Try projecting with the uniform inner product

This projection should be invariant under Euclidean motions. For now, we
assume that all of the elements are spheres.

app-proto/src/assembly.rs

@@ -5,7 +5,7 @@ use std::{collections::BTreeSet, sync::atomic::{AtomicU64, Ordering}};
 use sycamore::prelude::*;
 use web_sys::{console, wasm_bindgen::JsValue}; /* DEBUG */
 
-use crate::engine::{realize_gram, ConfigSubspace, PartialMatrix, Q};
+use crate::engine::{realize_gram, local_unif_to_std, ConfigSubspace, PartialMatrix, Q};
 
 // the types of the keys we use to access an assembly's elements and constraints
 pub type ElementKey = usize;
@@ -120,6 +120,7 @@ pub struct Constraint {
     pub active: Signal<bool>
 }
 
+// the velocity is expressed in uniform coordinates
 pub struct ElementMotion<'a> {
     pub key: ElementKey,
     pub velocity: DVectorView<'a, f64>
@@ -359,7 +360,14 @@ impl Assembly {
                 // this element didn't have a column index when we started, so
                 // by invariant (2), it's unconstrained
                 let mut target_column = motion_proj.column_mut(column_index);
-                target_column += elt_motion.velocity;
+                let unif_to_std = self.elements.with_untracked(
+                    |elts| {
+                        elts[elt_motion.key].representation.with_untracked(
+                            |rep| local_unif_to_std(rep.as_view())
+                        )
+                    }
+                );
+                target_column += unif_to_std * elt_motion.velocity;
             }
         }
         

app-proto/src/display.rs

@@ -130,6 +130,8 @@ pub fn Display() -> View {
     let translate_pos_y = create_signal(0.0);
     let translate_neg_z = create_signal(0.0);
     let translate_pos_z = create_signal(0.0);
+    let shrink_neg = create_signal(0.0);
+    let shrink_pos = create_signal(0.0);
     
     // change listener
     let scene_changed = create_signal(true);
@@ -164,6 +166,7 @@ pub fn Display() -> View {
         
         // manipulation
         const TRANSLATION_SPEED: f64 = 0.15; // in length units per second
+        const SHRINKING_SPEED: f64 = 0.15; // in length units per second
         
         // display parameters
         const OPACITY: f32 = 0.5; /* SCAFFOLDING */
@@ -292,6 +295,8 @@ pub fn Display() -> View {
             let translate_pos_y_val = translate_pos_y.get();
             let translate_neg_z_val = translate_neg_z.get();
             let translate_pos_z_val = translate_pos_z.get();
+            let shrink_neg_val = shrink_neg.get();
+            let shrink_pos_val = shrink_pos.get();
             
             // update the assembly's orientation
             let ang_vel = {
@@ -323,24 +328,27 @@ pub fn Display() -> View {
                 let sel = state.selection.with(
                     |sel| *sel.into_iter().next().unwrap()
                 );
-                let rep = state.assembly.elements.with_untracked(
-                    |elts| elts[sel].representation.get_clone_untracked()
-                );
                 let translate_x = translate_pos_x_val - translate_neg_x_val;
                 let translate_y = translate_pos_y_val - translate_neg_y_val;
                 let translate_z = translate_pos_z_val - translate_neg_z_val;
-                if translate_x != 0.0 || translate_y != 0.0 || translate_z != 0.0 {
+                let shrink = shrink_pos_val - shrink_neg_val;
-                    let vel_field = {
+                let translating =
-                        let u = Vector3::new(translate_x, translate_y, translate_z).normalize();
+                    translate_x != 0.0
-                        DMatrix::from_column_slice(5, 5, &[
+                    || translate_y != 0.0
-                                 0.0,      0.0,      0.0, 0.0, u[0],
+                    || translate_z != 0.0;
-                                 0.0,      0.0,      0.0, 0.0, u[1],
+                if translating || shrink != 0.0 {
-                                 0.0,      0.0,      0.0, 0.0, u[2],
+                    let elt_motion = {
-                            2.0*u[0], 2.0*u[1], 2.0*u[2], 0.0,  0.0,
+                        let u = if translating {
-                                 0.0,      0.0,      0.0, 0.0,  0.0
+                            TRANSLATION_SPEED * Vector3::new(
-                        ])
+                                translate_x, translate_y, translate_z
+                            ).normalize()
+                        } else {
+                            Vector3::zeros()
+                        };
+                        time_step * DVector::from_column_slice(
+                            &[u[0], u[1], u[2], SHRINKING_SPEED * shrink, 0.0]
+                        )
                     };
-                    let elt_motion: DVector<f64> = time_step * TRANSLATION_SPEED * vel_field * rep;
                     assembly_for_raf.deform(
                         vec![
                             ElementMotion {
@@ -501,6 +509,8 @@ pub fn Display() -> View {
             "s" | "S" if shift => translate_pos_z.set(value),
             "w" | "W" => translate_pos_y.set(value),
             "s" | "S" => translate_neg_y.set(value),
+            "]" | "}" => shrink_neg.set(value),
+            "[" | "{" => shrink_pos.set(value),
             _ => manipulating = false
         };
         if manipulating {

app-proto/src/engine.rs

@@ -90,32 +90,33 @@ impl PartialMatrix {
 #[derive(Clone)]
 pub struct ConfigSubspace {
     assembly_dim: usize,
-    basis: Vec<DMatrix<f64>>
+    basis_std: Vec<DMatrix<f64>>,
+    basis_proj: Vec<DMatrix<f64>>
 }
 
 impl ConfigSubspace {
     pub fn zero(assembly_dim: usize) -> ConfigSubspace {
         ConfigSubspace {
             assembly_dim: assembly_dim,
-            basis: Vec::new()
+            basis_proj: Vec::new(),
+            basis_std: Vec::new()
         }
     }
     
     // approximate the kernel of a symmetric endomorphism of the configuration
     // space for `assembly_dim` elements. we consider an eigenvector to be part
     // of the kernel if its eigenvalue is smaller than the constant `THRESHOLD`
-    fn symmetric_kernel(a: DMatrix<f64>, assembly_dim: usize) -> ConfigSubspace {
+    fn symmetric_kernel(a: DMatrix<f64>, proj_to_std: DMatrix<f64>, assembly_dim: usize) -> ConfigSubspace {
+        // find a basis for the kernel, expressed in the standard coordinates
         const ELEMENT_DIM: usize = 5;
         const THRESHOLD: f64 = 1.0e-4;
         let eig = SymmetricEigen::new(a);
         let eig_vecs = eig.eigenvectors.column_iter();
         let eig_pairs = eig.eigenvalues.iter().zip(eig_vecs);
-        let basis = eig_pairs.filter_map(
+        let basis_std = DMatrix::from_columns(
-            |(λ, v)| (λ.abs() < THRESHOLD).then_some(
+            eig_pairs.filter_map(
-                Into::<DMatrix<f64>>::into(
+                |(λ, v)| (λ.abs() < THRESHOLD).then_some(v)
-                    v.reshape_generic(Dyn(ELEMENT_DIM), Dyn(assembly_dim))
+            ).collect::<Vec<_>>().as_slice()
-                )
-            )
         );
         
         /* DEBUG */
@@ -125,30 +126,50 @@ impl ConfigSubspace {
             format!("Eigenvalues used to find kernel:{}", eig.eigenvalues)
         ));
         
+        // express the basis in the projection coordinates
+        let basis_proj = proj_to_std.clone().qr().solve(&basis_std).unwrap();
+        
+        // orthonormalize the basis with respect to the projection inner product
+        let basis_proj_orth = basis_proj.qr().q();
+        let basis_std_orth = proj_to_std * &basis_proj_orth;
+        console::log_1(&JsValue::from(
+            format!("Basis in projection coordinates:{}", basis_proj_orth)
+        ));
+        
         ConfigSubspace {
             assembly_dim: assembly_dim,
-            basis: basis.collect()
+            basis_std: basis_std_orth.column_iter().map(
+                |v| Into::<DMatrix<f64>>::into(
+                    v.reshape_generic(Dyn(ELEMENT_DIM), Dyn(assembly_dim))
+                )
+            ).collect(),
+            basis_proj: basis_proj_orth.column_iter().map(
+                |v| Into::<DMatrix<f64>>::into(
+                    v.reshape_generic(Dyn(ELEMENT_DIM), Dyn(assembly_dim))
+                )
+            ).collect()
         }
     }
     
     pub fn dim(&self) -> usize {
-        self.basis.len()
+        self.basis_std.len()
     }
     
     pub fn assembly_dim(&self) -> usize {
         self.assembly_dim
     }
     
-    // find the projection onto this subspace, with respect to the Euclidean
+    // find the projection onto this subspace of the motion where the element
-    // inner product, of the motion where the element with the given column
+    // with the given column index has velocity `v`. the velocity is given in
-    // index has velocity `v`
+    // projection coordinates, and the projection is done with respect to the
+    // projection inner product
     pub fn proj(&self, v: &DVectorView<f64>, column_index: usize) -> DMatrix<f64> {
         if self.dim() == 0 {
             const ELEMENT_DIM: usize = 5;
             DMatrix::zeros(ELEMENT_DIM, self.assembly_dim)
         } else {
-            self.basis.iter().map(
+            self.basis_proj.iter().zip(self.basis_std.iter()).map(
-                |b| b.column(column_index).dot(&v) * b
+                |(b_proj, b_std)| b_proj.column(column_index).dot(&v) * b_std
             ).sum()
         }
     }
@@ -215,6 +236,21 @@ fn basis_matrix(index: (usize, usize), nrows: usize, ncols: usize) -> DMatrix<f6
     result
 }
 
+// given a spacelike unit vector `v`, which represents a sphere, build the basis
+// for the configuration space given by the three unit translation motions of
+// the sphere, the unit shrinking motion of the sphere, and `v`
+pub fn local_unif_to_std(v: DVectorView<f64>) -> DMatrix<f64> {
+    const ELEMENT_DIM: usize = 5;
+    let curv = 2.0*v[3];
+    DMatrix::from_column_slice(ELEMENT_DIM, ELEMENT_DIM, &[
+             curv,       0.0,       0.0,       0.0,            v[0],
+              0.0,      curv,       0.0,       0.0,            v[1],
+              0.0,       0.0,      curv,       0.0,            v[2],
+        curv*v[0], curv*v[1], curv*v[2], curv*v[3], curv*v[4] + 1.0,
+             v[0],      v[1],      v[2],      v[3],            v[4]
+    ])
+}
+
 // use backtracking line search to find a better configuration
 fn seek_better_config(
     gram: &PartialMatrix,
@@ -344,7 +380,17 @@ pub fn realize_gram(
     }
     let success = state.loss < tol;
     let tangent = if success {
-        ConfigSubspace::symmetric_kernel(hess, assembly_dim)
+        // express the uniform basis in the standard basis
+        let mut unif_to_std = DMatrix::<f64>::zeros(total_dim, total_dim);
+        for n in 0..assembly_dim {
+            let block_start = element_dim * n;
+            unif_to_std
+                .view_mut((block_start, block_start), (element_dim, element_dim))
+                .copy_from(&local_unif_to_std(state.config.column(n)));
+        }
+        
+        // find the kernel of the Hessian. give it the uniform inner product
+        ConfigSubspace::symmetric_kernel(hess, unif_to_std, assembly_dim)
     } else {
         ConfigSubspace::zero(assembly_dim)
     };