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rAKA/src/common/aka_math_tmpl.hh
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aka_math_tmpl.hh
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/**
* @file aka_math_tmpl.hh
*
* @author Ramin Aghababaei <ramin.aghababaei@epfl.ch>
* @author Guillaume Anciaux <guillaume.anciaux@epfl.ch>
* @author Alejandro M. Aragón <alejandro.aragon@epfl.ch>
* @author Emil Gallyamov <emil.gallyamov@epfl.ch>
* @author David Simon Kammer <david.kammer@epfl.ch>
* @author Daniel Pino Muñoz <daniel.pinomunoz@epfl.ch>
* @author Mohit Pundir <mohit.pundir@epfl.ch>
* @author Mathilde Radiguet <mathilde.radiguet@epfl.ch>
* @author Nicolas Richart <nicolas.richart@epfl.ch>
* @author Leonardo Snozzi <leonardo.snozzi@epfl.ch>
* @author Peter Spijker <peter.spijker@epfl.ch>
* @author Marco Vocialta <marco.vocialta@epfl.ch>
*
* @date creation: Wed Aug 04 2010
* @date last modification: Fri Dec 11 2020
*
* @brief Implementation of the inline functions of the math toolkit
*
*
* @section LICENSE
*
* Copyright (©) 2010-2021 EPFL (Ecole Polytechnique Fédérale de Lausanne)
* Laboratory (LSMS - Laboratoire de Simulation en Mécanique des Solides)
*
* Akantu is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* Akantu is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with Akantu. If not, see <http://www.gnu.org/licenses/>.
*
*/
/* -------------------------------------------------------------------------- */
#include "aka_math.hh"
#include "aka_types.hh"
/* -------------------------------------------------------------------------- */
#include <cmath>
#include <typeinfo>
/* -------------------------------------------------------------------------- */
namespace akantu {
namespace Math {
/* ------------------------------------------------------------------------ */
template <class D1, aka::enable_if_t<aka::is_vector_v<D1>> *>
inline Vector<Real> normal(const Eigen::MatrixBase<D1> & vec) {
Vector<Real> normal_(vec);
normal_[0] = vec[1];
normal_[1] = -vec[0];
normal_.normalize();
return normal_;
}
/* ------------------------------------------------------------------------ */
template <class D1, class D2, aka::enable_if_vectors_t<D1, D2> *>
inline Vector<Real, 3> normal(const Eigen::MatrixBase<D1> & vec1,
const Eigen::MatrixBase<D2> & vec2) {
AKANTU_DEBUG_ASSERT(vec1.cols() == 1 and vec1.rows() == 3,
"Vec is not of the proper size");
AKANTU_DEBUG_ASSERT(vec2.cols() == 1 and vec2.rows() == 3,
"Vec is not of the proper size");
Vector<Real, 3> vec1_(vec1);
Vector<Real, 3> vec2_(vec2);
Vector<Real, 3> normal_ = (vec1_.cross(vec2_)).normalized();
return normal_;
}
/* ------------------------------------------------------------------------ */
template <class D1, class D2, class D3>
inline Real triangle_inradius(const Eigen::MatrixBase<D1> & coord1,
const Eigen::MatrixBase<D2> & coord2,
const Eigen::MatrixBase<D3> & coord3) {
auto a = coord1.distance(coord2);
auto b = coord2.distance(coord3);
auto c = coord1.distance(coord3);
auto s = (a + b + c) / 2.;
return std::sqrt((s - a) * (s - b) * (s - c) / s);
}
/* ------------------------------------------------------------------------ */
template <class D1, class D2, class D3, class D4>
inline Real tetrahedron_volume(const Eigen::MatrixBase<D1> & coord1,
const Eigen::MatrixBase<D2> & coord2,
const Eigen::MatrixBase<D3> & coord3,
const Eigen::MatrixBase<D4> & coord4) {
Matrix<Real, 3, 3> xx;
xx.col(0) = coord2;
xx.col(1) = coord3;
xx.col(2) = coord4;
auto vol = xx.determinant();
xx.col(0) = coord1;
vol -= xx.determinant();
xx.col(1) = coord2;
vol += xx.determinant();
xx.col(2) = coord3;
vol -= xx.determinant();
vol /= 6;
return vol;
}
/* ------------------------------------------------------------------------ */
template <class D1, class D2, class D3, class D4>
inline Real tetrahedron_inradius(const Eigen::MatrixBase<D1> & coord1,
const Eigen::MatrixBase<D2> & coord2,
const Eigen::MatrixBase<D3> & coord3,
const Eigen::MatrixBase<D4> & coord4) {
auto l12 = coord1.distance(coord2);
auto l13 = coord1.distance(coord3);
auto l14 = coord1.distance(coord4);
auto l23 = coord2.distance(coord3);
auto l24 = coord2.distance(coord4);
auto l34 = coord3.distance(coord4);
auto s1 = (l12 + l23 + l13) * 0.5;
s1 = std::sqrt(s1 * (s1 - l12) * (s1 - l23) * (s1 - l13));
auto s2 = (l12 + l24 + l14) * 0.5;
s2 = std::sqrt(s2 * (s2 - l12) * (s2 - l24) * (s2 - l14));
auto s3 = (l23 + l34 + l24) * 0.5;
s3 = std::sqrt(s3 * (s3 - l23) * (s3 - l34) * (s3 - l24));
auto s4 = (l13 + l34 + l14) * 0.5;
s4 = std::sqrt(s4 * (s4 - l13) * (s4 - l34) * (s4 - l14));
auto volume = Math::tetrahedron_volume(coord1, coord2, coord3, coord4);
return 3 * volume / (s1 + s2 + s3 + s4);
}
/* ------------------------------------------------------------------------ */
template <class D1, class D2>
inline void barycenter(const Eigen::MatrixBase<D1> & coord,
Eigen::MatrixBase<D2> & barycenter) {
barycenter.zero();
for (auto && x : coord) {
barycenter += x;
}
barycenter /= (Real)coord.cols();
}
/* ------------------------------------------------------------------------ */
/// Combined absolute and relative tolerance test proposed in
/// Real-time collision detection by C. Ericson (2004)
inline bool are_float_equal(const Real x, const Real y) {
Real abs_max = std::max(std::abs(x), std::abs(y));
abs_max = std::max(abs_max, Real(1.));
return std::abs(x - y) <= (tolerance * abs_max);
}
/* ------------------------------------------------------------------------ */
inline bool isnan(Real x) {
#if defined(__INTEL_COMPILER)
#pragma warning(push)
#pragma warning(disable : 1572)
#endif // defined(__INTEL_COMPILER)
// x = x return false means x = quiet_NaN
return !(x == x);
#if defined(__INTEL_COMPILER)
#pragma warning(pop)
#endif // defined(__INTEL_COMPILER)
}
/* ------------------------------------------------------------------------ */
inline bool are_vector_equal(Int n, Real * x, Real * y) {
bool test = true;
for (Int i = 0; i < n; ++i) {
test &= are_float_equal(x[i], y[i]);
}
return test;
}
/* ------------------------------------------------------------------------ */
inline bool intersects(Real x_min, Real x_max, Real y_min, Real y_max) {
return not((x_max < y_min) or (x_min > y_max));
}
/* ------------------------------------------------------------------------ */
inline bool is_in_range(Real a, Real x_min, Real x_max) {
return ((a >= x_min) and (a <= x_max));
}
/* ------------------------------------------------------------------------ */
template <Int p, typename T> inline T pow(T x) {
return (pow<p - 1, T>(x) * x);
}
template <> inline Int pow<0, Int>(Int /*x*/) { return (1); }
template <> inline Real pow<0, Real>(Real /*x*/) { return (1.); }
/* ------------------------------------------------------------------------ */
template <class T>
template <class Functor>
T NewtonRaphson<T>::solve(const Functor & funct, const T & x_0) {
T x = x_0;
T f_x = funct.f(x);
Int iter = 0;
while (std::abs(f_x) > this->tolerance && iter < this->max_iteration) {
x -= f_x / funct.f_prime(x);
f_x = funct.f(x);
iter++;
}
AKANTU_DEBUG_ASSERT(iter < this->max_iteration,
"Newton Raphson ("
<< funct.name << ") solve did not converge in "
<< this->max_iteration << " iterations (tolerance: "
<< this->tolerance << ")");
return x;
}
} // namespace Math
} // namespace akantu
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