81 lines
2.8 KiB
Rust
81 lines
2.8 KiB
Rust
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use nalgebra::DMatrix;
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use std::{array, f64::consts::PI};
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use dyna3::engine::{Q, point, realize_gram, PartialMatrix};
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fn main() {
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// set up a kaleidocycle, made of points with fixed distances between them,
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// and find its tangent space
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const N_POINTS: usize = 12;
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let gram = {
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let mut gram_to_be = PartialMatrix::new();
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for block in (0..N_POINTS).step_by(2) {
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let block_next = (block + 2) % N_POINTS;
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for j in 0..2 {
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// diagonal and hinge edges
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for k in j..2 {
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gram_to_be.push_sym(block + j, block + k, if j == k { 0.0 } else { -0.5 });
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}
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// non-hinge edges
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for k in 0..2 {
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gram_to_be.push_sym(block + j, block_next + k, -0.625);
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}
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}
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}
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gram_to_be
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};
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let guess = {
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const N_HINGES: usize = 6;
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let guess_elts = (0..N_HINGES).step_by(2).flat_map(
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|n| {
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let ang_hor = (n as f64) * PI/3.0;
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let ang_vert = ((n + 1) as f64) * PI/3.0;
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let x_vert = ang_vert.cos();
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let y_vert = ang_vert.sin();
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[
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point(0.0, 0.0, 0.0),
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point(ang_hor.cos(), ang_hor.sin(), 0.0),
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point(x_vert, y_vert, -0.5),
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point(x_vert, y_vert, 0.5)
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]
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}
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).collect::<Vec<_>>();
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DMatrix::from_columns(&guess_elts)
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};
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let frozen: [_; N_POINTS] = array::from_fn(|k| (3, k));
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let (config, tangent, success, history) = realize_gram(
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&gram, guess, &frozen,
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1.0e-12, 0.5, 0.9, 1.1, 200, 110
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);
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print!("Completed Gram matrix:{}", config.tr_mul(&*Q) * &config);
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print!("Configuration:{}", config);
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if success {
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println!("Target accuracy achieved!");
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} else {
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println!("Failed to reach target accuracy");
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}
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println!("Steps: {}", history.scaled_loss.len() - 1);
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println!("Loss: {}\n", history.scaled_loss.last().unwrap());
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// find the kaleidocycle's twist motion
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let twist_motion: DMatrix<_> = (0..N_POINTS).step_by(4).flat_map(
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|n| {
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let up_field = {
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DMatrix::from_column_slice(5, 5, &[
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0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 1.0,
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0.0, 0.0, 2.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0
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])
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};
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[
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tangent.proj(&(&up_field * config.column(n)).as_view(), n),
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tangent.proj(&(-&up_field * config.column(n+1)).as_view(), n+1)
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]
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}
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).sum();
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let normalization = 5.0 / twist_motion[(2, 0)];
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print!("Twist motion:{}", normalization * twist_motion);
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}
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