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/*************************************************************************
* 2010 Václav Šmilauer *
* 2012 Anton Gladky *
* 2019 Janek Kozicki *
* *
* This program is free software; it is licensed under the terms of the *
* GNU General Public License v2 or later. See file LICENSE for details. *
*************************************************************************/
#pragma once
#include <lib/high-precision/Real.hpp>
#include <cassert>
#include <iomanip>
#include <iostream>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>
#include <boost/lexical_cast.hpp>
#include <boost/numeric/conversion/bounds.hpp>
#include <boost/preprocessor.hpp>
#include <boost/python.hpp>
#include <boost/python/class.hpp>
#include <boost/python/module.hpp>
#include <boost/python/object.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/type_traits.hpp>
#ifndef FOREACH
#define FOREACH(i_, arr_) for (i_ : arr_)
#endif
// TODO: they no longer expand to dynamic/static pointer casts depending on DEBUG=ON/OFF build. They are in wrong file. Think about either fixing this or removing them, https://gitlab.com/yade-dev/trunk/issues/97
#ifndef YADE_PTR_CAST
#define YADE_PTR_CAST ::boost::static_pointer_cast
#endif
#ifndef YADE_CAST
#define YADE_CAST static_cast
#endif
#ifndef YADE_DYN_CAST
#define YADE_DYN_CAST dynamic_cast
#endif
#ifndef YADE_PTR_DYN_CAST
#define YADE_PTR_DYN_CAST ::boost::dynamic_pointer_cast
#endif
#ifdef YADE_MASK_ARBITRARY
#include <bitset>
#endif
#include <Eigen/Core>
#include <Eigen/Eigenvalues>
#include <Eigen/Geometry>
#include <boost/serialization/is_bitwise_serializable.hpp>
#include <boost/serialization/nvp.hpp>
// https://en.cppreference.com/w/cpp/language/unqualified_lookup
// https://en.cppreference.com/w/cpp/language/qualified_lookup
// https://en.cppreference.com/w/cpp/language/namespace
namespace yade { // Cannot have #include directive inside.
using boost::shared_ptr;
using std::cerr;
using std::cout;
using std::endl;
using std::invalid_argument;
using std::ios;
using std::ios_base;
using std::logic_error;
using std::make_pair;
using std::pair;
using std::runtime_error;
using std::setfill;
using std::setprecision;
using std::setw;
using std::string;
using std::swap;
using std::type_info;
using std::vector;
// in some cases, we want to initialize types that have no default constructor (OpenMPAccumulator, for instance)
// template specialization will help us here
template <typename EigenMatrix> EigenMatrix ZeroInitializer() { return EigenMatrix::Zero(); };
template <> int ZeroInitializer<int>();
template <> Real ZeroInitializer<Real>();
/* this was removed in eigen3, see http://forum.kde.org/viewtopic.php?f=74&t=90914 */
template <typename MatrixT> void Matrix_computeUnitaryPositive(const MatrixT& in, MatrixT* unitary, MatrixT* positive)
{
assert(unitary);
assert(positive);
//Eigen::JacobiSVD<MatrixT> svd(in, Eigen::ComputeThinU | Eigen::ComputeThinV);
Eigen::JacobiSVD<MatrixT> svd(in, Eigen::ComputeFullU | Eigen::ComputeFullV);
MatrixT mU, mV, mS;
mU = svd.matrixU();
mV = svd.matrixV();
mS = svd.singularValues().asDiagonal();
*unitary = mU * mV.adjoint();
*positive = mV * mS * mV.adjoint();
}
template <typename MatrixT> void matrixEigenDecomposition(const MatrixT& m, MatrixT& mRot, MatrixT& mDiag)
{
//assert(mRot); assert(mDiag);
Eigen::SelfAdjointEigenSolver<MatrixT> a(m);
mRot = a.eigenvectors();
// make it right-handed
if (mRot.determinant() < 0)
for (unsigned i = 0; i < 3; i++)
mRot(i, 2) = -mRot(i, 2);
mDiag = a.eigenvalues().asDiagonal();
}
/* convert Vector6r in the Voigt notation to corresponding 2nd order symmetric tensor (stored as Matrix3r)
if strain is true, then multiply non-diagonal parts by .5
*/
template <typename Scalar> Matrix3<Scalar> voigt_toSymmTensor(const Vector6<Scalar>& v, bool strain = false)
{
Real k = (strain ? .5 : 1.);
Matrix3<Scalar> ret;
ret << v[0], k * v[5], k * v[4], k * v[5], v[1], k * v[3], k * v[4], k * v[3], v[2];
return ret;
}
/* convert 2nd order tensor to 6-vector (Voigt notation), symmetrizing the tensor;
if strain is true, multiply non-diagonal components by 2.
*/
template <typename Scalar> Vector6<Scalar> tensor_toVoigt(const Matrix3<Scalar>& m, bool strain = false)
{
int k = (strain ? 2 : 1);
Vector6<Scalar> ret;
ret << m(0, 0), m(1, 1), m(2, 2), k * .5 * (m(1, 2) + m(2, 1)), k * .5 * (m(2, 0) + m(0, 2)), k * .5 * (m(0, 1) + m(1, 0));
return ret;
}
const Real
NaN(std::numeric_limits<Real>::has_signaling_NaN
? std::numeric_limits<Real>::signaling_NaN()
: (std::numeric_limits<Real>::has_quiet_NaN ? std::numeric_limits<Real>::quiet_NaN() : math::abs(Real(0) / Real(0))));
// void quaternionToEulerAngles (const Quaternionr& q, Vector3r& eulerAngles,Real threshold=1e-6f);
template <typename Scalar> void quaterniontoGLMatrix(const Eigen::Quaternion<Scalar>& q, Scalar m[16])
{
Scalar w2 = 2. * q.w(), x2 = 2. * q.x(), y2 = 2. * q.y(), z2 = 2. * q.z();
Scalar x2w = w2 * q.w(), y2w = y2 * q.w(), z2w = z2 * q.w();
Scalar x2x = x2 * q.x(), y2x = y2 * q.x(), z2x = z2 * q.x();
Scalar x2y = y2 * q.y(), y2y = y2 * q.y(), z2y = z2 * q.y();
Scalar x2z = z2 * q.z(), y2z = y2 * q.z(), z2z = z2 * q.z();
m[0] = 1. - (y2y + z2z);
m[4] = y2x - z2w;
m[8] = z2x + y2w;
m[12] = 0;
m[1] = y2x + z2w;
m[5] = 1. - (x2x + z2z);
m[9] = z2y - x2w;
m[13] = 0;
m[2] = z2x - y2w;
m[6] = z2y + x2w;
m[10] = 1. - (x2x + y2y);
m[14] = 0;
m[3] = 0.;
m[7] = 0.;
m[11] = 0.;
m[15] = 1.;
}
// functions
template <typename Scalar> Scalar unitVectorsAngle(const Vector3<Scalar>& a, const Vector3<Scalar>& b) { return acos(a.dot(b)); }
// operators
/*
* Mask
*/
#ifdef YADE_MASK_ARBITRARY
using mask_t = std::bitset<YADE_MASK_ARBITRARY_SIZE>;
bool operator==(const mask_t& g, int i);
bool operator==(int i, const mask_t& g);
bool operator!=(const mask_t& g, int i);
bool operator!=(int i, const mask_t& g);
mask_t operator&(const mask_t& g, int i);
mask_t operator&(int i, const mask_t& g);
mask_t operator|(const mask_t& g, int i);
mask_t operator|(int i, const mask_t& g);
bool operator||(const mask_t& g, bool b);
bool operator||(bool b, const mask_t& g);
bool operator&&(const mask_t& g, bool b);
bool operator&&(bool b, const mask_t& g);
#else
using mask_t = int;
#endif
} // namespace yade
#include <lib/high-precision/MathSerialization.hpp>
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