Line data    Source code

       1              : // Copyright 2024, UChicago Argonne, LLC
       2              : // All Rights Reserved
       3              : // Software Name: NEML2 -- the New Engineering material Model Library, version 2
       4              : // By: Argonne National Laboratory
       5              : // OPEN SOURCE LICENSE (MIT)
       6              : //
       7              : // Permission is hereby granted, free of charge, to any person obtaining a copy
       8              : // of this software and associated documentation files (the "Software"), to deal
       9              : // in the Software without restriction, including without limitation the rights
      10              : // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
      11              : // copies of the Software, and to permit persons to whom the Software is
      12              : // furnished to do so, subject to the following conditions:
      13              : //
      14              : // The above copyright notice and this permission notice shall be included in
      15              : // all copies or substantial portions of the Software.
      16              : //
      17              : // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
      18              : // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
      19              : // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
      20              : // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
      21              : // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
      22              : // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
      23              : // THE SOFTWARE.
      24              : 
      25              : #include "neml2/tensors/Quaternion.h"
      26              : 
      27              : #include "neml2/tensors/R2.h"
      28              : #include "neml2/tensors/Scalar.h"
      29              : #include "neml2/tensors/Rot.h"
      30              : #include "neml2/tensors/Tensor.h"
      31              : 
      32              : #include "neml2/tensors/functions/cat.h"
      33              : #include "neml2/tensors/functions/stack.h"
      34              : #include "neml2/tensors/functions/bvv.h"
      35              : #include "neml2/tensors/functions/abs.h"
      36              : #include "neml2/tensors/functions/acos.h"
      37              : #include "neml2/tensors/functions/minimum.h"
      38              : #include "neml2/tensors/functions/linalg/vecdot.h"
      39              : 
      40              : namespace neml2
      41              : {
      42              : 
      43              : // TODO: replace at::cat with base_cat
      44            0 : Quaternion::Quaternion(const Rot & r)
      45            0 :   : Quaternion(base_cat(
      46            0 :         {((1 - r.norm_sq()) / (1 + r.norm_sq())).base_unsqueeze(-1), 2 * r / (1 + r.norm_sq())},
      47            0 :         -1))
      48              : {
      49            0 : }
      50              : 
      51              : Quaternion
      52            2 : Quaternion::fill(const CScalar & s,
      53              :                  const CScalar & q1,
      54              :                  const CScalar & q2,
      55              :                  const CScalar & q3,
      56              :                  const TensorOptions & options)
      57              : {
      58              :   return Quaternion::fill(
      59            2 :       Scalar(s, options), Scalar(q1, options), Scalar(q2, options), Scalar(q3, options));
      60              : }
      61              : 
      62              : Quaternion
      63            2 : Quaternion::fill(const Scalar & s, const Scalar & q1, const Scalar & q2, const Scalar & q3)
      64              : {
      65           12 :   return Quaternion(base_stack({s, q1, q2, q3}, -1));
      66            2 : }
      67              : 
      68              : Scalar
      69         2430 : Quaternion::operator()(Size i) const
      70              : {
      71         4860 :   return PrimitiveTensor<Quaternion, 4>::base_index({i});
      72         2430 : }
      73              : 
      74              : R2
      75           81 : Quaternion::to_R2() const
      76              : {
      77           81 :   const Quaternion & q = *this;
      78              : 
      79           81 :   Scalar v1s = q(1) * q(1);
      80           81 :   Scalar v2s = q(2) * q(2);
      81           81 :   Scalar v3s = q(3) * q(3);
      82              : 
      83          162 :   return R2::fill(1 - 2 * v2s - 2 * v3s,
      84          162 :                   2 * (q(1) * q(2) - q(3) * q(0)),
      85          162 :                   2 * (q(1) * q(3) + q(2) * q(0)),
      86          162 :                   2 * (q(1) * q(2) + q(3) * q(0)),
      87          162 :                   1 - 2 * v1s - 2 * v3s,
      88          162 :                   2 * (q(2) * q(3) - q(1) * q(0)),
      89          162 :                   2 * (q(1) * q(3) - q(2) * q(0)),
      90          162 :                   2 * (q(2) * q(3) + q(1) * q(0)),
      91          324 :                   1 - 2 * v1s - 2 * v2s);
      92           81 : }
      93              : 
      94              : Scalar
      95            0 : Quaternion::dot(const Quaternion & other) const
      96              : {
      97            0 :   return bvv(*this, other);
      98              : }
      99              : 
     100              : Scalar
     101            0 : Quaternion::dist(const Quaternion & other) const
     102              : {
     103            0 :   Scalar dp = neml2::abs(linalg::vecdot(*this, other));
     104            0 :   return 2.0 * neml2::acos(neml2::minimum(dp, Scalar::ones_like(dp)));
     105            0 : }
     106              : } // namespace neml2