Merge branch 'integrate-lambert' into 'development'
Integrate lambert See merge request damask/DAMASK!166
This commit is contained in:
commit
90f93d2399
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@ -1,164 +0,0 @@
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####################################################################################################
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# Code below available according to the following conditions on
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# https://github.com/MarDiehl/3Drotations
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####################################################################################################
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# Copyright (c) 2017-2019, Martin Diehl/Max-Planck-Institut für Eisenforschung GmbH
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# Copyright (c) 2013-2014, Marc De Graef/Carnegie Mellon University
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without modification, are
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# permitted provided that the following conditions are met:
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#
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# - Redistributions of source code must retain the above copyright notice, this list
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# of conditions and the following disclaimer.
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# - Redistributions in binary form must reproduce the above copyright notice, this
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# list of conditions and the following disclaimer in the documentation and/or
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# other materials provided with the distribution.
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# - Neither the names of Marc De Graef, Carnegie Mellon University nor the names
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# of its contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
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# USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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####################################################################################################
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import numpy as np
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sc = np.pi**(1./6.)/6.**(1./6.)
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beta = np.pi**(5./6.)/6.**(1./6.)/2.
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R1 = (3.*np.pi/4.)**(1./3.)
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def cube_to_ball(cube):
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"""
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Map a point in a uniform refinable cubical grid to a point on a uniform refinable grid on a ball.
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Parameters
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----------
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cube : numpy.ndarray
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coordinates of a point in a uniform refinable cubical grid.
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References
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----------
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D. Roşca et al., Modelling and Simulation in Materials Science and Engineering 22:075013, 2014
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https://doi.org/10.1088/0965-0393/22/7/075013
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"""
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cube_ = np.clip(cube,None,np.pi**(2./3.) * 0.5) if np.isclose(np.abs(np.max(cube)),np.pi**(2./3.) * 0.5,atol=1e-6) else cube
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# transform to the sphere grid via the curved square, and intercept the zero point
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if np.allclose(cube_,0.0,rtol=0.0,atol=1.0e-16):
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ball = np.zeros(3)
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else:
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# get pyramide and scale by grid parameter ratio
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p = _get_order(cube_)
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XYZ = cube_[p[0]] * sc
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# intercept all the points along the z-axis
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if np.allclose(XYZ[0:2],0.0,rtol=0.0,atol=1.0e-16):
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ball = np.array([0.0, 0.0, np.sqrt(6.0/np.pi) * XYZ[2]])
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else:
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order = [1,0] if np.abs(XYZ[1]) <= np.abs(XYZ[0]) else [0,1]
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q = np.pi/12.0 * XYZ[order[0]]/XYZ[order[1]]
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c = np.cos(q)
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s = np.sin(q)
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q = R1*2.0**0.25/beta * XYZ[order[1]] / np.sqrt(np.sqrt(2.0)-c)
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T = np.array([ (np.sqrt(2.0)*c - 1.0), np.sqrt(2.0) * s]) * q
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# transform to sphere grid (inverse Lambert)
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# note that there is no need to worry about dividing by zero, since XYZ[2] can not become zero
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c = np.sum(T**2)
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s = c * np.pi/24.0 /XYZ[2]**2
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c = c * np.sqrt(np.pi/24.0)/XYZ[2]
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q = np.sqrt( 1.0 - s )
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ball = np.array([ T[order[1]] * q, T[order[0]] * q, np.sqrt(6.0/np.pi) * XYZ[2] - c ])
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# reverse the coordinates back to the regular order according to the original pyramid number
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ball = ball[p[1]]
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return ball
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def ball_to_cube(ball):
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"""
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Map a point on a uniform refinable grid on a ball to a point in a uniform refinable cubical grid.
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Parameters
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----------
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ball : numpy.ndarray
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coordinates of a point on a uniform refinable grid on a ball.
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References
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----------
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D. Roşca et al., Modelling and Simulation in Materials Science and Engineering 22:075013, 2014
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https://doi.org/10.1088/0965-0393/22/7/075013
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"""
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ball_ = ball/np.linalg.norm(ball)*R1 if np.isclose(np.linalg.norm(ball),R1,atol=1e-6) else ball
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rs = np.linalg.norm(ball_)
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if np.allclose(ball_,0.0,rtol=0.0,atol=1.0e-16):
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cube = np.zeros(3)
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else:
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p = _get_order(ball_)
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xyz3 = ball_[p[0]]
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# inverse M_3
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xyz2 = xyz3[0:2] * np.sqrt( 2.0*rs/(rs+np.abs(xyz3[2])) )
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# inverse M_2
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qxy = np.sum(xyz2**2)
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if np.isclose(qxy,0.0,rtol=0.0,atol=1.0e-16):
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Tinv = np.zeros(2)
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else:
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q2 = qxy + np.max(np.abs(xyz2))**2
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sq2 = np.sqrt(q2)
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q = (beta/np.sqrt(2.0)/R1) * np.sqrt(q2*qxy/(q2-np.max(np.abs(xyz2))*sq2))
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tt = np.clip((np.min(np.abs(xyz2))**2+np.max(np.abs(xyz2))*sq2)/np.sqrt(2.0)/qxy,-1.0,1.0)
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Tinv = np.array([1.0,np.arccos(tt)/np.pi*12.0]) if np.abs(xyz2[1]) <= np.abs(xyz2[0]) else \
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np.array([np.arccos(tt)/np.pi*12.0,1.0])
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Tinv = q * np.where(xyz2<0.0,-Tinv,Tinv)
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# inverse M_1
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cube = np.array([ Tinv[0], Tinv[1], (-1.0 if xyz3[2] < 0.0 else 1.0) * rs / np.sqrt(6.0/np.pi) ]) /sc
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# reverse the coordinates back to the regular order according to the original pyramid number
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cube = cube[p[1]]
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return cube
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def _get_order(xyz):
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"""
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Get order of the coordinates.
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Depending on the pyramid in which the point is located, the order need to be adjusted.
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Parameters
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----------
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xyz : numpy.ndarray
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coordinates of a point on a uniform refinable grid on a ball or
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in a uniform refinable cubical grid.
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References
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----------
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D. Roşca et al., Modelling and Simulation in Materials Science and Engineering 22:075013, 2014
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https://doi.org/10.1088/0965-0393/22/7/075013
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"""
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if (abs(xyz[0])<= xyz[2]) and (abs(xyz[1])<= xyz[2]) or \
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(abs(xyz[0])<=-xyz[2]) and (abs(xyz[1])<=-xyz[2]):
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return [[0,1,2],[0,1,2]]
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elif (abs(xyz[2])<= xyz[0]) and (abs(xyz[1])<= xyz[0]) or \
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(abs(xyz[2])<=-xyz[0]) and (abs(xyz[1])<=-xyz[0]):
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return [[1,2,0],[2,0,1]]
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elif (abs(xyz[0])<= xyz[1]) and (abs(xyz[2])<= xyz[1]) or \
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(abs(xyz[0])<=-xyz[1]) and (abs(xyz[2])<=-xyz[1]):
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return [[2,0,1],[1,2,0]]
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@ -1,10 +1,14 @@
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import numpy as np
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import numpy as np
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from ._Lambert import ball_to_cube, cube_to_ball
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from . import mechanics
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from . import mechanics
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_P = -1
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_P = -1
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# parameters for conversion from/to cubochoric
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_sc = np.pi**(1./6.)/6.**(1./6.)
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_beta = np.pi**(5./6.)/6.**(1./6.)/2.
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_R1 = (3.*np.pi/4.)**(1./3.)
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def iszero(a):
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def iszero(a):
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return np.isclose(a,0.0,atol=1.0e-12,rtol=0.0)
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return np.isclose(a,0.0,atol=1.0e-12,rtol=0.0)
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@ -237,7 +241,7 @@ class Rotation:
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"""Homochoric vector: (h_1, h_2, h_3)."""
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"""Homochoric vector: (h_1, h_2, h_3)."""
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return Rotation.qu2ho(self.quaternion)
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return Rotation.qu2ho(self.quaternion)
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def asCubochoric(self):
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def as_cubochoric(self):
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"""Cubochoric vector: (c_1, c_2, c_3)."""
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"""Cubochoric vector: (c_1, c_2, c_3)."""
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return Rotation.qu2cu(self.quaternion)
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return Rotation.qu2cu(self.quaternion)
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@ -261,6 +265,7 @@ class Rotation:
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asMatrix = as_matrix
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asMatrix = as_matrix
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asRodrigues = as_Rodrigues
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asRodrigues = as_Rodrigues
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asHomochoric = as_homochoric
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asHomochoric = as_homochoric
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asCubochoric = as_cubochoric
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################################################################################################
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################################################################################################
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# Static constructors. The input data needs to follow the conventions, options allow to
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# Static constructors. The input data needs to follow the conventions, options allow to
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@ -382,7 +387,7 @@ class Rotation:
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return Rotation(Rotation.ho2qu(ho))
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return Rotation(Rotation.ho2qu(ho))
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@staticmethod
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@staticmethod
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def fromCubochoric(cubochoric,
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def from_cubochoric(cubochoric,
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P = -1):
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P = -1):
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cu = np.array(cubochoric,dtype=float)
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cu = np.array(cubochoric,dtype=float)
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@ -457,6 +462,7 @@ class Rotation:
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fromMatrix = from_matrix
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fromMatrix = from_matrix
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fromRodrigues = from_Rodrigues
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fromRodrigues = from_Rodrigues
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fromHomochoric = from_homochoric
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fromHomochoric = from_homochoric
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fromCubochoric = from_cubochoric
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fromRandom = from_random
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fromRandom = from_random
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####################################################################################################
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####################################################################################################
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@ -1047,12 +1053,71 @@ class Rotation:
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@staticmethod
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@staticmethod
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def ho2cu(ho):
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def ho2cu(ho):
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"""Homochoric vector to cubochoric vector."""
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"""
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if len(ho.shape) == 1:
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Homochoric vector to cubochoric vector.
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return ball_to_cube(ho)
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else:
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raise NotImplementedError('Support for multiple rotations missing')
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References
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----------
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D. Roşca et al., Modelling and Simulation in Materials Science and Engineering 22:075013, 2014
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https://doi.org/10.1088/0965-0393/22/7/075013
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"""
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if len(ho.shape) == 1:
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rs = np.linalg.norm(ho)
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if np.allclose(ho,0.0,rtol=0.0,atol=1.0e-16):
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cu = np.zeros(3)
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else:
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xyz3 = ho[Rotation._get_pyramid_order(ho,'forward')]
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# inverse M_3
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xyz2 = xyz3[0:2] * np.sqrt( 2.0*rs/(rs+np.abs(xyz3[2])) )
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# inverse M_2
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qxy = np.sum(xyz2**2)
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if np.isclose(qxy,0.0,rtol=0.0,atol=1.0e-16):
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Tinv = np.zeros(2)
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else:
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q2 = qxy + np.max(np.abs(xyz2))**2
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sq2 = np.sqrt(q2)
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q = (_beta/np.sqrt(2.0)/_R1) * np.sqrt(q2*qxy/(q2-np.max(np.abs(xyz2))*sq2))
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tt = np.clip((np.min(np.abs(xyz2))**2+np.max(np.abs(xyz2))*sq2)/np.sqrt(2.0)/qxy,-1.0,1.0)
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Tinv = np.array([1.0,np.arccos(tt)/np.pi*12.0]) if np.abs(xyz2[1]) <= np.abs(xyz2[0]) else \
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np.array([np.arccos(tt)/np.pi*12.0,1.0])
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Tinv = q * np.where(xyz2<0.0,-Tinv,Tinv)
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# inverse M_1
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cu = np.array([ Tinv[0], Tinv[1], (-1.0 if xyz3[2] < 0.0 else 1.0) * rs / np.sqrt(6.0/np.pi) ]) /_sc
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cu = cu[Rotation._get_pyramid_order(ho,'backward')]
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else:
|
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rs = np.linalg.norm(ho,axis=-1,keepdims=True)
|
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|
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|
xyz3 = np.take_along_axis(ho,Rotation._get_pyramid_order(ho,'forward'),-1)
|
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|
with np.errstate(invalid='ignore',divide='ignore'):
|
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|
# inverse M_3
|
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|
xyz2 = xyz3[...,0:2] * np.sqrt( 2.0*rs/(rs+np.abs(xyz3[...,2:3])) )
|
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|
qxy = np.sum(xyz2**2,axis=-1,keepdims=True)
|
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|
|
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|
q2 = qxy + np.max(np.abs(xyz2),axis=-1,keepdims=True)**2
|
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sq2 = np.sqrt(q2)
|
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|
q = (_beta/np.sqrt(2.0)/_R1) * np.sqrt(q2*qxy/(q2-np.max(np.abs(xyz2),axis=-1,keepdims=True)*sq2))
|
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|
tt = np.clip((np.min(np.abs(xyz2),axis=-1,keepdims=True)**2\
|
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|
+np.max(np.abs(xyz2),axis=-1,keepdims=True)*sq2)/np.sqrt(2.0)/qxy,-1.0,1.0)
|
||||||
|
T_inv = np.where(np.abs(xyz2[...,1:2]) <= np.abs(xyz2[...,0:1]),
|
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|
np.block([np.ones_like(tt),np.arccos(tt)/np.pi*12.0]),
|
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|
np.block([np.arccos(tt)/np.pi*12.0,np.ones_like(tt)]))*q
|
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|
T_inv[xyz2<0.0] *= -1.0
|
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|
T_inv[np.broadcast_to(np.isclose(qxy,0.0,rtol=0.0,atol=1.0e-12),T_inv.shape)] = 0.0
|
||||||
|
cu = np.block([T_inv, np.where(xyz3[...,2:3]<0.0,-np.ones_like(xyz3[...,2:3]),np.ones_like(xyz3[...,2:3])) \
|
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|
* rs/np.sqrt(6.0/np.pi),
|
||||||
|
])/ _sc
|
||||||
|
|
||||||
|
cu[np.isclose(np.sum(np.abs(ho),axis=-1),0.0,rtol=0.0,atol=1.0e-16)] = 0.0
|
||||||
|
cu = np.take_along_axis(cu,Rotation._get_pyramid_order(ho,'backward'),-1)
|
||||||
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|
||||||
|
return cu
|
||||||
|
|
||||||
#---------- Cubochoric ----------
|
#---------- Cubochoric ----------
|
||||||
@staticmethod
|
@staticmethod
|
||||||
|
@ -1082,8 +1147,110 @@ class Rotation:
|
||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
def cu2ho(cu):
|
def cu2ho(cu):
|
||||||
"""Cubochoric vector to homochoric vector."""
|
"""
|
||||||
|
Cubochoric vector to homochoric vector.
|
||||||
|
|
||||||
|
References
|
||||||
|
----------
|
||||||
|
D. Roşca et al., Modelling and Simulation in Materials Science and Engineering 22:075013, 2014
|
||||||
|
https://doi.org/10.1088/0965-0393/22/7/075013
|
||||||
|
|
||||||
|
"""
|
||||||
if len(cu.shape) == 1:
|
if len(cu.shape) == 1:
|
||||||
return cube_to_ball(cu)
|
# transform to the sphere grid via the curved square, and intercept the zero point
|
||||||
|
if np.allclose(cu,0.0,rtol=0.0,atol=1.0e-16):
|
||||||
|
ho = np.zeros(3)
|
||||||
else:
|
else:
|
||||||
raise NotImplementedError('Support for multiple rotations missing')
|
# get pyramide and scale by grid parameter ratio
|
||||||
|
XYZ = cu[Rotation._get_pyramid_order(cu,'forward')] * _sc
|
||||||
|
|
||||||
|
# intercept all the points along the z-axis
|
||||||
|
if np.allclose(XYZ[0:2],0.0,rtol=0.0,atol=1.0e-16):
|
||||||
|
ho = np.array([0.0, 0.0, np.sqrt(6.0/np.pi) * XYZ[2]])
|
||||||
|
else:
|
||||||
|
order = [1,0] if np.abs(XYZ[1]) <= np.abs(XYZ[0]) else [0,1]
|
||||||
|
q = np.pi/12.0 * XYZ[order[0]]/XYZ[order[1]]
|
||||||
|
c = np.cos(q)
|
||||||
|
s = np.sin(q)
|
||||||
|
q = _R1*2.0**0.25/_beta * XYZ[order[1]] / np.sqrt(np.sqrt(2.0)-c)
|
||||||
|
T = np.array([ (np.sqrt(2.0)*c - 1.0), np.sqrt(2.0) * s]) * q
|
||||||
|
|
||||||
|
# transform to sphere grid (inverse Lambert)
|
||||||
|
# note that there is no need to worry about dividing by zero, since XYZ[2] can not become zero
|
||||||
|
c = np.sum(T**2)
|
||||||
|
s = c * np.pi/24.0 /XYZ[2]**2
|
||||||
|
c = c * np.sqrt(np.pi/24.0)/XYZ[2]
|
||||||
|
|
||||||
|
q = np.sqrt( 1.0 - s )
|
||||||
|
ho = np.array([ T[order[1]] * q, T[order[0]] * q, np.sqrt(6.0/np.pi) * XYZ[2] - c ])
|
||||||
|
|
||||||
|
ho = ho[Rotation._get_pyramid_order(cu,'backward')]
|
||||||
|
else:
|
||||||
|
with np.errstate(invalid='ignore',divide='ignore'):
|
||||||
|
# get pyramide and scale by grid parameter ratio
|
||||||
|
XYZ = np.take_along_axis(cu,Rotation._get_pyramid_order(cu,'forward'),-1) * _sc
|
||||||
|
order = np.abs(XYZ[...,1:2]) <= np.abs(XYZ[...,0:1])
|
||||||
|
q = np.pi/12.0 * np.where(order,XYZ[...,1:2],XYZ[...,0:1]) \
|
||||||
|
/ np.where(order,XYZ[...,0:1],XYZ[...,1:2])
|
||||||
|
c = np.cos(q)
|
||||||
|
s = np.sin(q)
|
||||||
|
q = _R1*2.0**0.25/_beta/ np.sqrt(np.sqrt(2.0)-c) \
|
||||||
|
* np.where(order,XYZ[...,0:1],XYZ[...,1:2])
|
||||||
|
|
||||||
|
T = np.block([ (np.sqrt(2.0)*c - 1.0), np.sqrt(2.0) * s]) * q
|
||||||
|
|
||||||
|
# transform to sphere grid (inverse Lambert)
|
||||||
|
c = np.sum(T**2,axis=-1,keepdims=True)
|
||||||
|
s = c * np.pi/24.0 /XYZ[...,2:3]**2
|
||||||
|
c = c * np.sqrt(np.pi/24.0)/XYZ[...,2:3]
|
||||||
|
q = np.sqrt( 1.0 - s)
|
||||||
|
|
||||||
|
ho = np.where(np.isclose(np.sum(np.abs(XYZ[...,0:2]),axis=-1,keepdims=True),0.0,rtol=0.0,atol=1.0e-16),
|
||||||
|
np.block([np.zeros_like(XYZ[...,0:2]),np.sqrt(6.0/np.pi) *XYZ[...,2:3]]),
|
||||||
|
np.block([np.where(order,T[...,0:1],T[...,1:2])*q,
|
||||||
|
np.where(order,T[...,1:2],T[...,0:1])*q,
|
||||||
|
np.sqrt(6.0/np.pi) * XYZ[...,2:3] - c])
|
||||||
|
)
|
||||||
|
|
||||||
|
ho[np.isclose(np.sum(np.abs(cu),axis=-1),0.0,rtol=0.0,atol=1.0e-16)] = 0.0
|
||||||
|
ho = np.take_along_axis(ho,Rotation._get_pyramid_order(cu,'backward'),-1)
|
||||||
|
|
||||||
|
return ho
|
||||||
|
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def _get_pyramid_order(xyz,direction=None):
|
||||||
|
"""
|
||||||
|
Get order of the coordinates.
|
||||||
|
|
||||||
|
Depending on the pyramid in which the point is located, the order need to be adjusted.
|
||||||
|
|
||||||
|
Parameters
|
||||||
|
----------
|
||||||
|
xyz : numpy.ndarray
|
||||||
|
coordinates of a point on a uniform refinable grid on a ball or
|
||||||
|
in a uniform refinable cubical grid.
|
||||||
|
|
||||||
|
References
|
||||||
|
----------
|
||||||
|
D. Roşca et al., Modelling and Simulation in Materials Science and Engineering 22:075013, 2014
|
||||||
|
https://doi.org/10.1088/0965-0393/22/7/075013
|
||||||
|
|
||||||
|
"""
|
||||||
|
order = {'forward':np.array([[0,1,2],[1,2,0],[2,0,1]]),
|
||||||
|
'backward':np.array([[0,1,2],[2,0,1],[1,2,0]])}
|
||||||
|
if len(xyz.shape) == 1:
|
||||||
|
if np.maximum(abs(xyz[0]),abs(xyz[1])) <= xyz[2] or \
|
||||||
|
np.maximum(abs(xyz[0]),abs(xyz[1])) <=-xyz[2]:
|
||||||
|
p = 0
|
||||||
|
elif np.maximum(abs(xyz[1]),abs(xyz[2])) <= xyz[0] or \
|
||||||
|
np.maximum(abs(xyz[1]),abs(xyz[2])) <=-xyz[0]:
|
||||||
|
p = 1
|
||||||
|
elif np.maximum(abs(xyz[2]),abs(xyz[0])) <= xyz[1] or \
|
||||||
|
np.maximum(abs(xyz[2]),abs(xyz[0])) <=-xyz[1]:
|
||||||
|
p = 2
|
||||||
|
else:
|
||||||
|
p = np.where(np.maximum(np.abs(xyz[...,0]),np.abs(xyz[...,1])) <= np.abs(xyz[...,2]),0,
|
||||||
|
np.where(np.maximum(np.abs(xyz[...,1]),np.abs(xyz[...,2])) <= np.abs(xyz[...,0]),1,2))
|
||||||
|
|
||||||
|
return order[direction][p]
|
||||||
|
|
|
@ -78,9 +78,9 @@ def default():
|
||||||
specials_scatter /= np.linalg.norm(specials_scatter,axis=1).reshape(-1,1)
|
specials_scatter /= np.linalg.norm(specials_scatter,axis=1).reshape(-1,1)
|
||||||
specials_scatter[specials_scatter[:,0]<0]*=-1
|
specials_scatter[specials_scatter[:,0]<0]*=-1
|
||||||
|
|
||||||
return [Rotation.fromQuaternion(s) for s in specials] + \
|
return [Rotation.from_quaternion(s) for s in specials] + \
|
||||||
[Rotation.fromQuaternion(s) for s in specials_scatter] + \
|
[Rotation.from_quaternion(s) for s in specials_scatter] + \
|
||||||
[Rotation.fromRandom() for _ in range(n-len(specials)-len(specials_scatter))]
|
[Rotation.from_random() for _ in range(n-len(specials)-len(specials_scatter))]
|
||||||
|
|
||||||
@pytest.fixture
|
@pytest.fixture
|
||||||
def reference_dir(reference_dir_base):
|
def reference_dir(reference_dir_base):
|
||||||
|
@ -92,41 +92,41 @@ class TestRotation:
|
||||||
|
|
||||||
def test_Eulers(self,default):
|
def test_Eulers(self,default):
|
||||||
for rot in default:
|
for rot in default:
|
||||||
m = rot.asQuaternion()
|
m = rot.as_quaternion()
|
||||||
o = Rotation.fromEulers(rot.asEulers()).asQuaternion()
|
o = Rotation.from_Eulers(rot.as_Eulers()).as_quaternion()
|
||||||
ok = np.allclose(m,o,atol=atol)
|
ok = np.allclose(m,o,atol=atol)
|
||||||
if np.isclose(rot.asQuaternion()[0],0.0,atol=atol):
|
if np.isclose(rot.as_quaternion()[0],0.0,atol=atol):
|
||||||
ok = ok or np.allclose(m*-1.,o,atol=atol)
|
ok = ok or np.allclose(m*-1.,o,atol=atol)
|
||||||
print(m,o,rot.asQuaternion())
|
print(m,o,rot.as_quaternion())
|
||||||
assert ok and np.isclose(np.linalg.norm(o),1.0)
|
assert ok and np.isclose(np.linalg.norm(o),1.0)
|
||||||
|
|
||||||
def test_AxisAngle(self,default):
|
def test_AxisAngle(self,default):
|
||||||
for rot in default:
|
for rot in default:
|
||||||
m = rot.asEulers()
|
m = rot.as_Eulers()
|
||||||
o = Rotation.fromAxisAngle(rot.asAxisAngle()).asEulers()
|
o = Rotation.from_axis_angle(rot.as_axis_angle()).as_Eulers()
|
||||||
u = np.array([np.pi*2,np.pi,np.pi*2])
|
u = np.array([np.pi*2,np.pi,np.pi*2])
|
||||||
ok = np.allclose(m,o,atol=atol)
|
ok = np.allclose(m,o,atol=atol)
|
||||||
ok = ok or np.allclose(np.where(np.isclose(m,u),m-u,m),np.where(np.isclose(o,u),o-u,o),atol=atol)
|
ok = ok or np.allclose(np.where(np.isclose(m,u),m-u,m),np.where(np.isclose(o,u),o-u,o),atol=atol)
|
||||||
if np.isclose(m[1],0.0,atol=atol) or np.isclose(m[1],np.pi,atol=atol):
|
if np.isclose(m[1],0.0,atol=atol) or np.isclose(m[1],np.pi,atol=atol):
|
||||||
sum_phi = np.unwrap([m[0]+m[2],o[0]+o[2]])
|
sum_phi = np.unwrap([m[0]+m[2],o[0]+o[2]])
|
||||||
ok = ok or np.isclose(sum_phi[0],sum_phi[1],atol=atol)
|
ok = ok or np.isclose(sum_phi[0],sum_phi[1],atol=atol)
|
||||||
print(m,o,rot.asQuaternion())
|
print(m,o,rot.as_quaternion())
|
||||||
assert ok and (np.zeros(3)-1.e-9 <= o).all() and (o <= np.array([np.pi*2.,np.pi,np.pi*2.])+1.e-9).all()
|
assert ok and (np.zeros(3)-1.e-9 <= o).all() and (o <= np.array([np.pi*2.,np.pi,np.pi*2.])+1.e-9).all()
|
||||||
|
|
||||||
def test_Matrix(self,default):
|
def test_Matrix(self,default):
|
||||||
for rot in default:
|
for rot in default:
|
||||||
m = rot.asAxisAngle()
|
m = rot.as_axis_angle()
|
||||||
o = Rotation.fromAxisAngle(rot.asAxisAngle()).asAxisAngle()
|
o = Rotation.from_axis_angle(rot.as_axis_angle()).as_axis_angle()
|
||||||
ok = np.allclose(m,o,atol=atol)
|
ok = np.allclose(m,o,atol=atol)
|
||||||
if np.isclose(m[3],np.pi,atol=atol):
|
if np.isclose(m[3],np.pi,atol=atol):
|
||||||
ok = ok or np.allclose(m*np.array([-1.,-1.,-1.,1.]),o,atol=atol)
|
ok = ok or np.allclose(m*np.array([-1.,-1.,-1.,1.]),o,atol=atol)
|
||||||
print(m,o,rot.asQuaternion())
|
print(m,o,rot.as_quaternion())
|
||||||
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0) and o[3]<=np.pi++1.e-9
|
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0) and o[3]<=np.pi++1.e-9
|
||||||
|
|
||||||
def test_Rodrigues(self,default):
|
def test_Rodrigues(self,default):
|
||||||
for rot in default:
|
for rot in default:
|
||||||
m = rot.asMatrix()
|
m = rot.as_matrix()
|
||||||
o = Rotation.fromRodrigues(rot.asRodrigues()).asMatrix()
|
o = Rotation.from_Rodrigues(rot.as_Rodrigues()).as_matrix()
|
||||||
ok = np.allclose(m,o,atol=atol)
|
ok = np.allclose(m,o,atol=atol)
|
||||||
print(m,o)
|
print(m,o)
|
||||||
assert ok and np.isclose(np.linalg.det(o),1.0)
|
assert ok and np.isclose(np.linalg.det(o),1.0)
|
||||||
|
@ -134,27 +134,27 @@ class TestRotation:
|
||||||
def test_Homochoric(self,default):
|
def test_Homochoric(self,default):
|
||||||
cutoff = np.tan(np.pi*.5*(1.-1e-4))
|
cutoff = np.tan(np.pi*.5*(1.-1e-4))
|
||||||
for rot in default:
|
for rot in default:
|
||||||
m = rot.asRodrigues()
|
m = rot.as_Rodrigues()
|
||||||
o = Rotation.fromHomochoric(rot.asHomochoric()).asRodrigues()
|
o = Rotation.from_homochoric(rot.as_homochoric()).as_Rodrigues()
|
||||||
ok = np.allclose(np.clip(m,None,cutoff),np.clip(o,None,cutoff),atol=atol)
|
ok = np.allclose(np.clip(m,None,cutoff),np.clip(o,None,cutoff),atol=atol)
|
||||||
ok = ok or np.isclose(m[3],0.0,atol=atol)
|
ok = ok or np.isclose(m[3],0.0,atol=atol)
|
||||||
print(m,o,rot.asQuaternion())
|
print(m,o,rot.as_quaternion())
|
||||||
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0)
|
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0)
|
||||||
|
|
||||||
def test_Cubochoric(self,default):
|
def test_Cubochoric(self,default):
|
||||||
for rot in default:
|
for rot in default:
|
||||||
m = rot.asHomochoric()
|
m = rot.as_homochoric()
|
||||||
o = Rotation.fromCubochoric(rot.asCubochoric()).asHomochoric()
|
o = Rotation.from_cubochoric(rot.as_cubochoric()).as_homochoric()
|
||||||
ok = np.allclose(m,o,atol=atol)
|
ok = np.allclose(m,o,atol=atol)
|
||||||
print(m,o,rot.asQuaternion())
|
print(m,o,rot.as_quaternion())
|
||||||
assert ok and np.linalg.norm(o) < (3.*np.pi/4.)**(1./3.) + 1.e-9
|
assert ok and np.linalg.norm(o) < (3.*np.pi/4.)**(1./3.) + 1.e-9
|
||||||
|
|
||||||
def test_Quaternion(self,default):
|
def test_Quaternion(self,default):
|
||||||
for rot in default:
|
for rot in default:
|
||||||
m = rot.asCubochoric()
|
m = rot.as_cubochoric()
|
||||||
o = Rotation.fromQuaternion(rot.asQuaternion()).asCubochoric()
|
o = Rotation.from_quaternion(rot.as_quaternion()).as_cubochoric()
|
||||||
ok = np.allclose(m,o,atol=atol)
|
ok = np.allclose(m,o,atol=atol)
|
||||||
print(m,o,rot.asQuaternion())
|
print(m,o,rot.as_quaternion())
|
||||||
assert ok and o.max() < np.pi**(2./3.)*0.5+1.e-9
|
assert ok and o.max() < np.pi**(2./3.)*0.5+1.e-9
|
||||||
|
|
||||||
@pytest.mark.parametrize('function',[Rotation.from_quaternion,
|
@pytest.mark.parametrize('function',[Rotation.from_quaternion,
|
||||||
|
@ -185,9 +185,11 @@ class TestRotation:
|
||||||
Rotation.qu2eu,
|
Rotation.qu2eu,
|
||||||
Rotation.qu2ax,
|
Rotation.qu2ax,
|
||||||
Rotation.qu2ro,
|
Rotation.qu2ro,
|
||||||
Rotation.qu2ho])
|
Rotation.qu2ho,
|
||||||
|
Rotation.qu2cu
|
||||||
|
])
|
||||||
def test_quaternion_vectorization(self,default,conversion):
|
def test_quaternion_vectorization(self,default,conversion):
|
||||||
qu = np.array([rot.asQuaternion() for rot in default])
|
qu = np.array([rot.as_quaternion() for rot in default])
|
||||||
conversion(qu.reshape(qu.shape[0]//2,-1,4))
|
conversion(qu.reshape(qu.shape[0]//2,-1,4))
|
||||||
co = conversion(qu)
|
co = conversion(qu)
|
||||||
for q,c in zip(qu,co):
|
for q,c in zip(qu,co):
|
||||||
|
@ -199,9 +201,10 @@ class TestRotation:
|
||||||
Rotation.om2ax,
|
Rotation.om2ax,
|
||||||
Rotation.om2ro,
|
Rotation.om2ro,
|
||||||
Rotation.om2ho,
|
Rotation.om2ho,
|
||||||
|
Rotation.om2cu
|
||||||
])
|
])
|
||||||
def test_matrix_vectorization(self,default,conversion):
|
def test_matrix_vectorization(self,default,conversion):
|
||||||
om = np.array([rot.asMatrix() for rot in default])
|
om = np.array([rot.as_matrix() for rot in default])
|
||||||
conversion(om.reshape(om.shape[0]//2,-1,3,3))
|
conversion(om.reshape(om.shape[0]//2,-1,3,3))
|
||||||
co = conversion(om)
|
co = conversion(om)
|
||||||
for o,c in zip(om,co):
|
for o,c in zip(om,co):
|
||||||
|
@ -213,9 +216,10 @@ class TestRotation:
|
||||||
Rotation.eu2ax,
|
Rotation.eu2ax,
|
||||||
Rotation.eu2ro,
|
Rotation.eu2ro,
|
||||||
Rotation.eu2ho,
|
Rotation.eu2ho,
|
||||||
|
Rotation.eu2cu
|
||||||
])
|
])
|
||||||
def test_Euler_vectorization(self,default,conversion):
|
def test_Euler_vectorization(self,default,conversion):
|
||||||
eu = np.array([rot.asEulers() for rot in default])
|
eu = np.array([rot.as_Eulers() for rot in default])
|
||||||
conversion(eu.reshape(eu.shape[0]//2,-1,3))
|
conversion(eu.reshape(eu.shape[0]//2,-1,3))
|
||||||
co = conversion(eu)
|
co = conversion(eu)
|
||||||
for e,c in zip(eu,co):
|
for e,c in zip(eu,co):
|
||||||
|
@ -227,9 +231,10 @@ class TestRotation:
|
||||||
Rotation.ax2eu,
|
Rotation.ax2eu,
|
||||||
Rotation.ax2ro,
|
Rotation.ax2ro,
|
||||||
Rotation.ax2ho,
|
Rotation.ax2ho,
|
||||||
|
Rotation.ax2cu
|
||||||
])
|
])
|
||||||
def test_axisAngle_vectorization(self,default,conversion):
|
def test_axisAngle_vectorization(self,default,conversion):
|
||||||
ax = np.array([rot.asAxisAngle() for rot in default])
|
ax = np.array([rot.as_axis_angle() for rot in default])
|
||||||
conversion(ax.reshape(ax.shape[0]//2,-1,4))
|
conversion(ax.reshape(ax.shape[0]//2,-1,4))
|
||||||
co = conversion(ax)
|
co = conversion(ax)
|
||||||
for a,c in zip(ax,co):
|
for a,c in zip(ax,co):
|
||||||
|
@ -242,9 +247,10 @@ class TestRotation:
|
||||||
Rotation.ro2eu,
|
Rotation.ro2eu,
|
||||||
Rotation.ro2ax,
|
Rotation.ro2ax,
|
||||||
Rotation.ro2ho,
|
Rotation.ro2ho,
|
||||||
|
Rotation.ro2cu
|
||||||
])
|
])
|
||||||
def test_Rodrigues_vectorization(self,default,conversion):
|
def test_Rodrigues_vectorization(self,default,conversion):
|
||||||
ro = np.array([rot.asRodrigues() for rot in default])
|
ro = np.array([rot.as_Rodrigues() for rot in default])
|
||||||
conversion(ro.reshape(ro.shape[0]//2,-1,4))
|
conversion(ro.reshape(ro.shape[0]//2,-1,4))
|
||||||
co = conversion(ro)
|
co = conversion(ro)
|
||||||
for r,c in zip(ro,co):
|
for r,c in zip(ro,co):
|
||||||
|
@ -256,11 +262,41 @@ class TestRotation:
|
||||||
Rotation.ho2eu,
|
Rotation.ho2eu,
|
||||||
Rotation.ho2ax,
|
Rotation.ho2ax,
|
||||||
Rotation.ho2ro,
|
Rotation.ho2ro,
|
||||||
|
Rotation.ho2cu
|
||||||
])
|
])
|
||||||
def test_homochoric_vectorization(self,default,conversion):
|
def test_homochoric_vectorization(self,default,conversion):
|
||||||
ho = np.array([rot.asHomochoric() for rot in default])
|
ho = np.array([rot.as_homochoric() for rot in default])
|
||||||
conversion(ho.reshape(ho.shape[0]//2,-1,3))
|
conversion(ho.reshape(ho.shape[0]//2,-1,3))
|
||||||
co = conversion(ho)
|
co = conversion(ho)
|
||||||
for h,c in zip(ho,co):
|
for h,c in zip(ho,co):
|
||||||
print(h,c)
|
print(h,c)
|
||||||
assert np.allclose(conversion(h),c)
|
assert np.allclose(conversion(h),c)
|
||||||
|
|
||||||
|
@pytest.mark.parametrize('conversion',[Rotation.cu2qu,
|
||||||
|
Rotation.cu2om,
|
||||||
|
Rotation.cu2eu,
|
||||||
|
Rotation.cu2ax,
|
||||||
|
Rotation.cu2ro,
|
||||||
|
Rotation.cu2ho
|
||||||
|
])
|
||||||
|
def test_cubochoric_vectorization(self,default,conversion):
|
||||||
|
cu = np.array([rot.as_cubochoric() for rot in default])
|
||||||
|
conversion(cu.reshape(cu.shape[0]//2,-1,3))
|
||||||
|
co = conversion(cu)
|
||||||
|
for u,c in zip(cu,co):
|
||||||
|
print(u,c)
|
||||||
|
assert np.allclose(conversion(u),c)
|
||||||
|
|
||||||
|
@pytest.mark.parametrize('direction',['forward',
|
||||||
|
'backward'])
|
||||||
|
def test_pyramid_vectorization(self,direction):
|
||||||
|
p = np.random.rand(n,3)
|
||||||
|
o = Rotation._get_pyramid_order(p,direction)
|
||||||
|
for i,o_i in enumerate(o):
|
||||||
|
assert np.all(o_i==Rotation._get_pyramid_order(p[i],direction))
|
||||||
|
|
||||||
|
def test_pyramid_invariant(self):
|
||||||
|
a = np.random.rand(n,3)
|
||||||
|
f = Rotation._get_pyramid_order(a,'forward')
|
||||||
|
b = Rotation._get_pyramid_order(a,'backward')
|
||||||
|
assert np.all(np.take_along_axis(np.take_along_axis(a,f,-1),b,-1) == a)
|
||||||
|
|
201
src/Lambert.f90
201
src/Lambert.f90
|
@ -1,201 +0,0 @@
|
||||||
! ###################################################################
|
|
||||||
! Copyright (c) 2013-2015, Marc De Graef/Carnegie Mellon University
|
|
||||||
! Modified 2017-2019, Martin Diehl/Max-Planck-Institut für Eisenforschung GmbH
|
|
||||||
! All rights reserved.
|
|
||||||
!
|
|
||||||
! Redistribution and use in source and binary forms, with or without modification, are
|
|
||||||
! permitted provided that the following conditions are met:
|
|
||||||
!
|
|
||||||
! - Redistributions of source code must retain the above copyright notice, this list
|
|
||||||
! of conditions and the following disclaimer.
|
|
||||||
! - Redistributions in binary form must reproduce the above copyright notice, this
|
|
||||||
! list of conditions and the following disclaimer in the documentation and/or
|
|
||||||
! other materials provided with the distribution.
|
|
||||||
! - Neither the names of Marc De Graef, Carnegie Mellon University nor the names
|
|
||||||
! of its contributors may be used to endorse or promote products derived from
|
|
||||||
! this software without specific prior written permission.
|
|
||||||
!
|
|
||||||
! THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
||||||
! AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
||||||
! IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
||||||
! ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
|
||||||
! LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
||||||
! DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
||||||
! SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
||||||
! CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
||||||
! OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
|
|
||||||
! USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
! ###################################################################
|
|
||||||
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
!> @author Marc De Graef, Carnegie Mellon University
|
|
||||||
!> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH
|
|
||||||
!> @brief Mapping homochoric <-> cubochoric
|
|
||||||
!
|
|
||||||
!> @details
|
|
||||||
!> D. Rosca, A. Morawiec, and M. De Graef. “A new method of constructing a grid
|
|
||||||
!> in the space of 3D rotations and its applications to texture analysis”.
|
|
||||||
!> Modeling and Simulations in Materials Science and Engineering 22, 075013 (2014).
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
module Lambert
|
|
||||||
use prec
|
|
||||||
use math
|
|
||||||
|
|
||||||
implicit none
|
|
||||||
private
|
|
||||||
|
|
||||||
real(pReal), parameter :: &
|
|
||||||
SPI = sqrt(PI), &
|
|
||||||
PREF = sqrt(6.0_pReal/PI), &
|
|
||||||
A = PI**(5.0_pReal/6.0_pReal)/6.0_pReal**(1.0_pReal/6.0_pReal), &
|
|
||||||
AP = PI**(2.0_pReal/3.0_pReal), &
|
|
||||||
SC = A/AP, &
|
|
||||||
BETA = A/2.0_pReal, &
|
|
||||||
R1 = (3.0_pReal*PI/4.0_pReal)**(1.0_pReal/3.0_pReal), &
|
|
||||||
R2 = sqrt(2.0_pReal), &
|
|
||||||
PI12 = PI/12.0_pReal, &
|
|
||||||
PREK = R1 * 2.0_pReal**(1.0_pReal/4.0_pReal)/BETA
|
|
||||||
|
|
||||||
public :: &
|
|
||||||
Lambert_CubeToBall, &
|
|
||||||
Lambert_BallToCube
|
|
||||||
|
|
||||||
contains
|
|
||||||
|
|
||||||
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
!> @author Marc De Graef, Carnegie Mellon University
|
|
||||||
!> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH
|
|
||||||
!> @brief map from 3D cubic grid to 3D ball
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
pure function Lambert_CubeToBall(cube) result(ball)
|
|
||||||
|
|
||||||
real(pReal), intent(in), dimension(3) :: cube
|
|
||||||
real(pReal), dimension(3) :: ball, LamXYZ, XYZ
|
|
||||||
real(pReal), dimension(2) :: T
|
|
||||||
real(pReal) :: c, s, q
|
|
||||||
real(pReal), parameter :: eps = 1.0e-8_pReal
|
|
||||||
integer, dimension(3,2) :: p
|
|
||||||
integer, dimension(2) :: order
|
|
||||||
|
|
||||||
if (maxval(abs(cube)) > AP/2.0+eps) then
|
|
||||||
ball = IEEE_value(cube,IEEE_positive_inf)
|
|
||||||
return
|
|
||||||
end if
|
|
||||||
|
|
||||||
! transform to the sphere grid via the curved square, and intercept the zero point
|
|
||||||
center: if (all(dEq0(cube))) then
|
|
||||||
ball = 0.0_pReal
|
|
||||||
else center
|
|
||||||
! get pyramide and scale by grid parameter ratio
|
|
||||||
p = GetPyramidOrder(cube)
|
|
||||||
XYZ = cube(p(:,1)) * sc
|
|
||||||
|
|
||||||
! intercept all the points along the z-axis
|
|
||||||
special: if (all(dEq0(XYZ(1:2)))) then
|
|
||||||
LamXYZ = [ 0.0_pReal, 0.0_pReal, pref * XYZ(3) ]
|
|
||||||
else special
|
|
||||||
order = merge( [2,1], [1,2], abs(XYZ(2)) <= abs(XYZ(1))) ! order of absolute values of XYZ
|
|
||||||
q = PI12 * XYZ(order(1))/XYZ(order(2)) ! smaller by larger
|
|
||||||
c = cos(q)
|
|
||||||
s = sin(q)
|
|
||||||
q = prek * XYZ(order(2))/ sqrt(R2-c)
|
|
||||||
T = [ (R2*c - 1.0), R2 * s] * q
|
|
||||||
|
|
||||||
! transform to sphere grid (inverse Lambert)
|
|
||||||
! [note that there is no need to worry about dividing by zero, since XYZ(3) can not become zero]
|
|
||||||
c = sum(T**2)
|
|
||||||
s = Pi * c/(24.0*XYZ(3)**2)
|
|
||||||
c = sPi * c / sqrt(24.0_pReal) / XYZ(3)
|
|
||||||
q = sqrt( 1.0 - s )
|
|
||||||
LamXYZ = [ T(order(2)) * q, T(order(1)) * q, pref * XYZ(3) - c ]
|
|
||||||
endif special
|
|
||||||
|
|
||||||
! reverse the coordinates back to order according to the original pyramid number
|
|
||||||
ball = LamXYZ(p(:,2))
|
|
||||||
|
|
||||||
endif center
|
|
||||||
|
|
||||||
end function Lambert_CubeToBall
|
|
||||||
|
|
||||||
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
!> @author Marc De Graef, Carnegie Mellon University
|
|
||||||
!> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH
|
|
||||||
!> @brief map from 3D ball to 3D cubic grid
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
pure function Lambert_BallToCube(xyz) result(cube)
|
|
||||||
|
|
||||||
real(pReal), intent(in), dimension(3) :: xyz
|
|
||||||
real(pReal), dimension(3) :: cube, xyz1, xyz3
|
|
||||||
real(pReal), dimension(2) :: Tinv, xyz2
|
|
||||||
real(pReal) :: rs, qxy, q2, sq2, q, tt
|
|
||||||
integer, dimension(3,2) :: p
|
|
||||||
|
|
||||||
rs = norm2(xyz)
|
|
||||||
if (rs > R1) then
|
|
||||||
cube = IEEE_value(cube,IEEE_positive_inf)
|
|
||||||
return
|
|
||||||
endif
|
|
||||||
|
|
||||||
center: if (all(dEq0(xyz))) then
|
|
||||||
cube = 0.0_pReal
|
|
||||||
else center
|
|
||||||
p = GetPyramidOrder(xyz)
|
|
||||||
xyz3 = xyz(p(:,1))
|
|
||||||
|
|
||||||
! inverse M_3
|
|
||||||
xyz2 = xyz3(1:2) * sqrt( 2.0*rs/(rs+abs(xyz3(3))) )
|
|
||||||
|
|
||||||
! inverse M_2
|
|
||||||
qxy = sum(xyz2**2)
|
|
||||||
|
|
||||||
special: if (dEq0(qxy)) then
|
|
||||||
Tinv = 0.0_pReal
|
|
||||||
else special
|
|
||||||
q2 = qxy + maxval(abs(xyz2))**2
|
|
||||||
sq2 = sqrt(q2)
|
|
||||||
q = (beta/R2/R1) * sqrt(q2*qxy/(q2-maxval(abs(xyz2))*sq2))
|
|
||||||
tt = (minval(abs(xyz2))**2+maxval(abs(xyz2))*sq2)/R2/qxy
|
|
||||||
Tinv = q * sign(1.0_pReal,xyz2) * merge([ 1.0_pReal, acos(math_clip(tt,-1.0_pReal,1.0_pReal))/PI12], &
|
|
||||||
[ acos(math_clip(tt,-1.0_pReal,1.0_pReal))/PI12, 1.0_pReal], &
|
|
||||||
abs(xyz2(2)) <= abs(xyz2(1)))
|
|
||||||
endif special
|
|
||||||
|
|
||||||
! inverse M_1
|
|
||||||
xyz1 = [ Tinv(1), Tinv(2), sign(1.0_pReal,xyz3(3)) * rs / pref ] /sc
|
|
||||||
|
|
||||||
! reverse the coordinates back to order according to the original pyramid number
|
|
||||||
cube = xyz1(p(:,2))
|
|
||||||
|
|
||||||
endif center
|
|
||||||
|
|
||||||
end function Lambert_BallToCube
|
|
||||||
|
|
||||||
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
!> @author Marc De Graef, Carnegie Mellon University
|
|
||||||
!> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH
|
|
||||||
!> @brief determine to which pyramid a point in a cubic grid belongs
|
|
||||||
!--------------------------------------------------------------------------
|
|
||||||
pure function GetPyramidOrder(xyz)
|
|
||||||
|
|
||||||
real(pReal),intent(in),dimension(3) :: xyz
|
|
||||||
integer, dimension(3,2) :: GetPyramidOrder
|
|
||||||
|
|
||||||
if (((abs(xyz(1)) <= xyz(3)).and.(abs(xyz(2)) <= xyz(3))) .or. &
|
|
||||||
((abs(xyz(1)) <= -xyz(3)).and.(abs(xyz(2)) <= -xyz(3)))) then
|
|
||||||
GetPyramidOrder = reshape([[1,2,3],[1,2,3]],[3,2])
|
|
||||||
else if (((abs(xyz(3)) <= xyz(1)).and.(abs(xyz(2)) <= xyz(1))) .or. &
|
|
||||||
((abs(xyz(3)) <= -xyz(1)).and.(abs(xyz(2)) <= -xyz(1)))) then
|
|
||||||
GetPyramidOrder = reshape([[2,3,1],[3,1,2]],[3,2])
|
|
||||||
else if (((abs(xyz(1)) <= xyz(2)).and.(abs(xyz(3)) <= xyz(2))) .or. &
|
|
||||||
((abs(xyz(1)) <= -xyz(2)).and.(abs(xyz(3)) <= -xyz(2)))) then
|
|
||||||
GetPyramidOrder = reshape([[3,1,2],[2,3,1]],[3,2])
|
|
||||||
else
|
|
||||||
GetPyramidOrder = -1 ! should be impossible, but might simplify debugging
|
|
||||||
end if
|
|
||||||
|
|
||||||
end function GetPyramidOrder
|
|
||||||
|
|
||||||
end module Lambert
|
|
|
@ -13,7 +13,6 @@
|
||||||
#include "LAPACK_interface.f90"
|
#include "LAPACK_interface.f90"
|
||||||
#include "math.f90"
|
#include "math.f90"
|
||||||
#include "quaternions.f90"
|
#include "quaternions.f90"
|
||||||
#include "Lambert.f90"
|
|
||||||
#include "rotations.f90"
|
#include "rotations.f90"
|
||||||
#include "FEsolving.f90"
|
#include "FEsolving.f90"
|
||||||
#include "element.f90"
|
#include "element.f90"
|
||||||
|
|
|
@ -50,7 +50,6 @@ module rotations
|
||||||
use prec
|
use prec
|
||||||
use IO
|
use IO
|
||||||
use math
|
use math
|
||||||
use Lambert
|
|
||||||
use quaternions
|
use quaternions
|
||||||
|
|
||||||
implicit none
|
implicit none
|
||||||
|
@ -81,6 +80,18 @@ module rotations
|
||||||
procedure, public :: standardize
|
procedure, public :: standardize
|
||||||
end type rotation
|
end type rotation
|
||||||
|
|
||||||
|
real(pReal), parameter :: &
|
||||||
|
SPI = sqrt(PI), &
|
||||||
|
PREF = sqrt(6.0_pReal/PI), &
|
||||||
|
A = PI**(5.0_pReal/6.0_pReal)/6.0_pReal**(1.0_pReal/6.0_pReal), &
|
||||||
|
AP = PI**(2.0_pReal/3.0_pReal), &
|
||||||
|
SC = A/AP, &
|
||||||
|
BETA = A/2.0_pReal, &
|
||||||
|
R1 = (3.0_pReal*PI/4.0_pReal)**(1.0_pReal/3.0_pReal), &
|
||||||
|
R2 = sqrt(2.0_pReal), &
|
||||||
|
PI12 = PI/12.0_pReal, &
|
||||||
|
PREK = R1 * 2.0_pReal**(1.0_pReal/4.0_pReal)/BETA
|
||||||
|
|
||||||
public :: &
|
public :: &
|
||||||
rotations_init, &
|
rotations_init, &
|
||||||
eu2om
|
eu2om
|
||||||
|
@ -516,7 +527,7 @@ pure function qu2ho(qu) result(ho)
|
||||||
|
|
||||||
omega = 2.0 * acos(math_clip(qu(1),-1.0_pReal,1.0_pReal))
|
omega = 2.0 * acos(math_clip(qu(1),-1.0_pReal,1.0_pReal))
|
||||||
|
|
||||||
if (dEq0(omega)) then
|
if (dEq0(omega,tol=1.e-5_pReal)) then
|
||||||
ho = [ 0.0_pReal, 0.0_pReal, 0.0_pReal ]
|
ho = [ 0.0_pReal, 0.0_pReal, 0.0_pReal ]
|
||||||
else
|
else
|
||||||
ho = qu(2:4)
|
ho = qu(2:4)
|
||||||
|
@ -1120,16 +1131,56 @@ pure function ho2ro(ho) result(ro)
|
||||||
end function ho2ro
|
end function ho2ro
|
||||||
|
|
||||||
|
|
||||||
!---------------------------------------------------------------------------------------------------
|
!--------------------------------------------------------------------------
|
||||||
!> @author Marc De Graef, Carnegie Mellon University
|
!> @author Marc De Graef, Carnegie Mellon University
|
||||||
|
!> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH
|
||||||
!> @brief convert homochoric to cubochoric
|
!> @brief convert homochoric to cubochoric
|
||||||
!---------------------------------------------------------------------------------------------------
|
!--------------------------------------------------------------------------
|
||||||
pure function ho2cu(ho) result(cu)
|
pure function ho2cu(ho) result(cu)
|
||||||
|
|
||||||
real(pReal), intent(in), dimension(3) :: ho
|
real(pReal), intent(in), dimension(3) :: ho
|
||||||
real(pReal), dimension(3) :: cu
|
real(pReal), dimension(3) :: cu, xyz1, xyz3
|
||||||
|
real(pReal), dimension(2) :: Tinv, xyz2
|
||||||
|
real(pReal) :: rs, qxy, q2, sq2, q, tt
|
||||||
|
integer, dimension(3,2) :: p
|
||||||
|
|
||||||
cu = Lambert_BallToCube(ho)
|
rs = norm2(ho)
|
||||||
|
if (rs > R1+1.e-6_pReal) then
|
||||||
|
cu = IEEE_value(cu,IEEE_positive_inf)
|
||||||
|
return
|
||||||
|
endif
|
||||||
|
|
||||||
|
center: if (all(dEq0(ho))) then
|
||||||
|
cu = 0.0_pReal
|
||||||
|
else center
|
||||||
|
p = GetPyramidOrder(ho)
|
||||||
|
xyz3 = ho(p(:,1))
|
||||||
|
|
||||||
|
! inverse M_3
|
||||||
|
xyz2 = xyz3(1:2) * sqrt( 2.0*rs/(rs+abs(xyz3(3))) )
|
||||||
|
|
||||||
|
! inverse M_2
|
||||||
|
qxy = sum(xyz2**2)
|
||||||
|
|
||||||
|
special: if (dEq0(qxy)) then
|
||||||
|
Tinv = 0.0_pReal
|
||||||
|
else special
|
||||||
|
q2 = qxy + maxval(abs(xyz2))**2
|
||||||
|
sq2 = sqrt(q2)
|
||||||
|
q = (beta/R2/R1) * sqrt(q2*qxy/(q2-maxval(abs(xyz2))*sq2))
|
||||||
|
tt = (minval(abs(xyz2))**2+maxval(abs(xyz2))*sq2)/R2/qxy
|
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|
Tinv = q * sign(1.0_pReal,xyz2) * merge([ 1.0_pReal, acos(math_clip(tt,-1.0_pReal,1.0_pReal))/PI12], &
|
||||||
|
[ acos(math_clip(tt,-1.0_pReal,1.0_pReal))/PI12, 1.0_pReal], &
|
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|
abs(xyz2(2)) <= abs(xyz2(1)))
|
||||||
|
endif special
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||||||
|
|
||||||
|
! inverse M_1
|
||||||
|
xyz1 = [ Tinv(1), Tinv(2), sign(1.0_pReal,xyz3(3)) * rs / pref ] /sc
|
||||||
|
|
||||||
|
! reverse the coordinates back to order according to the original pyramid number
|
||||||
|
cu = xyz1(p(:,2))
|
||||||
|
|
||||||
|
endif center
|
||||||
|
|
||||||
end function ho2cu
|
end function ho2cu
|
||||||
|
|
||||||
|
@ -1204,20 +1255,88 @@ pure function cu2ro(cu) result(ro)
|
||||||
end function cu2ro
|
end function cu2ro
|
||||||
|
|
||||||
|
|
||||||
!---------------------------------------------------------------------------------------------------
|
!--------------------------------------------------------------------------
|
||||||
!> @author Marc De Graef, Carnegie Mellon University
|
!> @author Marc De Graef, Carnegie Mellon University
|
||||||
!> @brief convert cubochoric to homochoric
|
!> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH
|
||||||
!---------------------------------------------------------------------------------------------------
|
!> @brief map from 3D cubic grid to 3D ball
|
||||||
|
!--------------------------------------------------------------------------
|
||||||
pure function cu2ho(cu) result(ho)
|
pure function cu2ho(cu) result(ho)
|
||||||
|
|
||||||
real(pReal), intent(in), dimension(3) :: cu
|
real(pReal), intent(in), dimension(3) :: cu
|
||||||
real(pReal), dimension(3) :: ho
|
real(pReal), dimension(3) :: ho, LamXYZ, XYZ
|
||||||
|
real(pReal), dimension(2) :: T
|
||||||
|
real(pReal) :: c, s, q
|
||||||
|
real(pReal), parameter :: eps = 1.0e-8_pReal
|
||||||
|
integer, dimension(3,2) :: p
|
||||||
|
integer, dimension(2) :: order
|
||||||
|
|
||||||
ho = Lambert_CubeToBall(cu)
|
if (maxval(abs(cu)) > AP/2.0+eps) then
|
||||||
|
ho = IEEE_value(cu,IEEE_positive_inf)
|
||||||
|
return
|
||||||
|
end if
|
||||||
|
|
||||||
|
! transform to the sphere grid via the curved square, and intercept the zero point
|
||||||
|
center: if (all(dEq0(cu))) then
|
||||||
|
ho = 0.0_pReal
|
||||||
|
else center
|
||||||
|
! get pyramide and scale by grid parameter ratio
|
||||||
|
p = GetPyramidOrder(cu)
|
||||||
|
XYZ = cu(p(:,1)) * sc
|
||||||
|
|
||||||
|
! intercept all the points along the z-axis
|
||||||
|
special: if (all(dEq0(XYZ(1:2)))) then
|
||||||
|
LamXYZ = [ 0.0_pReal, 0.0_pReal, pref * XYZ(3) ]
|
||||||
|
else special
|
||||||
|
order = merge( [2,1], [1,2], abs(XYZ(2)) <= abs(XYZ(1))) ! order of absolute values of XYZ
|
||||||
|
q = PI12 * XYZ(order(1))/XYZ(order(2)) ! smaller by larger
|
||||||
|
c = cos(q)
|
||||||
|
s = sin(q)
|
||||||
|
q = prek * XYZ(order(2))/ sqrt(R2-c)
|
||||||
|
T = [ (R2*c - 1.0), R2 * s] * q
|
||||||
|
|
||||||
|
! transform to sphere grid (inverse Lambert)
|
||||||
|
! [note that there is no need to worry about dividing by zero, since XYZ(3) can not become zero]
|
||||||
|
c = sum(T**2)
|
||||||
|
s = Pi * c/(24.0*XYZ(3)**2)
|
||||||
|
c = sPi * c / sqrt(24.0_pReal) / XYZ(3)
|
||||||
|
q = sqrt( 1.0 - s )
|
||||||
|
LamXYZ = [ T(order(2)) * q, T(order(1)) * q, pref * XYZ(3) - c ]
|
||||||
|
endif special
|
||||||
|
|
||||||
|
! reverse the coordinates back to order according to the original pyramid number
|
||||||
|
ho = LamXYZ(p(:,2))
|
||||||
|
|
||||||
|
endif center
|
||||||
|
|
||||||
end function cu2ho
|
end function cu2ho
|
||||||
|
|
||||||
|
|
||||||
|
!--------------------------------------------------------------------------
|
||||||
|
!> @author Marc De Graef, Carnegie Mellon University
|
||||||
|
!> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH
|
||||||
|
!> @brief determine to which pyramid a point in a cubic grid belongs
|
||||||
|
!--------------------------------------------------------------------------
|
||||||
|
pure function GetPyramidOrder(xyz)
|
||||||
|
|
||||||
|
real(pReal),intent(in),dimension(3) :: xyz
|
||||||
|
integer, dimension(3,2) :: GetPyramidOrder
|
||||||
|
|
||||||
|
if (((abs(xyz(1)) <= xyz(3)).and.(abs(xyz(2)) <= xyz(3))) .or. &
|
||||||
|
((abs(xyz(1)) <= -xyz(3)).and.(abs(xyz(2)) <= -xyz(3)))) then
|
||||||
|
GetPyramidOrder = reshape([[1,2,3],[1,2,3]],[3,2])
|
||||||
|
else if (((abs(xyz(3)) <= xyz(1)).and.(abs(xyz(2)) <= xyz(1))) .or. &
|
||||||
|
((abs(xyz(3)) <= -xyz(1)).and.(abs(xyz(2)) <= -xyz(1)))) then
|
||||||
|
GetPyramidOrder = reshape([[2,3,1],[3,1,2]],[3,2])
|
||||||
|
else if (((abs(xyz(1)) <= xyz(2)).and.(abs(xyz(3)) <= xyz(2))) .or. &
|
||||||
|
((abs(xyz(1)) <= -xyz(2)).and.(abs(xyz(3)) <= -xyz(2)))) then
|
||||||
|
GetPyramidOrder = reshape([[3,1,2],[2,3,1]],[3,2])
|
||||||
|
else
|
||||||
|
GetPyramidOrder = -1 ! should be impossible, but might simplify debugging
|
||||||
|
end if
|
||||||
|
|
||||||
|
end function GetPyramidOrder
|
||||||
|
|
||||||
|
|
||||||
!--------------------------------------------------------------------------------------------------
|
!--------------------------------------------------------------------------------------------------
|
||||||
!> @brief check correctness of some rotations functions
|
!> @brief check correctness of some rotations functions
|
||||||
!--------------------------------------------------------------------------------------------------
|
!--------------------------------------------------------------------------------------------------
|
||||||
|
|
Loading…
Reference in New Issue