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WIP: Manipulate the assembly #29

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Vectornaut wants to merge 8 commits from tangent-space into main
pull from: tangent-space
merge into: glen:main
Conversation 0 Commits 8 Files Changed 7 +111 -7
3 changed files with 111 additions and 7 deletions
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47
app-proto/src/assembly.rs
View File

@ -1,4 +1,4 @@
use nalgebra::{DMatrix, DVector, Vector3};
use nalgebra::{DMatrix, DVector, DVectorView, Vector3};
use rustc_hash::FxHashMap;
use slab::Slab;
use std::{collections::BTreeSet, sync::atomic::{AtomicU64, Ordering}};
@ -152,6 +152,13 @@ impl Assembly {
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));
// realize to update the tangent space
/* KLUDGE */
// since the newly inserted element is unconstrained, we should be able
// to update the tangent space without recomputing the Hessian and its
// eigendecomposition
self.realize();
}
pub fn try_insert_element(&self, elt: Element) -> bool {
@ -266,6 +273,7 @@ impl Assembly {
));
console::log_2(&JsValue::from("Steps:"), &JsValue::from(history.scaled_loss.len() - 1));
console::log_2(&JsValue::from("Loss:"), &JsValue::from(*history.scaled_loss.last().unwrap()));
console::log_2(&JsValue::from("Tangent dimension:"), &JsValue::from(tangent.dim()));
if success {
// read out the solution
@ -279,4 +287,41 @@ impl Assembly {
self.tangent.set_silent(tangent);
}
}
// --- deformation ---
pub fn deform(&self, element_motions: Vec<(ElementKey, DVectorView<f64>)>) {
/* KLUDGE */
// when the tangent space is zero, we currently need to avoid calling
// its `proj` method, because it will panic rather than returning zero.
// in the future, we'll want a more intentionally designed system for
// handling this case
if self.tangent.with(|tan| tan.dim() <= 0) {
console::log_1(&JsValue::from("The assembly is rigid"));
return;
}
const ELEMENT_DIM: usize = 5;
let assembly_dim = self.elements.with(|elts| elts.len());
let mut motion_proj = DMatrix::zeros(ELEMENT_DIM, assembly_dim);
// project the element motions onto the tangent space of the solution
// variety, and sum them to get a deformation of the whole assembly
for (elt_key, elt_motion) in element_motions {
let column_index = self.elements.with(|elts| elts[elt_key].column_index);
motion_proj += self.tangent.with(|tan| tan.proj(&elt_motion, column_index));
}
// step the configuration linearly along the tangent space of the
// solution variety
for (_, elt) in self.elements.get_clone_untracked() {
elt.representation.update_silent(|rep| {
let rep_next = &*rep + motion_proj.column(elt.column_index);
rep.set_column(0, &rep_next);
});
}
// bring the configuration back onto the solution variety
self.realize();
}
}

58
app-proto/src/display.rs
View File

@ -1,5 +1,5 @@
use core::array;
use nalgebra::{DMatrix, Rotation3, Vector3};
use nalgebra::{DMatrix, DVector, Rotation3, Vector3};
use sycamore::{prelude::*, motion::create_raf};
use web_sys::{
console,
@ -123,6 +123,10 @@ pub fn Display() -> View {
let zoom_out = create_signal(0.0);
let turntable = create_signal(false); /* BENCHMARKING */
// manipulation
let translate_neg_x = create_signal(0.0);
let translate_pos_x = create_signal(0.0);
// change listener
let scene_changed = create_signal(true);
create_effect(move || {
@ -141,6 +145,7 @@ pub fn Display() -> View {
let mut frames_since_last_sample = 0;
let mean_frame_interval = create_signal(0.0);
let assembly_for_raf = state.assembly.clone();
on_mount(move || {
// timing
let mut last_time = 0.0;
@ -153,6 +158,9 @@ pub fn Display() -> View {
let mut rotation = DMatrix::<f64>::identity(5, 5);
let mut location_z: f64 = 5.0;
// manipulation
const TRANSLATION_SPEED: f64 = 0.15; // in length units per second
// display parameters
const OPACITY: f32 = 0.5; /* SCAFFOLDING */
const HIGHLIGHT: f32 = 0.2; /* SCAFFOLDING */
@ -273,6 +281,10 @@ pub fn Display() -> View {
let zoom_out_val = zoom_out.get();
let turntable_val = turntable.get(); /* BENCHMARKING */
// get the manipulation state
let translate_neg_x_val = translate_neg_x.get();
let translate_pos_x_val = translate_pos_x.get();
// update the assembly's orientation
let ang_vel = {
let pitch = pitch_up_val - pitch_down_val;
@ -298,6 +310,30 @@ pub fn Display() -> View {
let zoom = zoom_out_val - zoom_in_val;
location_z *= (time_step * ZOOM_SPEED * zoom).exp();
// manipulate the assembly
if state.selection.with(|sel| sel.len() == 1) {
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 vel_field_z = DMatrix::from_column_slice(5, 5, &[
0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 1.0,
0.0, 0.0, 2.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0
]);
let translate_x = translate_pos_x_val - translate_neg_x_val;
if translate_x != 0.0 {
let vel = translate_x * vel_field_z * rep;
let elt_motion: DVector<f64> = time_step * TRANSLATION_SPEED * vel;
assembly_for_raf.deform(vec![(sel, elt_motion.as_view())]);
scene_changed.set(true);
}
}
if scene_changed.get() {
/* INSTRUMENTS */
// measure mean frame interval
@ -416,7 +452,7 @@ pub fn Display() -> View {
start_animation_loop();
});
let set_nav_signal = move |event: KeyboardEvent, value: f64| {
let set_nav_signal = move |event: &KeyboardEvent, value: f64| {
let mut navigating = true;
let shift = event.shift_key();
match event.key().as_str() {
@ -436,6 +472,18 @@ pub fn Display() -> View {
}
};
let set_manip_signal = move |event: &KeyboardEvent, value: f64| {
let mut manipulating = true;
match event.key().as_str() {
"d" => translate_pos_x.set(value),
"a" => translate_neg_x.set(value),
_ => manipulating = false
};
if manipulating {
event.prevent_default();
}
};
view! {
/* TO DO */
// switch back to integer-valued parameters when that becomes possible
@ -460,7 +508,8 @@ pub fn Display() -> View {
turntable.set_fn(|turn| !turn);
scene_changed.set(true);
}
set_nav_signal(event, 1.0);
set_nav_signal(&event, 1.0);
set_manip_signal(&event, 1.0);
}
},
on:keyup=move |event: KeyboardEvent| {
@ -474,7 +523,8 @@ pub fn Display() -> View {
zoom_in.set(0.0);
zoom_out.set(0.0);
} else {
set_nav_signal(event, 0.0);
set_nav_signal(&event, 0.0);
set_manip_signal(&event, 0.0);
}
},
on:blur=move |_| {

13
app-proto/src/engine.rs
View File

@ -87,6 +87,7 @@ impl PartialMatrix {
// --- configuration subspaces ---
#[derive(Clone)]
pub struct ConfigSubspace(Vec<DMatrix<f64>>);
impl ConfigSubspace {
@ -99,7 +100,7 @@ impl ConfigSubspace {
// of the kernel if its eigenvalue is smaller than the constant `THRESHOLD`
fn symmetric_kernel(a: DMatrix<f64>, assembly_dim: usize) -> ConfigSubspace {
const ELEMENT_DIM: usize = 5;
const THRESHOLD: f64 = 1.0e-9;
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);
@ -110,15 +111,23 @@ impl ConfigSubspace {
)
)
);
console::log_1(&JsValue::from(
format!("Hessian eigenvalues: {}", eig.eigenvalues)
)); /* DEBUG */
ConfigSubspace(basis.collect())
}
pub fn dim(&self) -> usize {
let ConfigSubspace(basis) = self;
basis.len()
}
// find the projection onto this subspace of the motion where the element
// with the given column index has velocity `v`
/* TO DO */
// for the zero subspace, this method's behavior doesn't match its name: it
// panics rather than returning zero
fn proj(&self, v: &DVectorView<f64>, column_index: usize) -> DMatrix<f64> {
pub fn proj(&self, v: &DVectorView<f64>, column_index: usize) -> DMatrix<f64> {
let ConfigSubspace(basis) = self;
basis.into_iter().map(
|b| b.column(column_index).dot(&v) * b