,22 +864,17 @@ mod tests {
|
|||
fn proj_equivar_test() {
|
||||
// find a pair of spheres that meet at 120°
|
||||
const SCALED_TOL: f64 = 1.0e-12;
|
||||
let gram = {
|
||||
let mut gram_to_be = PartialMatrix::new();
|
||||
gram_to_be.push_sym(0, 0, 1.0);
|
||||
gram_to_be.push_sym(1, 1, 1.0);
|
||||
gram_to_be.push_sym(0, 1, 0.5);
|
||||
gram_to_be
|
||||
};
|
||||
let guess_orig = DMatrix::from_columns(&[
|
||||
let mut problem_orig = ConstraintProblem::from_guess(&[
|
||||
sphere(0.0, 0.0, 0.5, 1.0),
|
||||
sphere(0.0, 0.0, -0.5, 1.0)
|
||||
]);
|
||||
problem_orig.gram.push_sym(0, 0, 1.0);
|
||||
problem_orig.gram.push_sym(1, 1, 1.0);
|
||||
problem_orig.gram.push_sym(0, 1, 0.5);
|
||||
let (config_orig, tangent_orig, success_orig, history_orig) = realize_gram(
|
||||
&gram, guess_orig.clone(), &[],
|
||||
SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
&problem_orig, SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
assert_eq!(config_orig, guess_orig);
|
||||
assert_eq!(config_orig, problem_orig.guess);
|
||||
assert_eq!(success_orig, true);
|
||||
assert_eq!(history_orig.scaled_loss.len(), 1);
|
||||
|
||||
|
|
@ -833,11 +887,15 @@ mod tests {
|
|||
sphere(-a, 0.0, 7.0 - a, 1.0)
|
||||
])
|
||||
};
|
||||
let problem_tfm = ConstraintProblem {
|
||||
gram: problem_orig.gram,
|
||||
guess: guess_tfm,
|
||||
frozen: problem_orig.frozen
|
||||
};
|
||||
let (config_tfm, tangent_tfm, success_tfm, history_tfm) = realize_gram(
|
||||
&gram, guess_tfm.clone(), &[],
|
||||
SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
&problem_tfm, SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
assert_eq!(config_tfm, guess_tfm);
|
||||
assert_eq!(config_tfm, problem_tfm.guess);
|
||||
assert_eq!(success_tfm, true);
|
||||
assert_eq!(history_tfm.scaled_loss.len(), 1);
|
||||
|
||||
|
|
@ -869,7 +927,7 @@ mod tests {
|
|||
// the comparison tolerance because the transformation seems to
|
||||
// introduce some numerical error
|
||||
const SCALED_TOL_TFM: f64 = 1.0e-9;
|
||||
let tol_sq = ((guess_orig.nrows() * guess_orig.ncols()) as f64) * SCALED_TOL_TFM * SCALED_TOL_TFM;
|
||||
let tol_sq = ((problem_orig.guess.nrows() * problem_orig.guess.ncols()) as f64) * SCALED_TOL_TFM * SCALED_TOL_TFM;
|
||||
assert!((motion_proj_tfm - motion_tfm_proj).norm_squared() < tol_sq);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,4 +1,5 @@
|
|||
use itertools::Itertools;
|
||||
use std::rc::Rc;
|
||||
use sycamore::prelude::*;
|
||||
use web_sys::{
|
||||
KeyboardEvent,
|
||||
|
|
@ -9,24 +10,38 @@ use web_sys::{
|
|||
use crate::{
|
||||
AppState,
|
||||
assembly,
|
||||
assembly::{ElementKey, Regulator, RegulatorKey},
|
||||
assembly::{
|
||||
ElementKey,
|
||||
HalfCurvatureRegulator,
|
||||
ProductRegulator,
|
||||
Regulator,
|
||||
RegulatorKey
|
||||
},
|
||||
specified::SpecifiedValue
|
||||
};
|
||||
|
||||
// an editable view of a regulator
|
||||
#[component(inline_props)]
|
||||
fn RegulatorInput(regulator: Regulator) -> View {
|
||||
fn RegulatorInput(regulator: Rc<dyn Regulator>) -> View {
|
||||
// get the regulator's measurement and set point signals
|
||||
let measurement = regulator.measurement();
|
||||
let set_point = regulator.set_point();
|
||||
|
||||
// the `valid` signal tracks whether the last entered value is a valid set
|
||||
// point specification
|
||||
let valid = create_signal(true);
|
||||
|
||||
// the `value` signal holds the current set point specification
|
||||
let value = create_signal(
|
||||
regulator.set_point.with_untracked(|set_pt| set_pt.spec.clone())
|
||||
set_point.with_untracked(|set_pt| set_pt.spec.clone())
|
||||
);
|
||||
|
||||
// this closure resets the input value to the regulator's set point
|
||||
// specification
|
||||
// this `reset_value` closure resets the input value to the regulator's set
|
||||
// point specification
|
||||
let reset_value = move || {
|
||||
batch(|| {
|
||||
valid.set(true);
|
||||
value.set(regulator.set_point.with(|set_pt| set_pt.spec.clone()));
|
||||
value.set(set_point.with(|set_pt| set_pt.spec.clone()));
|
||||
})
|
||||
};
|
||||
|
||||
|
|
@ -39,7 +54,7 @@ fn RegulatorInput(regulator: Regulator) -> View {
|
|||
r#type="text",
|
||||
class=move || {
|
||||
if valid.get() {
|
||||
regulator.set_point.with(|set_pt| {
|
||||
set_point.with(|set_pt| {
|
||||
if set_pt.is_present() {
|
||||
"regulator-input constraint"
|
||||
} else {
|
||||
|
|
@ -50,13 +65,13 @@ fn RegulatorInput(regulator: Regulator) -> View {
|
|||
"regulator-input invalid"
|
||||
}
|
||||
},
|
||||
placeholder=regulator.measurement.with(|result| result.to_string()),
|
||||
placeholder=measurement.with(|result| result.to_string()),
|
||||
bind:value=value,
|
||||
on:change=move |_| {
|
||||
valid.set(
|
||||
match SpecifiedValue::try_from(value.get_clone_untracked()) {
|
||||
Ok(set_pt) => {
|
||||
regulator.set_point.set(set_pt);
|
||||
set_point.set(set_pt);
|
||||
true
|
||||
}
|
||||
Err(_) => false
|
||||
|
|
@ -75,26 +90,53 @@ fn RegulatorInput(regulator: Regulator) -> View {
|
|||
}
|
||||
}
|
||||
|
||||
pub trait OutlineItem {
|
||||
fn outline_item(self: Rc<Self>, element_key: ElementKey) -> View;
|
||||
}
|
||||
|
||||
impl OutlineItem for ProductRegulator {
|
||||
fn outline_item(self: Rc<Self>, element_key: ElementKey) -> View {
|
||||
let state = use_context::<AppState>();
|
||||
let other_subject = if self.subjects[0] == element_key {
|
||||
self.subjects[1]
|
||||
} else {
|
||||
self.subjects[0]
|
||||
};
|
||||
let other_subject_label = state.assembly.elements.with(
|
||||
|elts| elts[other_subject].label.clone()
|
||||
);
|
||||
view! {
|
||||
li(class="regulator") {
|
||||
div(class="regulator-label") { (other_subject_label) }
|
||||
div(class="regulator-type") { "Inversive distance" }
|
||||
RegulatorInput(regulator=self)
|
||||
div(class="status")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl OutlineItem for HalfCurvatureRegulator {
|
||||
fn outline_item(self: Rc<Self>, _element_key: ElementKey) -> View {
|
||||
view! {
|
||||
li(class="regulator") {
|
||||
div(class="regulator-label") // for spacing
|
||||
div(class="regulator-type") { "Half-curvature" }
|
||||
RegulatorInput(regulator=self)
|
||||
div(class="status")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// a list item that shows a regulator in an outline view of an element
|
||||
#[component(inline_props)]
|
||||
fn RegulatorOutlineItem(regulator_key: RegulatorKey, element_key: ElementKey) -> View {
|
||||
let state = use_context::<AppState>();
|
||||
let assembly = &state.assembly;
|
||||
let regulator = assembly.regulators.with(|regs| regs[regulator_key]);
|
||||
let other_subject = if regulator.subjects.0 == element_key {
|
||||
regulator.subjects.1
|
||||
} else {
|
||||
regulator.subjects.0
|
||||
};
|
||||
let other_subject_label = assembly.elements.with(|elts| elts[other_subject].label.clone());
|
||||
view! {
|
||||
li(class="regulator") {
|
||||
div(class="regulator-label") { (other_subject_label) }
|
||||
div(class="regulator-type") { "Inversive distance" }
|
||||
RegulatorInput(regulator=regulator)
|
||||
div(class="status")
|
||||
}
|
||||
}
|
||||
let regulator = state.assembly.regulators.with(
|
||||
|regs| regs[regulator_key].clone()
|
||||
);
|
||||
regulator.outline_item(element_key)
|
||||
}
|
||||
|
||||
// a list item that shows an element in an outline view of an assembly
|
||||
|
|
@ -117,7 +159,15 @@ fn ElementOutlineItem(key: ElementKey, element: assembly::Element) -> View {
|
|||
};
|
||||
let regulated = element.regulators.map(|regs| regs.len() > 0);
|
||||
let regulator_list = element.regulators.map(
|
||||
|regs| regs.clone().into_iter().collect()
|
||||
move |elt_reg_keys| elt_reg_keys
|
||||
.clone()
|
||||
.into_iter()
|
||||
.sorted_by_key(
|
||||
|®_key| state.assembly.regulators.with(
|
||||
|regs| regs[reg_key].subjects().len()
|
||||
)
|
||||
)
|
||||
.collect()
|
||||
);
|
||||
let details_node = create_node_ref();
|
||||
view! {
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue