forked from StudioInfinity/dyna3
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14 changed files with 263 additions and 1084 deletions
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@ -1,22 +0,0 @@
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|||
# set up the Trunk web build system
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#
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||||
# https://trunkrs.dev
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||||
#
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||||
# the `curl` call is based on David Tolnay's `rust-toolchain` action
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||||
#
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||||
# https://github.com/dtolnay/rust-toolchain
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||||
#
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||||
runs:
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using: "composite"
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||||
steps:
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||||
- run: rustup target add wasm32-unknown-unknown
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||||
|
||||
# install the Trunk binary to `ci-bin` within the workspace directory, which
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||||
# is determined by the `github.workspace` label and reflected in the
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||||
# `GITHUB_WORKSPACE` environment variable. then, make the `trunk` command
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||||
# available by placing the fully qualified path to `ci-bin` on the
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||||
# workflow's search path
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||||
- run: mkdir -p ci-bin
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||||
- run: curl --output - --proto '=https' --tlsv1.2 --retry 10 --retry-connrefused --location --silent --show-error --fail 'https://github.com/trunk-rs/trunk/releases/download/v0.21.12/trunk-x86_64-unknown-linux-gnu.tar.gz' | tar --gunzip --extract --file -
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||||
working-directory: ci-bin
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||||
- run: echo "${{ github.workspace }}/ci-bin" >> $GITHUB_PATH
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@ -1,29 +0,0 @@
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on:
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||||
pull_request:
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push:
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||||
branches: [main]
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||||
jobs:
|
||||
# run the automated tests, reporting success if the tests pass and were built
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||||
# without warnings. the examples are run as tests, because we've configured
|
||||
# each example target with `test = true` and `harness = false` in Cargo.toml.
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||||
# Trunk build failures caused by problems outside the Rust source code, like
|
||||
# missing assets, should be caught by `trunk_build_test`
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||||
test:
|
||||
runs-on: docker
|
||||
container:
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||||
image: cimg/rust:1.85-node
|
||||
defaults:
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||||
run:
|
||||
# set the default working directory for each `run` step, relative to the
|
||||
# workspace directory. this default only affects `run` steps (and if we
|
||||
# tried to set the `working-directory` label for any other kind of step,
|
||||
# it wouldn't be recognized anyway)
|
||||
working-directory: app-proto
|
||||
steps:
|
||||
# Check out the repository so that its top-level directory is the
|
||||
# workspace directory (action variable `github.workspace`, environment
|
||||
# variable `$GITHUB_WORKSPACE`):
|
||||
- uses: https://code.forgejo.org/actions/checkout@v4
|
||||
|
||||
- uses: ./.forgejo/setup-trunk
|
||||
- run: RUSTFLAGS='-D warnings' cargo test
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||||
8
.gitignore
vendored
8
.gitignore
vendored
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@ -1,2 +1,8 @@
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|||
ci-bin
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||||
node_modules
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||||
site
|
||||
docbuild
|
||||
__tests__
|
||||
coverage
|
||||
dyna3.zip
|
||||
tmpproj
|
||||
*~
|
||||
|
|
|
|||
788
app-proto/Cargo.lock
generated
788
app-proto/Cargo.lock
generated
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@ -1,788 +0,0 @@
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|||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
version = 3
|
||||
|
||||
[[package]]
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"lazy_static",
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"readonly",
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"rustc-hash",
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"slab",
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"sycamore",
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"wasm-bindgen-test",
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"web-sys",
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|
||||
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|
||||
checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_msvc"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
]
|
||||
|
|
@ -13,7 +13,6 @@ itertools = "0.13.0"
|
|||
js-sys = "0.3.70"
|
||||
lazy_static = "1.5.0"
|
||||
nalgebra = "0.33.0"
|
||||
readonly = "0.2.12"
|
||||
rustc-hash = "2.0.0"
|
||||
slab = "0.4.9"
|
||||
sycamore = "0.9.0-beta.3"
|
||||
|
|
@ -50,23 +49,3 @@ wasm-bindgen-test = "0.3.34"
|
|||
[profile.release]
|
||||
opt-level = "s" # optimize for small code size
|
||||
debug = true # include debug symbols
|
||||
|
||||
[[example]]
|
||||
name = "irisawa-hexlet"
|
||||
test = true
|
||||
harness = false
|
||||
|
||||
[[example]]
|
||||
name = "kaleidocycle"
|
||||
test = true
|
||||
harness = false
|
||||
|
||||
[[example]]
|
||||
name = "point-on-sphere"
|
||||
test = true
|
||||
harness = false
|
||||
|
||||
[[example]]
|
||||
name = "three-spheres"
|
||||
test = true
|
||||
harness = false
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
use dyna3::engine::{Q, examples::realize_irisawa_hexlet};
|
||||
use dyna3::engine::{Q, irisawa::realize_irisawa_hexlet};
|
||||
|
||||
fn main() {
|
||||
const SCALED_TOL: f64 = 1.0e-12;
|
||||
|
|
|
|||
|
|
@ -1,10 +1,53 @@
|
|||
use nalgebra::{DMatrix, DVector};
|
||||
use std::{array, f64::consts::PI};
|
||||
|
||||
use dyna3::engine::{Q, examples::realize_kaleidocycle};
|
||||
use dyna3::engine::{Q, point, realize_gram, PartialMatrix};
|
||||
|
||||
fn main() {
|
||||
const SCALED_TOL: f64 = 1.0e-12;
|
||||
let (config, tangent, success, history) = realize_kaleidocycle(SCALED_TOL);
|
||||
// set up a kaleidocycle, made of points with fixed distances between them,
|
||||
// and find its tangent space
|
||||
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(
|
||||
|n| {
|
||||
let ang_hor = (n as f64) * PI/3.0;
|
||||
let ang_vert = ((n + 1) as f64) * PI/3.0;
|
||||
let x_vert = ang_vert.cos();
|
||||
let y_vert = ang_vert.sin();
|
||||
[
|
||||
point(0.0, 0.0, 0.0),
|
||||
point(ang_hor.cos(), ang_hor.sin(), 0.0),
|
||||
point(x_vert, y_vert, -0.5),
|
||||
point(x_vert, y_vert, 0.5)
|
||||
]
|
||||
}
|
||||
).collect::<Vec<_>>();
|
||||
DMatrix::from_columns(&guess_elts)
|
||||
};
|
||||
let frozen: [_; N_POINTS] = array::from_fn(|k| (3, k));
|
||||
let (config, tangent, success, history) = realize_gram(
|
||||
&gram, guess, &frozen,
|
||||
1.0e-12, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
print!("Completed Gram matrix:{}", config.tr_mul(&*Q) * &config);
|
||||
print!("Configuration:{}", config);
|
||||
if success {
|
||||
|
|
@ -15,8 +58,7 @@ fn main() {
|
|||
println!("Steps: {}", history.scaled_loss.len() - 1);
|
||||
println!("Loss: {}\n", history.scaled_loss.last().unwrap());
|
||||
|
||||
// find the kaleidocycle's twist motion by projecting onto the tangent space
|
||||
const N_POINTS: usize = 12;
|
||||
// find the kaleidocycle's twist motion
|
||||
let up = DVector::from_column_slice(&[0.0, 0.0, 1.0, 0.0]);
|
||||
let down = -&up;
|
||||
let twist_motion: DMatrix<_> = (0..N_POINTS).step_by(4).flat_map(
|
||||
|
|
|
|||
|
|
@ -4,7 +4,10 @@ use web_sys::{console, wasm_bindgen::JsValue};
|
|||
use crate::{
|
||||
engine,
|
||||
AppState,
|
||||
assembly::{Assembly, Element}
|
||||
assembly::{
|
||||
Assembly,
|
||||
Element
|
||||
}
|
||||
};
|
||||
|
||||
/* DEBUG */
|
||||
|
|
|
|||
|
|
@ -1,14 +1,15 @@
|
|||
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,
|
||||
num::ParseFloatError,
|
||||
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},
|
||||
specified::SpecifiedValue
|
||||
};
|
||||
use crate::engine::{Q, local_unif_to_std, realize_gram, ConfigSubspace, PartialMatrix};
|
||||
|
||||
// the types of the keys we use to access an assembly's elements and regulators
|
||||
pub type ElementKey = usize;
|
||||
|
|
@ -29,11 +30,8 @@ pub struct Element {
|
|||
pub label: String,
|
||||
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.
|
||||
pub regulators: Signal<BTreeSet<RegulatorKey>>,
|
||||
|
||||
|
||||
// a serial number, assigned by `Element::new`, that uniquely identifies
|
||||
// each element
|
||||
pub serial: u64,
|
||||
|
|
@ -117,6 +115,60 @@ impl Element {
|
|||
}
|
||||
}
|
||||
|
||||
// to construct a `SpecifiedValue` that might be `Present`, use the associated
|
||||
// function `try_from`. this ensures that `spec` is always a valid specification
|
||||
// of `value` according to the format discussed above the implementation of
|
||||
// `TryFrom<String>`
|
||||
pub enum SpecifiedValue {
|
||||
Absent,
|
||||
Present {
|
||||
spec: String,
|
||||
value: f64
|
||||
}
|
||||
}
|
||||
|
||||
use SpecifiedValue::*;
|
||||
|
||||
impl SpecifiedValue {
|
||||
// get the specification for this value. the associated function `try_from`
|
||||
// is essentially a left inverse of this method:
|
||||
//
|
||||
// SpecifiedValue::try_from(x.spec()) == Ok(x)
|
||||
//
|
||||
pub fn spec(&self) -> String {
|
||||
match self {
|
||||
Absent => String::new(),
|
||||
Present { spec, .. } => spec.clone()
|
||||
}
|
||||
}
|
||||
|
||||
fn is_present(&self) -> bool {
|
||||
match self {
|
||||
Absent => false,
|
||||
Present { .. } => true
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// we can try to turn a specification string into a `SpecifiedValue`. if the
|
||||
// specification is empty, the `SpecifiedValue` is `Absent`. if the
|
||||
// specification parses to a floating-point value `x`, the `SpecifiedValue` is
|
||||
// `Present`, with a `value` of `x`, and the specification is stored in `spec`.
|
||||
// these are the only valid specifications; any other produces an error
|
||||
impl TryFrom<String> for SpecifiedValue {
|
||||
type Error = ParseFloatError;
|
||||
|
||||
fn try_from(spec: String) -> Result<Self, Self::Error> {
|
||||
if spec.is_empty() {
|
||||
Ok(Absent)
|
||||
} else {
|
||||
spec.parse::<f64>().map(
|
||||
|value| Present { spec: spec, value: value }
|
||||
)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone, Copy)]
|
||||
pub struct Regulator {
|
||||
pub subjects: (ElementKey, ElementKey),
|
||||
|
|
@ -124,6 +176,18 @@ pub struct Regulator {
|
|||
pub set_point: Signal<SpecifiedValue>
|
||||
}
|
||||
|
||||
impl Regulator {
|
||||
pub fn try_set(&self, set_pt_spec: String) -> bool {
|
||||
match SpecifiedValue::try_from(set_pt_spec) {
|
||||
Ok(set_pt) => {
|
||||
self.set_point.set(set_pt);
|
||||
true
|
||||
}
|
||||
Err(_) => false,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// the velocity is expressed in uniform coordinates
|
||||
pub struct ElementMotion<'a> {
|
||||
pub key: ElementKey,
|
||||
|
|
@ -208,7 +272,7 @@ impl Assembly {
|
|||
);
|
||||
}
|
||||
|
||||
fn insert_regulator(&self, regulator: Regulator) {
|
||||
pub 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(
|
||||
|
|
@ -229,7 +293,7 @@ impl Assembly {
|
|||
reps.0.dot(&(&*Q * reps.1))
|
||||
}
|
||||
);
|
||||
let set_point = create_signal(SpecifiedValue::from_empty_spec());
|
||||
let set_point = create_signal(Absent);
|
||||
self.insert_regulator(Regulator {
|
||||
subjects: subjects,
|
||||
measurement: measurement,
|
||||
|
|
@ -246,9 +310,9 @@ impl Assembly {
|
|||
&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())
|
||||
)
|
||||
&JsValue::from(reg.set_point.with_untracked(
|
||||
|set_pt| set_pt.spec()
|
||||
))
|
||||
);
|
||||
}
|
||||
});
|
||||
|
|
@ -282,12 +346,15 @@ impl Assembly {
|
|||
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);
|
||||
}
|
||||
match set_pt {
|
||||
Absent => (),
|
||||
Present { 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, *value);
|
||||
}
|
||||
};
|
||||
});
|
||||
}
|
||||
});
|
||||
|
|
|
|||
|
|
@ -413,20 +413,20 @@ pub fn realize_gram(
|
|||
|
||||
// --- tests ---
|
||||
|
||||
// this problem is from a sangaku by Irisawa Shintarō Hiroatsu. the article
|
||||
// below includes a nice translation of the problem statement, which was
|
||||
// recorded in Uchida Itsumi's book _Kokon sankan_ (_Mathematics, Past and
|
||||
// Present_)
|
||||
//
|
||||
// "Japan's 'Wasan' Mathematical Tradition", by Abe Haruki
|
||||
// https://www.nippon.com/en/japan-topics/c12801/
|
||||
//
|
||||
#[cfg(feature = "dev")]
|
||||
pub mod examples {
|
||||
pub mod irisawa {
|
||||
use std::{array, f64::consts::PI};
|
||||
|
||||
use super::*;
|
||||
|
||||
// this problem is from a sangaku by Irisawa Shintarō Hiroatsu. the article
|
||||
// below includes a nice translation of the problem statement, which was
|
||||
// recorded in Uchida Itsumi's book _Kokon sankan_ (_Mathematics, Past and
|
||||
// Present_)
|
||||
//
|
||||
// "Japan's 'Wasan' Mathematical Tradition", by Abe Haruki
|
||||
// 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();
|
||||
|
|
@ -480,64 +480,14 @@ pub mod examples {
|
|||
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(
|
||||
|n| {
|
||||
let ang_hor = (n as f64) * PI/3.0;
|
||||
let ang_vert = ((n + 1) as f64) * PI/3.0;
|
||||
let x_vert = ang_vert.cos();
|
||||
let y_vert = ang_vert.sin();
|
||||
[
|
||||
point(0.0, 0.0, 0.0),
|
||||
point(ang_hor.cos(), ang_hor.sin(), 0.0),
|
||||
point(x_vert, y_vert, -0.5),
|
||||
point(x_vert, y_vert, 0.5)
|
||||
]
|
||||
}
|
||||
).collect::<Vec<_>>();
|
||||
DMatrix::from_columns(&guess_elts)
|
||||
};
|
||||
|
||||
let frozen: [_; N_POINTS] = array::from_fn(|k| (3, k));
|
||||
|
||||
realize_gram(
|
||||
&gram, guess, &frozen,
|
||||
scaled_tol, 0.5, 0.9, 1.1, 200, 110
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use nalgebra::Vector3;
|
||||
use std::{f64::consts::{FRAC_1_SQRT_2, PI}, iter};
|
||||
use std::{array, f64::consts::{FRAC_1_SQRT_2, PI}, iter};
|
||||
|
||||
use super::{*, examples::*};
|
||||
use super::{*, irisawa::realize_irisawa_hexlet};
|
||||
|
||||
#[test]
|
||||
fn sub_proj_test() {
|
||||
|
|
@ -573,7 +523,7 @@ mod tests {
|
|||
entries
|
||||
});
|
||||
let config = {
|
||||
let a = 0.75_f64.sqrt();
|
||||
let a: f64 = 0.75_f64.sqrt();
|
||||
DMatrix::from_columns(&[
|
||||
sphere(1.0, 0.0, 0.0, a),
|
||||
sphere(-0.5, a, 0.0, a),
|
||||
|
|
@ -584,40 +534,6 @@ mod tests {
|
|||
assert!(state.loss.abs() < f64::EPSILON);
|
||||
}
|
||||
|
||||
// at the frozen indices, the optimization steps should have exact zeros,
|
||||
// and the realized configuration should match the initial guess
|
||||
#[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(&[
|
||||
point(0.0, 0.0, 2.0),
|
||||
sphere(0.0, 0.0, 0.0, 1.0)
|
||||
]);
|
||||
let frozen = [(3, 0), (3, 1)];
|
||||
println!();
|
||||
let (config, _, success, history) = realize_gram(
|
||||
&gram, guess.clone(), &frozen,
|
||||
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 {
|
||||
assert_eq!(base_step[index], 0.0);
|
||||
}
|
||||
}
|
||||
for index in frozen {
|
||||
assert_eq!(config[index], guess[index]);
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn irisawa_hexlet_test() {
|
||||
// solve Irisawa's problem
|
||||
|
|
@ -658,8 +574,12 @@ mod tests {
|
|||
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
|
||||
// confirm that the tangent space has dimension five or less
|
||||
assert_eq!(tangent.basis_std.len(), 5);
|
||||
|
||||
// confirm that the tangent space contains all the motions we expect it
|
||||
// to. since we've already bounded the dimension of the tangent space,
|
||||
// this confirms that the tangent space is what we expect it to be
|
||||
const UNIFORM_DIM: usize = 4;
|
||||
let element_dim = guess.nrows();
|
||||
let assembly_dim = guess.ncols();
|
||||
|
|
@ -685,14 +605,6 @@ mod tests {
|
|||
0.0, 0.0, -1.0, 0.25, 1.0
|
||||
])
|
||||
];
|
||||
|
||||
// confirm that the dimension of the tangent space is no greater than
|
||||
// expected
|
||||
assert_eq!(tangent.basis_std.len(), tangent_motions_std.len());
|
||||
|
||||
// confirm that the tangent space contains all the motions we expect it
|
||||
// to. since we've already bounded the dimension of the tangent space,
|
||||
// this confirms that the tangent space is what we expect it to be
|
||||
let tol_sq = ((element_dim * assembly_dim) as f64) * SCALED_TOL * SCALED_TOL;
|
||||
for (motion_unif, motion_std) in tangent_motions_unif.into_iter().zip(tangent_motions_std) {
|
||||
let motion_proj: DMatrix<_> = motion_unif.column_iter().enumerate().map(
|
||||
|
|
@ -721,17 +633,59 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn tangent_test_kaleidocycle() {
|
||||
// set up a kaleidocycle and find its tangent space
|
||||
// set up a kaleidocycle, made of points with fixed distances between
|
||||
// them, and find its tangent space
|
||||
const N_POINTS: usize = 12;
|
||||
const N_HINGES: usize = 6;
|
||||
const SCALED_TOL: f64 = 1.0e-12;
|
||||
let (config, tangent, success, history) = realize_kaleidocycle(SCALED_TOL);
|
||||
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 = {
|
||||
let guess_elts = (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;
|
||||
let x_vert = ang_vert.cos();
|
||||
let y_vert = ang_vert.sin();
|
||||
[
|
||||
point(0.0, 0.0, 0.0),
|
||||
point(ang_hor.cos(), ang_hor.sin(), 0.0),
|
||||
point(x_vert, y_vert, -0.5),
|
||||
point(x_vert, y_vert, 0.5)
|
||||
]
|
||||
}
|
||||
).collect::<Vec<_>>();
|
||||
DMatrix::from_columns(&guess_elts)
|
||||
};
|
||||
let frozen: [_; N_POINTS] = array::from_fn(|k| (3, k));
|
||||
let (config, tangent, success, history) = realize_gram(
|
||||
&gram, guess.clone(), &frozen,
|
||||
SCALED_TOL, 0.5, 0.9, 1.1, 200, 110
|
||||
);
|
||||
assert_eq!(config, 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 N_HINGES: usize = 6;
|
||||
let element_dim = config.nrows();
|
||||
let assembly_dim = config.ncols();
|
||||
let element_dim = guess.nrows();
|
||||
let assembly_dim = guess.ncols();
|
||||
let tangent_motions_unif = vec![
|
||||
// the translations along the coordinate axes
|
||||
translation_motion_unif(&Vector3::new(1.0, 0.0, 0.0), assembly_dim),
|
||||
|
|
@ -739,9 +693,9 @@ mod tests {
|
|||
translation_motion_unif(&Vector3::new(0.0, 0.0, 1.0), assembly_dim),
|
||||
|
||||
// the rotations about the coordinate axes
|
||||
rotation_motion_unif(&Vector3::new(1.0, 0.0, 0.0), config.column_iter().collect()),
|
||||
rotation_motion_unif(&Vector3::new(0.0, 1.0, 0.0), config.column_iter().collect()),
|
||||
rotation_motion_unif(&Vector3::new(0.0, 0.0, 1.0), config.column_iter().collect()),
|
||||
rotation_motion_unif(&Vector3::new(1.0, 0.0, 0.0), guess.column_iter().collect()),
|
||||
rotation_motion_unif(&Vector3::new(0.0, 1.0, 0.0), guess.column_iter().collect()),
|
||||
rotation_motion_unif(&Vector3::new(0.0, 0.0, 1.0), guess.column_iter().collect()),
|
||||
|
||||
// the twist motion. more precisely: a motion that keeps the center
|
||||
// of mass stationary and preserves the distances between the
|
||||
|
|
@ -766,7 +720,7 @@ mod tests {
|
|||
];
|
||||
let tangent_motions_std = tangent_motions_unif.iter().map(
|
||||
|motion| DMatrix::from_columns(
|
||||
&config.column_iter().zip(motion).map(
|
||||
&guess.column_iter().zip(motion).map(
|
||||
|(v, elt_motion)| local_unif_to_std(v) * elt_motion
|
||||
).collect::<Vec<_>>()
|
||||
)
|
||||
|
|
@ -872,4 +826,38 @@ mod tests {
|
|||
let tol_sq = ((guess_orig.nrows() * guess_orig.ncols()) as f64) * SCALED_TOL_TFM * SCALED_TOL_TFM;
|
||||
assert!((motion_proj_tfm - motion_tfm_proj).norm_squared() < tol_sq);
|
||||
}
|
||||
|
||||
// at the frozen indices, the optimization steps should have exact zeros,
|
||||
// and the realized configuration should match the initial guess
|
||||
#[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(&[
|
||||
point(0.0, 0.0, 2.0),
|
||||
sphere(0.0, 0.0, 0.0, 1.0)
|
||||
]);
|
||||
let frozen = [(3, 0), (3, 1)];
|
||||
println!();
|
||||
let (config, _, success, history) = realize_gram(
|
||||
&gram, guess.clone(), &frozen,
|
||||
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 {
|
||||
assert_eq!(base_step[index], 0.0);
|
||||
}
|
||||
}
|
||||
for index in frozen {
|
||||
assert_eq!(config[index], guess[index]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -3,10 +3,6 @@ mod assembly;
|
|||
mod display;
|
||||
mod engine;
|
||||
mod outline;
|
||||
mod specified;
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests;
|
||||
|
||||
use rustc_hash::FxHashSet;
|
||||
use sycamore::prelude::*;
|
||||
|
|
|
|||
|
|
@ -9,8 +9,12 @@ use web_sys::{
|
|||
use crate::{
|
||||
AppState,
|
||||
assembly,
|
||||
assembly::{ElementKey, Regulator, RegulatorKey},
|
||||
specified::SpecifiedValue
|
||||
assembly::{
|
||||
ElementKey,
|
||||
Regulator,
|
||||
RegulatorKey,
|
||||
SpecifiedValue::*
|
||||
}
|
||||
};
|
||||
|
||||
// an editable view of a regulator
|
||||
|
|
@ -18,7 +22,7 @@ use crate::{
|
|||
fn RegulatorInput(regulator: Regulator) -> View {
|
||||
let valid = create_signal(true);
|
||||
let value = create_signal(
|
||||
regulator.set_point.with_untracked(|set_pt| set_pt.spec.clone())
|
||||
regulator.set_point.with_untracked(|set_pt| set_pt.spec())
|
||||
);
|
||||
|
||||
// this closure resets the input value to the regulator's set point
|
||||
|
|
@ -26,7 +30,7 @@ fn RegulatorInput(regulator: Regulator) -> View {
|
|||
let reset_value = move || {
|
||||
batch(|| {
|
||||
valid.set(true);
|
||||
value.set(regulator.set_point.with(|set_pt| set_pt.spec.clone()));
|
||||
value.set(regulator.set_point.with(|set_pt| set_pt.spec()));
|
||||
})
|
||||
};
|
||||
|
||||
|
|
@ -40,10 +44,9 @@ fn RegulatorInput(regulator: Regulator) -> View {
|
|||
class=move || {
|
||||
if valid.get() {
|
||||
regulator.set_point.with(|set_pt| {
|
||||
if set_pt.is_present() {
|
||||
"regulator-input constraint"
|
||||
} else {
|
||||
"regulator-input"
|
||||
match set_pt {
|
||||
Absent => "regulator-input",
|
||||
Present { .. } => "regulator-input constraint"
|
||||
}
|
||||
})
|
||||
} else {
|
||||
|
|
@ -52,17 +55,9 @@ fn RegulatorInput(regulator: Regulator) -> View {
|
|||
},
|
||||
placeholder=regulator.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);
|
||||
true
|
||||
}
|
||||
Err(_) => false
|
||||
}
|
||||
)
|
||||
},
|
||||
on:change=move |_| valid.set(
|
||||
regulator.try_set(value.get_clone_untracked())
|
||||
),
|
||||
on:keydown={
|
||||
move |event: KeyboardEvent| {
|
||||
match event.key().as_str() {
|
||||
|
|
|
|||
|
|
@ -1,44 +0,0 @@
|
|||
use std::num::ParseFloatError;
|
||||
|
||||
// a real number described by a specification string. since the structure is
|
||||
// read-only, we can guarantee that `spec` always specifies `value` in the
|
||||
// following format
|
||||
// ┌──────────────────────────────────────────────────────┬───────────┐
|
||||
// │ `spec` │ `value` │
|
||||
// ┝━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┿━━━━━━━━━━━┥
|
||||
// │ a string that parses to the floating-point value `x` │ `Some(x)` │
|
||||
// ├──────────────────────────────────────────────────────┼───────────┤
|
||||
// │ the empty string │ `None` │
|
||||
// └──────────────────────────────────────────────────────┴───────────┘
|
||||
#[readonly::make]
|
||||
pub struct SpecifiedValue {
|
||||
pub spec: String,
|
||||
pub value: Option<f64>
|
||||
}
|
||||
|
||||
impl SpecifiedValue {
|
||||
pub fn from_empty_spec() -> SpecifiedValue {
|
||||
SpecifiedValue { spec: String::new(), value: None }
|
||||
}
|
||||
|
||||
pub fn is_present(&self) -> bool {
|
||||
matches!(self.value, Some(_))
|
||||
}
|
||||
}
|
||||
|
||||
// a `SpecifiedValue` can be constructed from a specification string, formatted
|
||||
// as described in the comment on the structure definition. the result is `Ok`
|
||||
// if the specification is properly formatted, and `Error` if not
|
||||
impl TryFrom<String> for SpecifiedValue {
|
||||
type Error = ParseFloatError;
|
||||
|
||||
fn try_from(spec: String) -> Result<Self, Self::Error> {
|
||||
if spec.is_empty() {
|
||||
Ok(SpecifiedValue::from_empty_spec())
|
||||
} else {
|
||||
spec.parse::<f64>().map(
|
||||
|value| SpecifiedValue { spec: spec, value: Some(value) }
|
||||
)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,14 +0,0 @@
|
|||
use std::process::Command;
|
||||
|
||||
// build and bundle the application, reporting success if there are no errors or
|
||||
// warnings. to see this test fail while others succeed, try moving `index.html`
|
||||
// or one of the assets that it links to
|
||||
#[test]
|
||||
fn trunk_build_test() {
|
||||
let build_status = Command::new("trunk")
|
||||
.arg("build")
|
||||
.env("RUSTFLAGS", "-D warnings")
|
||||
.status()
|
||||
.expect("Call to Trunk failed");
|
||||
assert!(build_status.success());
|
||||
}
|
||||
Loading…
Add table
Reference in a new issue