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/**
* @file geometry.hh
*
* @author Till Junge <till.junge@altermail.ch>
*
* @date 18 Apr 2018
*
* @brief Geometric calculation helpers
*
* Copyright © 2018 Till Junge
*
* µSpectre is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation, either version 3, or (at
* your option) any later version.
*
* µSpectre 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
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNU Emacs; see the file COPYING. If not, write to the
* Free Software Foundation, Inc., 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "common/common.hh"
#include "common/tensor_algebra.hh"
#include "common/eigen_tools.hh"
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <array>
#ifndef SRC_COMMON_GEOMETRY_HH_
#define SRC_COMMON_GEOMETRY_HH_
namespace muSpectre {
/**
* The rotation matrices depend on the order in which we rotate
* around different axes. See [[
* https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix ]] to
* find the matrices
*/
enum class RotationOrder {
Z,
XZXEuler,
XYXEuler,
YXYEuler,
YZYEuler,
ZYZEuler,
ZXZEuler,
XZYTaitBryan,
XYZTaitBryan,
YXZTaitBryan,
YZXTaitBryan,
ZYXTaitBryan,
ZXYTaitBryan
};
namespace internal {
template <Dim_t Dim>
struct DefaultOrder {
constexpr static RotationOrder value{RotationOrder::ZXYTaitBryan};
};
template <>
struct DefaultOrder<twoD> {
constexpr static RotationOrder value{RotationOrder::Z};
};
} // namespace internal
template <Dim_t Dim, RotationOrder Order = internal::DefaultOrder<Dim>::value>
class Rotator {
public:
static_assert(((Dim == twoD) and (Order == RotationOrder::Z)) or
((Dim == threeD) and (Order != RotationOrder::Z)),
"In 2d, only order 'Z' makes sense. In 3d, it doesn't");
using Angles_t = Eigen::Matrix<Real, (Dim == twoD) ? 1 : 3, 1>;
using RotMat_t = Eigen::Matrix<Real, Dim, Dim>;
//! Default constructor
Rotator() = delete;
explicit Rotator(const Eigen::Ref<const Angles_t> & angles)
: angles{angles}, rot_mat{this->compute_rotation_matrix()} {}
//! Copy constructor
Rotator(const Rotator & other) = default;
//! Move constructor
Rotator(Rotator && other) = default;
//! Destructor
virtual ~Rotator() = default;
//! Copy assignment operator
Rotator & operator=(const Rotator & other) = default;
//! Move assignment operator
Rotator & operator=(Rotator && other) = default;
/**
* Applies the rotation into the frame defined by the rotation
* matrix
*
* @param input is a first-, second-, or fourth-rank tensor
* (column vector, square matrix, or T4Matrix, or a Eigen::Map of
* either of these, or an expression that evaluates into any of
* these)
*/
template <class In_t>
inline decltype(auto) rotate(In_t && input);
/**
* Applies the rotation back out from the frame defined by the
* rotation matrix
*
* @param input is a first-, second-, or fourth-rank tensor
* (column vector, square matrix, or T4Matrix, or a Eigen::Map of
* either of these, or an expression that evaluates into any of
* these)
*/
template <class In_t>
inline decltype(auto) rotate_back(In_t && input);
const RotMat_t & get_rot_mat() const { return rot_mat; }
protected:
inline RotMat_t compute_rotation_matrix();
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
Angles_t angles;
RotMat_t rot_mat;
private:
};
namespace internal {
template <RotationOrder Order, Dim_t Dim>
struct RotationMatrixComputer {};
template <RotationOrder Order>
struct RotationMatrixComputer<Order, twoD> {
constexpr static Dim_t Dim{twoD};
using RotMat_t = typename Rotator<Dim, Order>::RotMat_t;
using Angles_t = typename Rotator<Dim, Order>::Angles_t;
inline static decltype(auto)
compute(const Eigen::Ref<Angles_t> & angles) {
static_assert(Order == RotationOrder::Z,
"Two-d rotations can only be around the z axis");
return RotMat_t(Eigen::Rotation2Dd(angles(0)));
}
};
template <RotationOrder Order>
struct RotationMatrixComputer<Order, threeD> {
constexpr static Dim_t Dim{threeD};
using RotMat_t = typename Rotator<Dim, Order>::RotMat_t;
using Angles_t = typename Rotator<Dim, Order>::Angles_t;
inline static decltype(auto)
compute(const Eigen::Ref<Angles_t> & angles) {
static_assert(Order != RotationOrder::Z,
"three-d rotations cannot only be around the z axis");
switch (Order) {
case RotationOrder::ZXZEuler: {
return RotMat_t(
(Eigen::AngleAxisd(angles(0), Eigen::Vector3d::UnitZ()) *
Eigen::AngleAxisd(angles(1), Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(angles(2), Eigen::Vector3d::UnitZ())));
break;
}
case RotationOrder::ZXYTaitBryan: {
return RotMat_t(
(Eigen::AngleAxisd(angles(0), Eigen::Vector3d::UnitZ()) *
Eigen::AngleAxisd(angles(1), Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(angles(2), Eigen::Vector3d::UnitY())));
}
default: { throw std::runtime_error("not yet implemented."); }
}
}
};
} // namespace internal
/* ---------------------------------------------------------------------- */
template <Dim_t Dim, RotationOrder Order>
auto Rotator<Dim, Order>::compute_rotation_matrix() -> RotMat_t {
return internal::RotationMatrixComputer<Order, Dim>::compute(this->angles);
}
namespace internal {
template <Dim_t Rank>
struct RotationHelper {};
/* ---------------------------------------------------------------------- */
template <>
struct RotationHelper<firstOrder> {
template <class In_t, class Rot_t>
inline static decltype(auto) rotate(In_t && input, Rot_t && R) {
return R * input;
}
};
/* ---------------------------------------------------------------------- */
template <>
struct RotationHelper<secondOrder> {
template <class In_t, class Rot_t>
inline static decltype(auto) rotate(In_t && input, Rot_t && R) {
return R * input * R.transpose();
}
};
/* ---------------------------------------------------------------------- */
template <>
struct RotationHelper<fourthOrder> {
template <class In_t, class Rot_t>
inline static decltype(auto) rotate(In_t && input, Rot_t && R) {
constexpr Dim_t Dim{EigenCheck::tensor_dim<Rot_t>::value};
auto && rotator_forward{
Matrices::outer_under(R.transpose(), R.transpose())};
auto && rotator_back = Matrices::outer_under(R, R);
// Clarification. When I return this value as an
// expression, clang segfaults or returns an uninitialised
// tensor, hence the explicit cast into a T4Mat.
return T4Mat<Real, Dim>(rotator_back * input * rotator_forward);
}
};
} // namespace internal
/* ---------------------------------------------------------------------- */
template <Dim_t Dim, RotationOrder Order>
template <class In_t>
auto Rotator<Dim, Order>::rotate(In_t && input) -> decltype(auto) {
constexpr Dim_t tensor_rank{EigenCheck::tensor_rank<In_t, Dim>::value};
return internal::RotationHelper<tensor_rank>::rotate(
std::forward<In_t>(input), this->rot_mat);
}
/* ---------------------------------------------------------------------- */
template <Dim_t Dim, RotationOrder Order>
template <class In_t>
auto Rotator<Dim, Order>::rotate_back(In_t && input) -> decltype(auto) {
constexpr Dim_t tensor_rank{EigenCheck::tensor_rank<In_t, Dim>::value};
return internal::RotationHelper<tensor_rank>::rotate(
std::forward<In_t>(input), this->rot_mat.transpose());
}
} // namespace muSpectre
#endif // SRC_COMMON_GEOMETRY_HH_
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