#
# Copyright (C) 2020-2022 The ESPResSo project
#
# This file is part of ESPResSo.
#
# ESPResSo is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# ESPResSo 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.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
#
import math
import numpy as np
[docs]
def matrix_to_quat(m):
"""
Convert the (proper) rotation matrix to the corresponding quaternion representation based
on pyquaternion_.
.. _pyquaternion: https://github.com/KieranWynn/pyquaternion
Parameters
----------
m : (3,3) array_like of :obj:`float`
Rotation matrix.
Returns
-------
array_like of :obj:`float`
Quaternion representation of the rotation.
Raises
------
ValueError
If the matrix does not a correspond to a proper rotation (det(m) != 1).
"""
if not math.isclose(np.linalg.det(m), 1.0, abs_tol=1e-7):
raise ValueError("Only proper rotations are supported")
m = m.copy().conj().transpose()
if m[2, 2] < 0:
if m[0, 0] > m[1, 1]:
t = 1 + m[0, 0] - m[1, 1] - m[2, 2]
return 0.5 / \
math.sqrt(t) * np.array([m[1, 2] - m[2, 1],
t, m[0, 1] + m[1, 0], m[2, 0] + m[0, 2]])
else:
t = 1 - m[0, 0] + m[1, 1] - m[2, 2]
return 0.5 / \
math.sqrt(t) * np.array([m[2, 0] - m[0, 2],
m[0, 1] + m[1, 0], t, m[1, 2] + m[2, 1]])
else:
if m[0, 0] < -m[1, 1]:
t = 1 - m[0, 0] - m[1, 1] + m[2, 2]
return 0.5 / \
math.sqrt(t) * np.array([m[0, 1] - m[1, 0],
m[2, 0] + m[0, 2], m[1, 2] + m[2, 1], t])
else:
t = 1 + m[0, 0] + m[1, 1] + m[2, 2]
return 0.5 / \
math.sqrt(
t) * np.array([t, m[1, 2] - m[2, 1], m[2, 0] - m[0, 2], m[0, 1] - m[1, 0]])
[docs]
def inertia_tensor(positions, masses):
"""
Calculate the inertia tensor for given point masses
at given positions.
Parameters
----------
positions : (N,3) array_like of :obj:`float`
Point masses' positions.
masses : (N,) array_like of :obj:`float`
Returns
-------
(3,3) array_like of :obj:`float`
Moment of inertia tensor.
Notes
-----
See wikipedia_.
.. _wikipedia: https://en.wikipedia.org/wiki/Moment_of_inertia#Inertia_tensor
"""
inertia_tensor = np.zeros((3, 3))
for ind, p in enumerate(positions):
inertia_tensor += masses[ind] * \
(np.dot(p, p) * np.identity(3)
- np.outer(p, p))
return inertia_tensor
[docs]
def diagonalized_inertia_tensor(positions, masses):
"""
Calculate the diagonalized inertia tensor
with respect to the center of mass
for given point masses at given positions.
Parameters
----------
positions : (N,3) array_like of :obj:`float`
Positions of the masses.
masses : (N,) array_like of :obj:`float`
Returns
-------
(3,) array_like of :obj:`float`
Principal moments of inertia.
(3,3) array_like of :obj:`float`
Principal axes of inertia.
Note that the second axis is the coordinate axis (same as input).
"""
assert np.array(masses).shape[0] == np.array(positions).shape[0]
def center_of_mass(positions, masses): return np.average(
positions, axis=0, weights=masses)
positions = np.array(np.copy(positions)) - \
center_of_mass(positions, masses)
inertia = inertia_tensor(positions, masses)
eig, eigv = np.linalg.eig(inertia)
eigv = np.transpose(eigv)
# check for right-handedness
if not np.allclose(np.cross(eigv[0], eigv[1]), eigv[2]):
eigv[[0, 1], :] = eigv[[1, 0], :]
return eig, eigv