feat: Point coordinate regulators (#118)

Implement regulators for the Euclidean coordinates of `Point` entities, automatically creating all three of them for each added point entity. When such a regulator is set, it freezes the corresponding representation coordinate to the set point. In addition, if all three coordinates of a given `Point` are set, the coradius coordinate (which holds the norm of the point) is frozen as well.

Note that a `PointCoordinateRegulator` must be created with a `Point` as the subject. This commit modifies `HalfCurvatureRegulator` analogously, so that it can only be created with a `Sphere`.
Co-authored-by: Glen Whitney <glen@studioinfinity.org>
Co-committed-by: Glen Whitney <glen@studioinfinity.org>

README.md

@@ -12,11 +12,11 @@ Note that currently this is just the barest beginnings of the project, more of a
 
 ### Implementation goals
 
-* Comfortable, intuitive UI
+* Provide a comfortable, intuitive UI
 
-* Able to run in browser (so implemented in WASM-compatible language)
+* Allow execution in browser (so implemented in WASM-compatible language)
 
-* Produce scalable graphics of 3D diagrams, and maybe STL files (or other fabricatable file format) as well.
+* Produce scalable graphics of 3D diagrams, and maybe STL files (or other fabricatable file format) as well
 
 ## Prototype
 
@@ -24,38 +24,40 @@ The latest prototype is in the folder `app-proto`. It includes both a user inter
 
 ### Install the prerequisites
 
-1. Install [`rustup`](https://rust-lang.github.io/rustup/): the officially recommended Rust toolchain manager
+1. Install [`rustup`](https://rust-lang.github.io/rustup/): the officially recommended Rust toolchain manager.
-   - It's available on Ubuntu as a [Snap](https://snapcraft.io/rustup)
+   - It's available on Ubuntu as a [Snap](https://snapcraft.io/rustup).
-2. Call `rustup default stable` to "download the latest stable release of Rust and set it as your default toolchain"
+2. Call `rustup default stable` to "download the latest stable release of Rust and set it as your default toolchain".
-   - If you forget, the `rustup` [help system](https://github.com/rust-lang/rustup/blob/d9b3601c3feb2e88cf3f8ca4f7ab4fdad71441fd/src/errors.rs#L109-L112) will remind you
+   - If you forget, the `rustup` [help system](https://github.com/rust-lang/rustup/blob/d9b3601c3feb2e88cf3f8ca4f7ab4fdad71441fd/src/errors.rs#L109-L112) will remind you.
-3. Call `rustup target add wasm32-unknown-unknown` to add the [most generic 32-bit WebAssembly target](https://doc.rust-lang.org/nightly/rustc/platform-support/wasm32-unknown-unknown.html)
+3. Call `rustup target add wasm32-unknown-unknown` to add the [most generic 32-bit WebAssembly target](https://doc.rust-lang.org/nightly/rustc/platform-support/wasm32-unknown-unknown.html).
-4. Call `cargo install wasm-pack` to install the [WebAssembly toolchain](https://rustwasm.github.io/docs/wasm-pack/)
+4. Call `cargo install wasm-pack` to install the [WebAssembly toolchain](https://rustwasm.github.io/docs/wasm-pack/).
-5. Call `cargo install trunk` to install the [Trunk](https://trunkrs.dev/) web-build tool
+5. Call `cargo install trunk` to install the [Trunk](https://trunkrs.dev/) web-build tool.
+   - In the future, `trunk` can be updated with the same command. (You may need the `--locked` flag if your ambient version of `rustc` does not match that required by `trunk`.)
 6. Add the `.cargo/bin` folder in your home directory to your executable search path
-   - This lets you call Trunk, and other tools installed by Cargo, without specifying their paths
+   - This lets you call Trunk, and other tools installed by Cargo, without specifying their paths.
-   - On POSIX systems, the search path is stored in the `PATH` environment variable
+   - On POSIX systems, the search path is stored in the `PATH` environment variable.
+   - Alternatively, if you don't want to adjust your `PATH`, you can install `trunk` in another directory `DIR` via `cargo install --root DIR trunk`.
 
 ### Play with the prototype
 
-1. From the `app-proto` folder, call `trunk serve --release` to build and serve the prototype
+1. From the `app-proto` folder, call `trunk serve --release` to build and serve the prototype.
-   - The crates the prototype depends on will be downloaded and served automatically
+   - The crates the prototype depends on will be downloaded and served automatically.
-   - For a faster build, at the expense of a much slower prototype, you can call `trunk serve` without the `--release` flag
+   - For a faster build, at the expense of a much slower prototype, you can call `trunk serve` without the `--release` flag.
    - If you want to stay in the top-level folder, you can call `trunk serve --config app-proto [--release]` from there instead.
-3. In a web browser, visit one of the URLs listed under the message `INFO 📡 server listening at:`
+3. In a web browser, visit one of the URLs listed under the message `INFO 📡 server listening at:`.
-   - Touching any file in the `app-proto` folder will make Trunk rebuild and live-reload the prototype
+   - Touching any file in the `app-proto` folder will make Trunk rebuild and live-reload the prototype.
-4. Press *ctrl+C* in the shell where Trunk is running to stop serving the prototype
+4. Press *ctrl+C* in the shell where Trunk is running to stop serving the prototype.
 
 ### Run the engine on some example problems
 
-1. Use `sh` to run the script `tools/run-examples.sh`
+1. Use `sh` to run the script `tools/run-examples.sh`.
-   - The script is location-independent, so you can do this from anywhere in the dyna3 repository
+   - The script is location-independent, so you can do this from anywhere in the dyna3 repository.
    - The call from the top level of the repository is:
      
      ```bash
      sh tools/run-examples.sh
      ```
-   - For each example problem, the engine will print the value of the loss function at each optimization step
+   - For each example problem, the engine will print the value of the loss function at each optimization step.
-   - The first example that prints is the same as the Irisawa hexlet example from the Julia version of the engine prototype. If you go into `engine-proto/gram-test`, launch Julia, and then
+   - The first example that prints is the same as the Irisawa hexlet example from the Julia version of the engine prototype. If you go into `engine-proto/gram-test`, launch Julia, and then execute
      
      ```julia
      include("irisawa-hexlet.jl")
@@ -64,24 +66,24 @@ The latest prototype is in the folder `app-proto`. It includes both a user inter
      end
      ```
      
-     you should see that it prints basically the same loss history until the last few steps, when the lower default precision of the Rust engine really starts to show
+     you should see that it prints basically the same loss history until the last few steps, when the lower default precision of the Rust engine really starts to show.
 
 ### Run the automated tests
 
-1. Go into the `app-proto` folder
+1. Go into the `app-proto` folder.
-2. Call `cargo test`
+2. Call `cargo test`.
 
 ### Deploy the prototype
 
-1. From the `app-proto` folder, call `trunk build --release`
+1. From the `app-proto` folder, call `trunk build --release`.
-   - Building in [release mode](https://doc.rust-lang.org/cargo/reference/profiles.html#release) produces an executable which is smaller and often much faster, but harder to debug and more time-consuming to build
+   - Building in [release mode](https://doc.rust-lang.org/cargo/reference/profiles.html#release) produces an executable which is smaller and often much faster, but harder to debug and more time-consuming to build.
-   - If you want to stay in the top-level folder, you can call `trunk build --config app-proto --release` from there instead
+   - If you want to stay in the top-level folder, you can call `trunk build --config app-proto --release` from there instead.
 2. Use `sh` to run the packaging script `tools/package-for-deployment.sh`.
-   - The script is location-independent, so you can do this from anywhere in the dyna3 repository
+   - The script is location-independent, so you can do this from anywhere in the dyna3 repository.
    - The call from the top level of the repository is:
      ```bash
      sh tools/package-for-deployment.sh
      ```
-   - This will overwrite or replace the files in `deploy/dyna3`
+   - This will overwrite or replace the files in `deploy/dyna3`.
 3. Put the contents of `deploy/dyna3` in the folder on your server that the prototype will be served from.
-   - To simplify uploading, you might want to combine these files into an archive called `deploy/dyna3.zip`. Git has been set to ignore this path
+   - To simplify uploading, you might want to combine these files into an archive called `deploy/dyna3.zip`. Git has been set to ignore this path.

app-proto/main.css

@@ -227,16 +227,6 @@ details[open]:has(li) .element-switch::after {
   border-radius: 8px;
 }
 
-#distortion-bar {
-  display: flex;
-  margin-top: 8px;
-  gap: 8px;
-}
-
-#distortion-gauge {
-  flex-grow: 1;
-}
-
 /* display */
 
 #display {

app-proto/src/assembly.rs

@@ -1,13 +1,11 @@
 use enum_iterator::{all, Sequence};
 use nalgebra::{DMatrix, DVector, DVectorView};
 use std::{
-    any::Any,
     cell::Cell,
     cmp::Ordering,
     collections::{BTreeMap, BTreeSet},
-    f64::consts::SQRT_2,
     fmt,
-    fmt::{Debug, Formatter},
+    fmt::{Debug, Display, Formatter},
     hash::{Hash, Hasher},
     rc::Rc,
     sync::{atomic, atomic::AtomicU64},
@@ -88,6 +86,14 @@ impl Ord for dyn Serial {
     }
 }
 
+// Small helper function to generate consistent errors when there
+// are indexing issues in a ProblemPoser
+fn indexing_error(item: &str, name: &str, actor: &str) -> String {
+    format!(
+        "{item} \"{name}\" must be indexed before {actor} writes problem data"
+    )
+}
+
 pub trait ProblemPoser {
     fn pose(&self, problem: &mut ConstraintProblem);
 }
@@ -126,16 +132,11 @@ pub trait Element: Serial + ProblemPoser + DisplayItem {
     // be used carefully to preserve invariant (1), described in the comment on
     // the `tangent` field of the `Assembly` structure
     fn set_column_index(&self, index: usize);
-    
-    /* KLUDGE */
-    fn is_point(&self) -> bool {
-        false
-    }
 }
 
 impl Debug for dyn Element {
-    fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), fmt::Error> {
+    fn fmt(&self, f: &mut Formatter<'_>) -> fmt::Result {
-        self.id().fmt(f)
+        Debug::fmt(&self.id(), f)
     }
 }
 
@@ -258,8 +259,7 @@ impl Serial for Sphere {
 impl ProblemPoser for Sphere {
     fn pose(&self, problem: &mut ConstraintProblem) {
         let index = self.column_index().expect(
-            format!("Sphere \"{}\" should be indexed before writing problem data", self.id).as_str()
+            indexing_error("Sphere", &self.id, "it").as_str());
-        );
         problem.gram.push_sym(index, index, 1.0);
         problem.guess.set_column(index, &self.representation.get_clone_untracked());
     }
@@ -353,10 +353,6 @@ impl Element for Point {
     fn set_column_index(&self, index: usize) {
         self.column_index.set(Some(index));
     }
-    
-    fn is_point(&self) -> bool {
-        true
-    }
 }
 
 impl Serial for Point {
@@ -368,25 +364,17 @@ impl Serial for Point {
 impl ProblemPoser for Point {
     fn pose(&self, problem: &mut ConstraintProblem) {
         let index = self.column_index().expect(
-            format!("Point \"{}\" should be indexed before writing problem data", self.id).as_str()
+            indexing_error("Point", &self.id, "it").as_str());
-        );
         problem.gram.push_sym(index, index, 0.0);
         problem.frozen.push(Self::WEIGHT_COMPONENT, index, 0.5);
         problem.guess.set_column(index, &self.representation.get_clone_untracked());
     }
 }
 
-pub trait Regulator: Any + Serial + ProblemPoser + OutlineItem {
+pub trait Regulator: Serial + ProblemPoser + OutlineItem {
     fn subjects(&self) -> Vec<Rc<dyn Element>>;
     fn measurement(&self) -> ReadSignal<f64>;
     fn set_point(&self) -> Signal<SpecifiedValue>;
-    fn soft(&self) -> Option<Signal<bool>> {
-        None
-    }
-    fn distortion(&self) -> Option<ReadSignal<f64>> { /* KLUDGE */
-        None
-    }
-    fn as_any(&self) -> &dyn Any;
 }
 
 impl Hash for dyn Regulator {
@@ -419,8 +407,6 @@ pub struct InversiveDistanceRegulator {
     pub subjects: [Rc<dyn Element>; 2],
     pub measurement: ReadSignal<f64>,
     pub set_point: Signal<SpecifiedValue>,
-    pub soft: Signal<bool>,
-    distortion: Option<ReadSignal<f64>>, /* KLUDGE */
     serial: u64,
 }
 
@@ -436,24 +422,9 @@ impl InversiveDistanceRegulator {
         });
         
         let set_point = create_signal(SpecifiedValue::from_empty_spec());
-        let distortion = if subjects.iter().all(|subj| subj.is_point()) {
-            Some(create_memo(move || {
-                let set_point_opt = set_point.with(|set_pt| set_pt.value);
-                let measurement_val = measurement.get();
-                match set_point_opt {
-                    None => 0.0,
-                    Some(set_point_val) => SQRT_2 * (
-                        (-measurement_val).sqrt() - (-set_point_val).sqrt()
-                    ),
-                }
-            }))
-        } else {
-            None
-        };
-        let soft = create_signal(false);
         let serial = Self::next_serial();
         
-        Self { subjects, measurement, set_point, soft, distortion, serial }
+        Self { subjects, measurement, set_point, serial }
     }
 }
 
@@ -469,18 +440,6 @@ impl Regulator for InversiveDistanceRegulator {
     fn set_point(&self) -> Signal<SpecifiedValue> {
         self.set_point
     }
-    
-    fn soft(&self) -> Option<Signal<bool>> {
-        Some(self.soft)
-    }
-    
-    fn distortion(&self) -> Option<ReadSignal<f64>> {
-        self.distortion
-    }
-    
-    fn as_any(&self) -> &dyn Any {
-        self
-    }
 }
 
 impl Serial for InversiveDistanceRegulator {
@@ -491,20 +450,15 @@ impl Serial for InversiveDistanceRegulator {
 
 impl ProblemPoser for InversiveDistanceRegulator {
     fn pose(&self, problem: &mut ConstraintProblem) {
-        let soft = self.soft.get_untracked();
         self.set_point.with_untracked(|set_pt| {
             if let Some(val) = set_pt.value {
                 let [row, col] = self.subjects.each_ref().map(
                     |subj| subj.column_index().expect(
-                        "Subjects should be indexed before inversive distance regulator writes problem data"
+                        indexing_error("Subject", subj.id(),
-                    )
+                            "inversive distance regulator").as_str())
                 );
-                if soft {
-                    problem.soft.push_sym(row, col, val);
-                } else {
                 problem.gram.push_sym(row, col, val);
             }
-            }
         });
     }
 }
@@ -541,10 +495,6 @@ impl Regulator for HalfCurvatureRegulator {
     fn set_point(&self) -> Signal<SpecifiedValue> {
         self.set_point
     }
-    
-    fn as_any(&self) -> &dyn Any {
-        self
-    }
 }
 
 impl Serial for HalfCurvatureRegulator {
@@ -558,8 +508,8 @@ impl ProblemPoser for HalfCurvatureRegulator {
         self.set_point.with_untracked(|set_pt| {
             if let Some(val) = set_pt.value {
                 let col = self.subject.column_index().expect(
-                    "Subject should be indexed before half-curvature regulator writes problem data"
+                    indexing_error("Subject", &self.subject.id,
-                );
+                        "half-curvature regulator").as_str());
                 problem.frozen.push(Sphere::CURVATURE_COMPONENT, col, val);
             }
         });
@@ -570,8 +520,15 @@ impl ProblemPoser for HalfCurvatureRegulator {
 pub enum Axis { X = 0, Y = 1, Z = 2 }
 
 impl Axis {
-    pub const N_AXIS: usize = (Axis::Z as usize) + 1;
+    fn name(&self) -> &'static str {
-    pub const NAME: [&str; Axis::N_AXIS] = ["X", "Y", "Z"];
+        match self { Axis::X => "X", Axis::Y => "Y", Axis::Z => "Z" }
+    }
+}
+
+impl Display for Axis {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        f.write_str(self.name())
+    }
 }
 
 pub struct PointCoordinateRegulator {
@@ -597,21 +554,9 @@ impl Serial for PointCoordinateRegulator {
 }
 
 impl Regulator for PointCoordinateRegulator {
-    fn subjects(&self) -> Vec<Rc<dyn Element>> {
+    fn subjects(&self) -> Vec<Rc<dyn Element>> { vec![self.subject.clone()] }
-        vec![self.subject.clone()]
+    fn measurement(&self) -> ReadSignal<f64> { self.measurement }
-    }
+    fn set_point(&self) -> Signal<SpecifiedValue> { self.set_point }
-    
-    fn measurement(&self) -> ReadSignal<f64> {
-        self.measurement
-    }
-    
-    fn set_point(&self) -> Signal<SpecifiedValue> {
-        self.set_point
-    }
-    
-    fn as_any(&self) -> &dyn Any {
-        self
-    }
 }
 
 impl ProblemPoser for PointCoordinateRegulator {
@@ -619,19 +564,20 @@ impl ProblemPoser for PointCoordinateRegulator {
         self.set_point.with_untracked(|set_pt| {
             if let Some(val) = set_pt.value {
                 let col = self.subject.column_index().expect(
-                    "Subject must be indexed before point-coordinate regulator poses.");
+                    indexing_error("Subject", &self.subject.id,
+                        "point-coordinate regulator").as_str());
                 problem.frozen.push(self.axis as usize, col, val);
-                // Check if all three coordinates have been frozen, and if so,
+                // If all three of the subject's spatial coordinates have been
-                // freeze the coradius as well
+                // frozen, then freeze its norm component:
-                let mut coords = [0.0; Axis::N_AXIS];
+                let mut coords = [0.0; Axis::CARDINALITY];
                 let mut nset: usize = 0;
                 for &MatrixEntry {index, value} in &(problem.frozen) {
-                    if index.1 == col && index.0 < Axis::N_AXIS {
+                    if index.1 == col && index.0 < Axis::CARDINALITY {
                         nset += 1;
                         coords[index.0] = value
                     }
                 }
-                if nset == Axis::N_AXIS {
+                if nset == Axis::CARDINALITY {
                     let [x, y, z] = coords;
                     problem.frozen.push(
                         Point::NORM_COMPONENT, col, point(x,y,z)[Point::NORM_COMPONENT]);
@@ -841,6 +787,7 @@ impl Assembly {
         /* DEBUG */
         // log the Gram matrix
         console_log!("Gram matrix:\n{}", problem.gram);
+        console_log!("Frozen entries:\n{}", problem.frozen);
         
         /* DEBUG */
         // log the initial configuration matrix
@@ -848,7 +795,7 @@ impl Assembly {
         
         // look for a configuration with the given Gram matrix
         let Realization { result, history } = realize_gram(
-            &problem, 1.0e-20, 0.5, 0.9, 1.1, 400, 110
+            &problem, 1.0e-12, 0.5, 0.9, 1.1, 200, 110
         );
         
         /* DEBUG */
@@ -1000,7 +947,8 @@ mod tests {
     use crate::engine;
     
     #[test]
-    #[should_panic(expected = "Sphere \"sphere\" should be indexed before writing problem data")]
+    #[should_panic(expected =
+        "Sphere \"sphere\" must be indexed before it writes problem data")]
     fn unindexed_element_test() {
         let _ = create_root(|| {
             let elt = Sphere::default("sphere".to_string(), 0);
@@ -1009,7 +957,8 @@ mod tests {
     }
     
     #[test]
-    #[should_panic(expected = "Subjects should be indexed before inversive distance regulator writes problem data")]
+    #[should_panic(expected = "Subject \"sphere1\" must be indexed before \
+        inversive distance regulator writes problem data")]
     fn unindexed_subject_test_inversive_distance() {
         let _ = create_root(|| {
             let subjects = [0, 1].map(

app-proto/src/components/diagnostics.rs

@@ -111,94 +111,6 @@ fn StepInput() -> View {
     }
 }
 
-#[component]
-fn DistortionGauge() -> View {
-    let state = use_context::<AppState>();
-    let total_distortion = create_memo(move || {
-        state.assembly.regulators.with(|regs| {
-            let mut total = 0.0;
-            for reg in regs {
-                if let Some(distortion) = reg.distortion() {
-                    total += distortion.get().abs();
-                }
-            }
-            total
-        })
-    });
-    
-    view! {
-        div(id = "distortion-gauge") {
-            "Distortion: " (total_distortion.with(|distort| distort.to_string()))
-        }
-    }
-}
-
-#[component]
-fn PrintButton() -> View {
-    view! {
-        button(
-            on:click = |_| {
-                let state = use_context::<AppState>();
-                
-                // print the edge length distortions
-                let mut hard_distortion_table = String::new();
-                let mut soft_distortion_table = String::new();
-                let mut highest_distortion = f64::NEG_INFINITY;
-                let mut lowest_distortion = f64::INFINITY;
-                let mut largest_hard_distortion = f64::NEG_INFINITY;
-                state.assembly.regulators.with_untracked(|regs| {
-                    for reg in regs {
-                        if let Some(distortion) = reg.distortion() {
-                            let distortion_val = distortion.get();
-                            let subjects = reg.subjects();
-                            let distortion_line = format!(
-                                "{}, {}: {distortion_val}\n",
-                                subjects[0].id(),
-                                subjects[1].id(),
-                            );
-                            match reg.soft() {
-                                Some(soft) if soft.get() => {
-                                    soft_distortion_table += &distortion_line;
-                                    highest_distortion = highest_distortion.max(distortion_val);
-                                    lowest_distortion = lowest_distortion.min(distortion_val);
-                                },
-                                _ => {
-                                    hard_distortion_table += &distortion_line;
-                                    largest_hard_distortion = largest_hard_distortion.max(distortion_val.abs());
-                                }
-                            };
-                        }
-                    }
-                });
-                console_log!("\
-                    === Distortions of flexible edges (for labels) ===\n\n\
-                    --- Range ---\n\n\
-                    Highest: {highest_distortion}\n\
-                    Lowest: {lowest_distortion}\n\n\
-                    --- Table ---\n\n{soft_distortion_table}\n\
-                    === Distortions of rigid edges (for validation) ===\n\n\
-                    These values should be small relative to the ones for the flexible edges\n\n\
-                    --- Range ---\n\n\
-                    Largest absolute: {largest_hard_distortion}\n\n\
-                    --- Table ---\n\n{hard_distortion_table}\
-                ");
-                
-                // print the vertex coordinates
-                let mut coords_table = String::new();
-                state.assembly.elements.with_untracked(|elts| {
-                    for elt in elts.iter().filter(|elt| elt.is_point()) {
-                        let (x, y, z) = elt.representation().with(
-                            |rep| (rep[0], rep[1], rep[2])
-                        );
-                        coords_table += &format!("{}: {x}, {y}, {z}\n", elt.id());
-                    }
-                });
-                console_log!("=== Vertex coordinates ===\n\n{coords_table}");
-            },
-        ) { "Print" }
-    }
-}
-
 fn into_log10_time_point((step, value): (usize, f64)) -> Vec<Option<f64>> {
     vec![
         Some(step as f64),
@@ -403,10 +315,6 @@ pub fn Diagnostics() -> View {
             }
             DiagnosticsPanel(name = "loss") { LossHistory {} }
             DiagnosticsPanel(name = "spectrum") { SpectrumHistory {} }
-            div(id = "distortion-bar") {
-                DistortionGauge {}
-                PrintButton {}
-            }
         }
     }
 }

app-proto/src/components/display.rs

@@ -597,16 +597,16 @@ pub fn Display() -> View {
                 |status| status.is_ok()
             );
             let step_val = state.assembly.step.with_untracked(|step| step.value);
+            let on_init_step = step_val.is_some_and(|n| n == 0.0);
             let on_last_step = step_val.is_some_and(
                 |n| state.assembly.descent_history.with_untracked(
                     |history| n as usize + 1 == history.config.len().max(1)
                 )
             );
-            if
+            let on_manipulable_step =
-                state.selection.with(|sel| sel.len() == 1)
+                !realization_successful && on_init_step
-                && realization_successful
+                || realization_successful && on_last_step;
-                && on_last_step
+            if on_manipulable_step && state.selection.with(|sel| sel.len() == 1) {
-            {
                 let sel = state.selection.with(
                     |sel| sel.into_iter().next().unwrap().clone()
                 );

app-proto/src/components/outline.rs

@@ -6,7 +6,6 @@ use web_sys::{KeyboardEvent, MouseEvent, wasm_bindgen::JsCast};
 use crate::{
     AppState,
     assembly::{
-        Axis,
         Element,
         HalfCurvatureRegulator,
         InversiveDistanceRegulator,
@@ -123,10 +122,11 @@ impl OutlineItem for HalfCurvatureRegulator {
 
 impl OutlineItem for PointCoordinateRegulator {
     fn outline_item(self: Rc<Self>, _element: &Rc<dyn Element>) -> View {
+        let name = format!("{} coordinate", self.axis);
         view! {
             li(class = "regulator") {
-                div(class = "regulator-label") { (Axis::NAME[self.axis as usize]) }
+                div(class = "regulator-label") // for spacing
-                div(class = "regulator-type") { "Coordinate" }
+                div(class = "regulator-type") { (name) }
                 RegulatorInput(regulator = self)
                 div(class = "status")
             }

app-proto/src/engine.rs

@@ -1,7 +1,6 @@
 use lazy_static::lazy_static;
 use nalgebra::{Const, DMatrix, DVector, DVectorView, Dyn, SymmetricEigen};
 use std::fmt::{Display, Error, Formatter};
-use sycamore::prelude::console_log; /* DEBUG */
 
 // --- elements ---
 
@@ -47,7 +46,7 @@ pub fn project_sphere_to_normalized(rep: &mut DVector<f64>) {
 
 // normalize a point's representation vector by scaling
 pub fn project_point_to_normalized(rep: &mut DVector<f64>) {
-    rep.scale_mut(0.5 / rep[3]); //FIXME: This 3 should be Point::WEIGHT_COMPONENT
+    rep.scale_mut(0.5 / rep[3]);
 }
 
 // --- partial matrices ---
@@ -241,7 +240,6 @@ impl DescentHistory {
 
 pub struct ConstraintProblem {
     pub gram: PartialMatrix,
-    pub soft: PartialMatrix,
     pub frozen: PartialMatrix,
     pub guess: DMatrix<f64>,
 }
@@ -251,7 +249,6 @@ impl ConstraintProblem {
         const ELEMENT_DIM: usize = 5;
         Self {
             gram: PartialMatrix::new(),
-            soft: PartialMatrix::new(),
             frozen: PartialMatrix::new(),
             guess: DMatrix::<f64>::zeros(ELEMENT_DIM, element_count),
         }
@@ -261,7 +258,6 @@ impl ConstraintProblem {
     pub fn from_guess(guess_columns: &[DVector<f64>]) -> Self {
         Self {
             gram: PartialMatrix::new(),
-            soft: PartialMatrix::new(),
             frozen: PartialMatrix::new(),
             guess: DMatrix::from_columns(guess_columns),
         }
@@ -284,18 +280,14 @@ lazy_static! {
 struct SearchState {
     config: DMatrix<f64>,
     err_proj: DMatrix<f64>,
-    loss_hard: f64,
     loss: f64,
 }
 
 impl SearchState {
-    fn from_config(gram: &PartialMatrix, soft: &PartialMatrix, softness: f64, config: DMatrix<f64>) -> Self {
+    fn from_config(gram: &PartialMatrix, config: DMatrix<f64>) -> Self {
-        let config_gram = &(config.tr_mul(&*Q) * &config);
+        let err_proj = gram.sub_proj(&(config.tr_mul(&*Q) * &config));
-        let err_proj_hard = gram.sub_proj(config_gram);
-        let err_proj = &err_proj_hard + softness * soft.sub_proj(config_gram);
-        let loss_hard = err_proj_hard.norm_squared();
         let loss = err_proj.norm_squared();
-        Self { config, err_proj, loss_hard, loss }
+        Self { config, err_proj, loss }
     }
 }
 
@@ -339,8 +331,6 @@ pub fn local_unif_to_std(v: DVectorView<f64>) -> DMatrix<f64> {
 // use backtracking line search to find a better configuration
 fn seek_better_config(
     gram: &PartialMatrix,
-    soft: &PartialMatrix,
-    softness: f64,
     state: &SearchState,
     base_step: &DMatrix<f64>,
     base_target_improvement: f64,
@@ -351,7 +341,7 @@ fn seek_better_config(
     let mut rate = 1.0;
     for backoff_steps in 0..max_backoff_steps {
         let trial_config = &state.config + rate * base_step;
-        let trial_state = SearchState::from_config(gram, soft, softness, trial_config);
+        let trial_state = SearchState::from_config(gram, trial_config);
         let improvement = state.loss - trial_state.loss;
         if improvement >= min_efficiency * rate * base_target_improvement {
             return Some((trial_state, backoff_steps));
@@ -386,7 +376,7 @@ pub fn realize_gram(
     max_backoff_steps: i32,
 ) -> Realization {
     // destructure the problem data
-    let ConstraintProblem { gram, soft, guess, frozen } = problem;
+    let ConstraintProblem { gram, guess, frozen } = problem;
     
     // start the descent history
     let mut history = DescentHistory::new();
@@ -413,18 +403,13 @@ pub fn realize_gram(
     let scale_adjustment = (gram.0.len() as f64).sqrt();
     let tol = scale_adjustment * scaled_tol;
     
-    // set up constants and variables related to minimizing the soft loss
-    const GRAD_TOL: f64 = 1e-12;
-    let mut grad_size = f64::INFINITY;
-    let mut softness = 1.0;
-    
     // convert the frozen indices to stacked format
     let frozen_stacked: Vec<usize> = frozen.into_iter().map(
         |MatrixEntry { index: (row, col), .. }| col*element_dim + row
     ).collect();
     
     // use a regularized Newton's method with backtracking
-    let mut state = SearchState::from_config(gram, soft, softness, frozen.freeze(guess));
+    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
@@ -441,7 +426,7 @@ pub fn realize_gram(
                 let neg_d_err =
                     basis_mat.tr_mul(&*Q) * &state.config
                     + state.config.tr_mul(&*Q) * &basis_mat;
-                let neg_d_err_proj = gram.proj(&neg_d_err) + softness * soft.proj(&neg_d_err);
+                let neg_d_err_proj = gram.proj(&neg_d_err);
                 let deriv_grad = 4.0 * &*Q * (
                     -&basis_mat * &state.err_proj
                     + &state.config * &neg_d_err_proj
@@ -470,13 +455,10 @@ pub fn realize_gram(
             hess[(k, k)] = 1.0;
         }
         
-        // stop if the hard loss is tolerably low and the total loss is close to
+        // stop if the loss is tolerably low
-        // stationary. we use `neg_grad_stacked` to measure the size of the
-        // gradient because it's been projected onto the frozen subspace
         history.config.push(state.config.clone());
-        history.scaled_loss.push(state.loss_hard / scale_adjustment);
+        history.scaled_loss.push(state.loss / scale_adjustment);
-        grad_size = neg_grad_stacked.norm_squared();
+        if state.loss < tol { break; }
-        if state.loss_hard < tol && grad_size < softness * GRAD_TOL { break; }
         
         // compute the Newton step
         /* TO DO */
@@ -500,7 +482,7 @@ pub fn realize_gram(
         
         // use backtracking line search to find a better configuration
         if let Some((better_state, backoff_steps)) = seek_better_config(
-            gram, soft, softness, &state, &base_step, neg_grad.dot(&base_step),
+            gram, &state, &base_step, neg_grad.dot(&base_step),
             min_efficiency, backoff, max_backoff_steps,
         ) {
             state = better_state;
@@ -511,18 +493,8 @@ pub fn realize_gram(
                 history,
             };
         }
-        
-        // if we're near a minimum of the total loss, but the hard loss still
-        // isn't tolerably low, make the soft constraints softer
-        const SOFTNESS_BACKOFF_THRESHOLD: f64 = 1e-6;
-        const SOFTNESS_BACKOFF: f64 = 0.95;
-        if state.loss_hard >= tol && grad_size < softness * SOFTNESS_BACKOFF_THRESHOLD {
-            softness *= SOFTNESS_BACKOFF;
-            state = SearchState::from_config(gram, soft, softness, state.config);
-            console_log!("Softness decreased to {softness}");
     }
-    }
+    let result = if state.loss < tol {
-    let result = if state.loss_hard < tol && grad_size < softness * GRAD_TOL {
         // express the uniform basis in the standard basis
         const UNIFORM_DIM: usize = 4;
         let total_dim_unif = UNIFORM_DIM * assembly_dim;