ref_element.cc

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/*!
 *
 * Copyright (C) 2015 Technical University of Liberec.  All rights reserved.
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License version 3 as published by the
 * Free Software Foundation. (http://www.gnu.org/licenses/gpl-3.0.en.html)
 * 
 * This program 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.
 *
 * 
 * @file    ref_element.cc
 * @brief   Class RefElement defines numbering of vertices, sides, calculation of normal vectors etc.
 * @author  Jan Stebel
 */

#include "system/global_defs.h"
#include "system/system.hh"
#include "mesh/ref_element.hh"



using namespace arma;
using namespace std;

template<std::size_t n>
std::vector< std::vector<unsigned int> > _array_to_vec( const IdxVector<n> array[], unsigned int m) {
    std::vector< std::vector<unsigned int> > vec(m);
    for(unsigned int i=0; i<m; i++)
        for(unsigned int j=0;j<n; j++)
            vec[i].push_back(array[i][j]);
    return vec;
}


// template<unsigned int n>
// std::vector< std::vector<unsigned int> > _array_to_vec( const unsigned int array[][n], unsigned int m) {
//     std::vector< std::vector<unsigned int> > vec(m);
//     for(unsigned int i=0; i<m; i++)
//         for(unsigned int j=0;j<n; j++)
//             vec[i].push_back(array[i][j]);
//     return vec;
// }




template<> const IdxVector<2> RefElement<1>::line_nodes_[] = {
        {0,1}
};

template<> const IdxVector<2> RefElement<2>::line_nodes_[] = {
        {0,1},
        {0,2},
        {1,2}
};

template<> const IdxVector<2> RefElement<3>::line_nodes_[] = {
        {0,1},  //0
        {0,2},  //1
        {0,3},  //2 <-3 (fixed order)
        {1,2},  //3 <-2
        {1,3},  //4
        {2,3}   //5
};


template<> const IdxVector<1> RefElement<1>::node_lines_[] = {
     {0},
     {0}
};

template<> const IdxVector<2> RefElement<2>::node_lines_[] = {
     {1,0},
     {0,2},
     {2,1}
};

// Order clockwise looking over the vertex to center; smallest index first
template<> const IdxVector<3> RefElement<3>::node_lines_[] = {
     {0,1,2},
     {0,4,3},
     {1,3,5},
     {2,5,4},
};



// Lexicographic order.
template<> const IdxVector<3> RefElement<3>::side_nodes_[] = {
        { 0, 1, 2 },
        { 0, 1, 3 },
        { 0, 2, 3 },
        { 1, 2, 3 }
};

// Order clockwise, faces opposite to the lines from node_lines.
template<> const IdxVector<3> RefElement<3>::node_sides_[] = {
        { 2, 1, 0 },
        { 3, 0, 1 },
        { 3, 2, 0 },
        { 3, 1, 2 }
};

// faces ordered clock wise with respect to edge shifted to center of tetrahedron
template<> const IdxVector<2> RefElement<3>::line_sides_[] = {
     {0,1},
     {2,0},
     {1,2},
     {0,3},
     {3,1},
     {2,3}
};


template<> const IdxVector<3> RefElement<3>::side_lines_[] = {
        {0,1,3},
        {0,2,4},
        {1,2,5},
        {3,4,5}
};


template<> const unsigned int RefElement<0>::side_permutations[][n_nodes_per_side] = { };

template<> const unsigned int RefElement<1>::side_permutations[][n_nodes_per_side] = { { 0 } };

template<> const unsigned int RefElement<2>::side_permutations[][n_nodes_per_side] = { { 0, 1 }, { 1, 0 } };

template<> const unsigned int RefElement<3>::side_permutations[][n_nodes_per_side] = {
        { 0, 1, 2 },
        { 0, 2, 1 },
        { 1, 0, 2 },
        { 1, 2, 0 },
        { 2, 0, 1 },
        { 2, 1, 0 }
};


template<> const IdxVector<1> RefElement<0>::topology_zeros_[] = {
   {(1 << 1)}  //node 0
};


template<> const IdxVector<2> RefElement<1>::topology_zeros_[] = {
   {(1 << 1),  //node 0
    (1 << 0)}, //node 1
   {0,         //the element
    0}
};


template<> const IdxVector<3> RefElement<2>::topology_zeros_[] = {
   {(1 << 1) | (1 << 2),  //node 0
    (1 << 0) | (1 << 2),  //node 1
    (1 << 0) | (1 << 1)}, //node 2
   {(1 << 2),  //line 0
    (1 << 1),  //line 1
    (1 << 0)}, //line 2
   {0,         //the element
    0,
    0}
};

template<> const IdxVector<6> RefElement<3>::topology_zeros_[] = {
   {(1 << 1) | (1 << 2) | (1 << 3),  //node 0
    (1 << 0) | (1 << 2) | (1 << 3),  //node 1
    (1 << 0) | (1 << 1) | (1 << 3),  //node 2
    (1 << 0) | (1 << 1) | (1 << 2),  //node 3
    0,
    0},
   {(1 << 2) | (1 << 3),    //line 0
    (1 << 1) | (1 << 3),    //line 1
    (1 << 1) | (1 << 2),    //line 2
    (1 << 0) | (1 << 3),    //line 3
    (1 << 0) | (1 << 2),    //line 4
    (1 << 0) | (1 << 1)},   //line 5
   {1 << 3,    //side 0
    1 << 2,    //side 1
    1 << 1,    //side 2
    1 << 0,    //side 3
    0,
    0},
   {0,    //the element
    0,
    0,
    0,
    0,
    0}
};

    
    

// template<> const unsigned int RefElement<1>::side_nodes[][1] = {
//      { 0 },
//      { 1 }
// };
// 
// template<> const unsigned int RefElement<2>::side_nodes[][2] = {
//      { 0, 1 },
//      { 0, 2 },
//      { 1, 2 }
// };
// 
// template<> const unsigned int RefElement<3>::side_nodes[][3] = {
//      { 0, 1, 2 },
//      { 0, 1, 3 },
//      { 0, 2, 3 },
//      { 1, 2, 3 }
// };
// 
// 
// 
// template<> const unsigned int RefElement<3>::side_lines[][3] = {
//         {0,1,2},
//         {0,3,4},
//         {1,3,5},
//         {2,4,5}
// };
// 
// 
// template<> const unsigned int RefElement<1>::line_nodes[][2] = {
//         {0,1}
// };
// 
// template<> const unsigned int RefElement<2>::line_nodes[][2] = {
//         {0,1},
//         {0,2},
//         {1,2}
// };
// 
// template<> const unsigned int RefElement<3>::line_nodes[][2] = {
//         {0,1},
//         {0,2},
//         {1,2},
//         {0,3},
//         {1,3},
//         {2,3}
// };
// 
// 
// /**
//  * Indexes of sides for each line - with right orientation
//  */
// 
// template<> const unsigned int RefElement<3>::line_sides[][2] = {
//      {0,1},
//      {2,0},
//      {0,3},
//      {1,2},
//      {3,1},
//      {2,3}
// };
// 
// /**
//  * Indexes of sides for each line - for Simplex<2>, with right orientation
//  */
// template<> const unsigned int RefElement<2>::line_sides[][2] = {
//      {1,0},
//      {0,2},
//      {2,1}
// };


// 0: nodes of nodes
// 1: nodes of lines
// 2: nodes of sides
// 3: nodes of tetrahedron
template<> const std::vector< std::vector< std::vector<unsigned int> > > RefElement<0>::nodes_of_subelements = {
        { {0} }
};

template<> const std::vector< std::vector< std::vector<unsigned int> > > RefElement<1>::nodes_of_subelements = {
        { {0},{1} },
        _array_to_vec(line_nodes_, n_lines)
};

template<> const std::vector< std::vector< std::vector<unsigned int> > > RefElement<2>::nodes_of_subelements = {
        { {0}, {1}, {2} },
        _array_to_vec(line_nodes_, n_lines),
        { {0,1,2} }
};

template<> const std::vector< std::vector< std::vector<unsigned int> > > RefElement<3>::nodes_of_subelements = {
        { {0}, {1}, {2}, {3} },
        _array_to_vec(line_nodes_, n_lines),
        _array_to_vec(side_nodes_, n_sides),
        { {0,1,2,3} }
};


template<unsigned int dim>
auto RefElement<dim>::local_to_bary(const LocalPoint& lp) -> BaryPoint
{
    ASSERT_EQ_DBG(lp.n_rows, dim);
    BaryPoint bp;
    bp.rows(1, dim ) = lp;
    bp( 0 ) = 1.0 - arma::sum(lp);
    return bp;

    // new armadillo
    // return arma::join_col( arma::vec::fixed<1>( { 1.0 - arma::sum( local )} ), local);

}

template<unsigned int dim>
auto RefElement<dim>::bary_to_local(const BaryPoint& bp) -> LocalPoint
{
    ASSERT_EQ_DBG(bp.n_rows, dim+1);
    LocalPoint lp = bp.rows(1, dim);
    return lp;
}

template<unsigned int dim>
inline unsigned int RefElement<dim>::oposite_node(unsigned int sid)
{
    return n_sides - sid - 1;
}


template<unsigned int dim>
unsigned int RefElement<dim>::normal_orientation(unsigned int sid)
{
    ASSERT_LT_DBG(sid, n_sides).error("Side number is out of range!");

    return sid % 2;
}


template<>
vec::fixed<1> RefElement<1>::normal_vector(unsigned int sid)
{
    ASSERT_LT_DBG(sid, n_sides).error("Side number is out of range!");

    return node_coords(sid) - node_coords(1-sid);
}

template<>
vec::fixed<2> RefElement<2>::normal_vector(unsigned int sid)
{
    ASSERT_LT_DBG(sid, n_sides).error("Side number is out of range!");
    vec::fixed<2> barycenter, bar_side, n, t;

    // tangent vector along line
    t = node_coords(line_nodes_[sid][1]) - node_coords(line_nodes_[sid][0]);
    // barycenter coordinates
    barycenter.fill(1./3);
    // vector from barycenter to the side
    bar_side = node_coords(line_nodes_[sid][0]) - barycenter;
    // normal vector to side (modulo sign)
    n(0) = -t(1);
    n(1) = t(0);
    n /= norm(n,2);
    // check sign of normal vector
    if (dot(n,bar_side) < 0) n *= -1;

    return n;
}

template<>
vec::fixed<3> RefElement<3>::normal_vector(unsigned int sid)
{
    ASSERT_LT_DBG(sid, n_sides).error("Side number is out of range!");
    vec::fixed<3> barycenter, bar_side, n, t1, t2;

    // tangent vectors of side
    t1 = node_coords(side_nodes_[sid][1]) - node_coords(side_nodes_[sid][0]);
    t2 = node_coords(side_nodes_[sid][2]) - node_coords(side_nodes_[sid][0]);
    // baryucenter coordinates
    barycenter.fill(0.25);
    // vector from barycenter to the side
    bar_side = node_coords(side_nodes_[sid][0]) - barycenter;
    // normal vector (modulo sign)
    n = cross(t1,t2);
    n /= norm(n,2);
    // check sign of normal vector
    if (dot(n,bar_side) < 0) n = -n;

    return n;
}



template<unsigned int dim>
auto RefElement<dim>::barycentric_on_face(const BaryPoint &barycentric, unsigned int i_face) -> FaceBaryPoint
{
    ASSERT_EQ_DBG(barycentric.n_rows, dim+1);
    FaceBaryPoint face_barycentric;
    for(unsigned int i=0; i < dim; i++) {
//        unsigned int i_sub_node = (i+1)%dim;
//         unsigned int i_bary = (dim + side_nodes_[i_face][i_sub_node])%(dim+1);
        unsigned int i_bary = interact_<0,dim-1>(i_face)[i];
        face_barycentric[i] = barycentric[ i_bary ];
    }
    return face_barycentric;
}


template<unsigned int dim>
std::pair<unsigned int, unsigned int> RefElement<dim>::zeros_positions(const BaryPoint &barycentric,
                                                                       double tolerance)
{
    unsigned int zeros = 0;
    unsigned int n_zeros = 0;
    for(char i=0; i < dim+1; i++){
        if(std::fabs(barycentric[i]) < tolerance)
        {
            zeros = zeros | (1 << i);
            n_zeros++;
        }
    }
    
    return std::make_pair(n_zeros, zeros);
}


template<>
auto RefElement<0>::clip(const BaryPoint &barycentric) -> BaryPoint
{
    return barycentric;
}

template<unsigned int dim>
auto  RefElement<dim>::make_bary_unit_vec()->BarycentricUnitVec
{
    std::vector<arma::vec::fixed<dim+1> > bary_unit_vec(dim+1, arma::zeros(dim+1));
    for(unsigned int i=0; i<dim; i++) {
        bary_unit_vec[i][i] = 1.0;
        bary_unit_vec[i][dim] = -1.0;
        bary_unit_vec[dim][i] = -1.0 / dim;
    }
    bary_unit_vec[dim][dim] = 1.0;
    return bary_unit_vec;
}


template<unsigned int dim>
auto RefElement<dim>::clip(const BaryPoint &barycentric) -> BaryPoint
{
    static BarycentricUnitVec bary_unit_vec = make_bary_unit_vec();
    ASSERT_EQ_DBG(barycentric.n_rows, dim+1);
    for(unsigned int i_bary=0; i_bary < dim +1; i_bary ++) {
        if (barycentric[i_bary] < 0.0) {
            // index of barycentric coord that is constant on the face i_side
            // as we use barycentric coords starting with local coordinates:
            // TODO: rather work only with local coords and/or with canonical barycentric coords
            unsigned int i_side = (dim - i_bary);
            // project to face
            arma::vec projection_to_face(dim+1);
            //barycentric.print(cout, "input");
            //cout << "is: " << i_side << endl;
            //cout << "ibary: " << i_bary << endl;
            //bary_unit_vec[i_bary].print(cout, "normal");
            //barycentric.subvec(0, dim-1).print(cout, "bary sub");
            projection_to_face = barycentric - barycentric[i_bary]*bary_unit_vec[i_bary];
            //projection_to_face(dim) = 1.0 - arma::sum(projection_to_face.subvec(0, dim-1));
            //projection_to_face.print(cout, "projection");
            auto bary_on_face = barycentric_on_face(projection_to_face, i_side);
            //bary_on_face.print(cout, "b on f");
            auto sub_clip = RefElement<dim-1>::clip(bary_on_face);
            //sub_clip.print(cout, "sub clip");
            return interpolate<dim-1>(sub_clip, i_side);
        }
    }
    return barycentric;

}



template<unsigned int dim>
auto RefElement<dim>::centers_of_subelements(unsigned int sub_dim)->CentersList
{
    static std::vector< std::vector<LocalPoint> > list;
    if (list.size() == 0) {
        list.resize(dim+1);
        for(unsigned int sdim=0; sdim < dim+1; sdim++) {
            // Temporary solution until we have unified interface to
            // the internal indexing.
            // We use the fact that numbering of subelements goes as numbering of
            // k combinations over nodes.
//             std::vector<unsigned int> subel_comb(sdim+2);
            for(auto &sub_el_nodes : nodes_of_subelements[sdim]) {
                ASSERT_EQ_DBG(sub_el_nodes.size(), sdim+1);
                LocalPoint center = arma::zeros(dim);
                for( unsigned int i_node : sub_el_nodes)
                    center+=node_coords( i_node );
                center/=(sdim+1);
                list[sdim].push_back(center);
            }
        }
    }

    ASSERT_LE_DBG(sub_dim, dim);
    return list[sub_dim];
}


template<>
double RefElement<1>::side_measure(unsigned int sid)
{
    ASSERT_LT_DBG(sid, n_sides).error("Side number is out of range!");

    return 1;
}


template<>
double RefElement<2>::side_measure(unsigned int sid)
{
    ASSERT_LT_DBG(sid, n_sides).error("Side number is out of range!");

    return norm(node_coords(line_nodes_[sid][1]) - node_coords(line_nodes_[sid][0]),2);
}


template<>
double RefElement<3>::side_measure(unsigned int sid)
{
    ASSERT_LT_DBG(sid, n_sides).error("Side number is out of range!");

    return 0.5*norm(cross(node_coords(side_nodes_[sid][1]) - node_coords(side_nodes_[sid][0]),
            node_coords(side_nodes_[sid][2]) - node_coords(side_nodes_[sid][0])),2);
}



template <>
unsigned int RefElement<3>::line_between_faces(unsigned int f1, unsigned int f2) {
    unsigned int i,j;
    i=j=0;
    while (side_lines_[f1][i] != side_lines_[f2][j])
        if (side_lines_[f1][i] < side_lines_[f2][j]) i++;
        else j++;
    return side_lines_[f1][i];
}


template<unsigned int dim>
unsigned int RefElement<dim>::permutation_index(unsigned int p[n_nodes_per_side])
{
    unsigned int index;
    for (index = 0; index < n_side_permutations; index++)
        if (equal(p, p + n_nodes_per_side, side_permutations[index]))
            return index;

    xprintf(PrgErr, "Side permutation not found.\n");

    // The following line is present in order to suppress compilers warning
    // about missing return value.
    return 0;
}


/**
     * Basic line interpolation
     */
template<unsigned int dim>
arma::vec::fixed<dim+1> RefElement<dim>::line_barycentric_interpolation(
                                                       arma::vec::fixed<dim+1> first_coords, 
                                                       arma::vec::fixed<dim+1> second_coords, 
                                                       double first_theta, double second_theta, double theta){

    arma::vec::fixed<dim+1> bary_interpolated_coords;
    bary_interpolated_coords = ((theta - first_theta) * second_coords + (second_theta - theta) * first_coords)
                               /(second_theta - first_theta);
    return bary_interpolated_coords;
};

template class RefElement<0>;
template class RefElement<1>;
template class RefElement<2>;
template class RefElement<3>;