Rot.h

// Copyright 2024, UChicago Argonne, LLC
// All Rights Reserved
// Software Name: NEML2 -- the New Engineering material Model Library, version 2
// By: Argonne National Laboratory
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#pragma once
 
#include "neml2/tensors/VecBase.h"
 
namespace neml2
{
// Forward declarations
class Scalar;
class Vec;
class R2;
class R3;

class Rot : public VecBase<Rot>
{
public:
  using VecBase<Rot>::VecBase;

  [[nodiscard]] static Rot rand(const TensorOptions & options = default_tensor_options());
  [[nodiscard]] static Rot rand(const TraceableTensorShape & dynamic_shape,
                                TensorShapeRef intmd_shape,
                                const TensorOptions & options = default_tensor_options());

  [[nodiscard]] static Rot identity(const TensorOptions & options = default_tensor_options());

  [[nodiscard]] static Rot fill_euler_angles(const Vec & v,
                                             const std::string & angle_convention,
                                             const std::string & angle_type);

  [[nodiscard]] static Rot fill_matrix(const R2 & M);

  [[nodiscard]] static Rot fill_rodrigues(const Scalar & rx, const Scalar & ry, const Scalar & rz);

  [[nodiscard]] static Rot rotation_from_to(const Vec & v1, const Vec & v2);

  [[nodiscard]] static Rot axis_angle(const Vec & n, const Scalar & theta);

  // This has a specialized use in integrating through ODFs, helping me avoid the need to calculate
  // the arc length scaling term for our space
  [[nodiscard]] static Rot axis_angle_standard(const Vec & n, const Scalar & theta);

  R2 euler_rodrigues() const;

  R3 deuler_rodrigues() const;

  Rot rotate(const Rot & r) const;

  R2 drotate(const Rot & r) const;

  R2 drotate_self(const Rot & r) const;

  Rot shadow() const;

  R2 dshadow() const;

  Scalar dist(const Rot & r) const;

  Scalar gdist(const Rot & r) const;

  Scalar dV() const;

  Vec to_euler_angles(const std::string & angle_convention, const std::string & angle_type) const;
};

//  So this follows the "matrix" convention where it's exactly the same
//  as the standard matrix product R1 * R2 where R1 and R2 are the
//  matrix representations of r1 and r2
Rot operator*(const Rot & r1, const Rot & r2);

//  Input/output in radians
//  to_convention one of "kocks", "bunge", "roe"
Vec convert_euler_angles_from_kocks(const Vec & angles, const std::string & to_convention);
 
} // namespace neml2