snappy 3.3__cp310-cp310-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl

snappy/raytracing/ideal_raytracing_data.py

@@ -0,0 +1,592 @@
+from ..snap import t3mlite as t3m
+from ..snap.t3mlite import simplex
+from .. import Triangulation
+
+from ..matrix import make_matrix, make_vector
+
+from ..snap.mcomplex_base import *
+from ..geometric_structure.cusp_neighborhood.complex_cusp_cross_section import ComplexCuspCrossSection
+from ..geometric_structure import add_r13_planes_to_tetrahedra
+from ..upper_halfspace import pgl2c_to_o13, sl2c_inverse
+from ..upper_halfspace.ideal_point import ideal_point_to_r13
+
+from .hyperboloid_utilities import *
+from .upper_halfspace_utilities import *
+
+from .raytracing_data import *
+
+__all__ = ['IdealRaytracingData']
+
+
+class IdealRaytracingData(RaytracingData):
+    """
+    Given a SnapPy manifold, computes data for the shader fragment.glsl
+    to raytrace the inside view::
+
+        >>> data = IdealRaytracingData.from_manifold(Manifold("m004"))
+        >>> data = IdealRaytracingData.from_manifold(ManifoldHP("m004"))
+
+    The values that need to be pushed into the shader's uniforms can
+    be obtained as dictionary::
+
+        >>> data.get_uniform_bindings() # doctest: +ELLIPSIS
+        {...}
+
+    The compile time constants can similarly be obtained as dictionary::
+
+        >>> data.get_compile_time_constants() # doctest: +ELLIPSIS
+        {...}
+
+    The shader needs to know in what tetrahedron and where in the tetrahedron
+    the camera is. This is encoded as pair matrix and tetrahedron index::
+
+        >>> view_state = (make_matrix([[ 1.0, 0.0, 0.0, 0.0],
+        ...                            [ 0.0, 1.0, 0.0, 0.0],
+        ...                            [ 0.0, 0.0, 0.0,-1.0],
+        ...                            [ 0.0, 0.0, 1.0, 0.0]]), 0, 0.0)
+
+    To move/rotate the camera which might potentially put the camera
+    into a different tetrahedron, the new pair can be computed as
+    follows::
+
+        >>> m = make_matrix([[ 3.0 , 0.0 , 2.82, 0.0 ],
+        ...                  [ 0.0 , 1.0 , 0.0 , 0.0 ],
+        ...                  [ 2.82, 0.0 , 3.0 , 0.0 ],
+        ...                  [ 0.0 , 0.0 , 0.0 , 1.0 ]])
+        >>> view_state = data.update_view_state(view_state, m)
+        >>> view_state    # doctest: +NUMERIC6
+        ([     1.08997684        1e-16   0.43364676        1e-16 ]
+        [          1e-16  -1.00000000         1e-16       1e-16 ]
+        [    -0.43364676        1e-16  -1.08997684        1e-16 ]
+        [          1e-16        1e-16        1e-16   1.00000000 ], 1, 0.0)
+
+    """
+
+    @staticmethod
+    def from_manifold(manifold,
+                      areas=None, insphere_scale=0.05, weights=None):
+
+        if manifold.solution_type() != 'all tetrahedra positively oriented':
+            return NonGeometricRaytracingData.from_manifold(manifold)
+
+        num_cusps = manifold.num_cusps()
+
+        # Make a copy of the manifold. On the copy, we can set all
+        # the Dehn-fillings to (0,0) so that gluing_equations gives
+        # us both the meridian and longitude.
+        snappy_trig = Triangulation(manifold)
+        snappy_trig.dehn_fill(num_cusps * [(0,0)])
+
+        # Develops the cusps of the manifold. This is needed to
+        # compute the data for the horospheres (complete cusps)
+        # or "Margulis tubes" (incomplete cusps).
+        c = ComplexCuspCrossSection.fromManifoldAndShapes(
+            manifold,
+            manifold.tetrahedra_shapes('rect'),
+            one_cocycle='develop')
+        c.normalize_cusps()
+        c.compute_translations()
+        c.add_vertex_positions_to_horotriangles()
+        c.lift_vertex_positions_of_horotriangles()
+        c.move_lifted_vertex_positions_to_zero_first()
+
+        # c.mcomplex is the same triangulation encoded as
+        # t3m.Mcomplex triangulation
+        r = IdealRaytracingData(c.mcomplex, manifold)
+
+        z = c.mcomplex.Tetrahedra[0].ShapeParameters[t3m.E01]
+        r.RF = z.real().parent()
+        r.insphere_scale = r.RF(insphere_scale)
+        resolved_areas = num_cusps * [ 1.0 ] if areas is None else areas
+        r.areas = [ r.RF(area) for area in resolved_areas ]
+
+        r.peripheral_gluing_equations = snappy_trig.gluing_equations()[
+            snappy_trig.num_tetrahedra():]
+
+        r.log_shapes = [
+            tet.ShapeParameters[e].log()
+            for tet in c.mcomplex.Tetrahedra
+            for e in [ t3m.E01, t3m.E02, t3m.E03 ] ]
+
+        r._add_complex_vertices()
+        r._add_R13_vertices()
+        r._add_O13_matrices_to_faces()
+        add_r13_planes_to_tetrahedra(c.mcomplex)
+        r._add_R13_horosphere_scales_to_vertices()
+        r._add_cusp_to_tet_matrices()
+        r._add_margulis_tube_ends()
+        r._add_inspheres()
+        r._add_to_standard_torus_matrices()
+
+        r._add_cusp_triangle_vertex_positions()
+
+        r.add_weights(weights)
+        return r
+
+    def __init__(self, mcomplex, snappy_manifold):
+        super().__init__(mcomplex)
+        self.snappy_manifold = snappy_manifold
+
+    def _add_O13_matrices_to_faces(self):
+        for tet in self.mcomplex.Tetrahedra:
+            tet.O13_matrices = {
+                F: _o13_matrix_for_face(tet, F)
+                for F in t3m.TwoSubsimplices }
+
+    def _add_complex_vertices(self):
+        for tet in self.mcomplex.Tetrahedra:
+            tet.complex_vertices = dict(zip(
+                        t3m.ZeroSubsimplices,
+                        symmetric_vertices_for_tetrahedron(
+                            tet.ShapeParameters[t3m.E01])))
+
+    def _add_R13_vertices(self):
+        for tet in self.mcomplex.Tetrahedra:
+            tet.R13_vertices = {
+                V: ideal_point_to_r13(z, self.RF)
+                for V, z in tet.complex_vertices.items() }
+            tet.R13_vertex_products = {
+                e: r13_dot(tet.R13_vertices[simplex.Head[e]],
+                           tet.R13_vertices[simplex.Tail[e]])
+                for e in simplex.OneSubsimplices }
+
+    def _compute_R13_horosphere_scale_for_vertex(self, tet, V0):
+        vertex = tet.Class[V0]
+        if not vertex.is_complete:
+            return 0.0
+        area = self.areas[vertex.Index]
+        if area < 1e-6:
+            return 0.0
+
+        V1, V2, _ = t3m.VerticesOfFaceCounterclockwise[t3m.comp(V0)]
+
+        cusp_length = tet.horotriangles[V0].get_real_lengths()[V0 | V1 | V2]
+
+        scale_for_unit_length = (
+            -2 * tet.R13_vertex_products[V1 | V2] / (
+                tet.R13_vertex_products[V0 | V1] *
+                tet.R13_vertex_products[V0 | V2])).sqrt()
+
+        return scale_for_unit_length / (cusp_length * area.sqrt())
+
+    def _add_R13_horosphere_scales_to_vertices(self):
+        for tet in self.mcomplex.Tetrahedra:
+            tet.R13_horosphere_scales = {
+                V : self._compute_R13_horosphere_scale_for_vertex(tet, V)
+                for V in t3m.ZeroSubsimplices }
+
+    def _add_cusp_triangle_vertex_positions(self):
+        for tet in self.mcomplex.Tetrahedra:
+            tet.cusp_triangle_vertex_positions = {
+                V : _compute_cusp_triangle_vertex_positions(tet, V, i)
+                for i, V in enumerate(t3m.ZeroSubsimplices) }
+
+    def _add_cusp_to_tet_matrices(self):
+        for tet in self.mcomplex.Tetrahedra:
+            m = [ (V, _compute_cusp_to_tet_and_inverse_matrices(tet, V, i))
+                  for i, V in enumerate(t3m.ZeroSubsimplices) ]
+            tet.cusp_to_tet_matrices = {
+                V : m1 for V, (m1, m2) in m }
+            tet.tet_to_cusp_matrices = {
+                V : m2 for V, (m1, m2) in m }
+
+    def _add_margulis_tube_ends(self):
+        for tet in self.mcomplex.Tetrahedra:
+            tet.margulisTubeEnds = {
+                vertex : _compute_margulis_tube_ends(tet, vertex)
+                for vertex in t3m.ZeroSubsimplices }
+
+    def _add_inspheres(self):
+        for tet in self.mcomplex.Tetrahedra:
+            tet.inradius = tet.R13_planes[t3m.F0][0].arcsinh()
+
+            tmp = tet.inradius * self.insphere_scale
+
+            tet.cosh_sqr_inradius = tmp.cosh() ** 2
+
+    def _add_to_standard_torus_matrix(self, cusp):
+        i = cusp.Index
+
+        if cusp.is_complete:
+            m_param, l_param = cusp.Translations
+        else:
+            m_param, l_param = (
+                sum(log_shape * expo
+                    for log_shape, expo
+                    in zip(self.log_shapes, self.peripheral_gluing_equations[2 * i + j]))
+                for j in range(2) )
+
+        a, c = m_param.real(), m_param.imag()
+        b, d = l_param.real(), l_param.imag()
+
+        det = a*d - b * c
+        cusp.to_standard_torus_matrix = make_matrix([[d,-b], [-c, a]]) / det
+
+        if cusp.is_complete:
+            cusp.margulisTubeRadiusParam = 0.0
+        else:
+            area_ratio = self.areas[i] / abs(det)
+
+            # Imagine a cone above 0 in the upper half space model with slope s
+            # that is, it intersects the plane at Euclidean height 1 in a circle
+            # of Euclidean radius s.
+            #
+            # Let C be the boundary of the upper half space without infinity.
+            # Consider a small rectangle with lengths dtheta and dr in C using
+            # polar coordinates.
+            # The intersection of extrusion of this rectangle with the
+            # boundary of the cone is spanned by two tangent vectors with
+            # Euclidean lengths
+            #
+            # r * dtheta and sqrt(1 + 1/s^2) * dr.
+            #
+            # The corresponding hyperbolic lengths are
+            #
+            # r / (r/s) * dtheta and sqrt(1 + 1/s^2) / (r/s) * dr
+            #
+            # Thus, the area of the intersection is
+            #
+            # dA = s * sqrt(1 + s^2) * dtheta * dr/r
+            #
+            # If m and l are the log lifts of the the holonomies of the
+            # meridian and longitudes in C^*, then we get for the area
+            #
+            # A = s * sqrt(1 + s^2) * (m wedge l)
+            #
+            # Recall that s = sinh R where R is the hyperbolic radius of the
+            # tube. The tube parameter we need to compute the intersection with
+            # a geodesic (in the shader) is given by T = cosh(R)^2/2.
+            #
+            # Letting A_0 = A / (m wedge l), we have
+            # A_0 = sinh R * cosh R = 1/2 sinh(2 * R)
+            # R = 1/2 arcsinh(A_0)
+            # T = 1/4 (1 + sqrt(1 + 4 * A_0^2))
+
+            a = 1 + 4 * area_ratio ** 2
+            cusp.margulisTubeRadiusParam = (1 + a.sqrt()) / 4
+
+    def _add_to_standard_torus_matrices(self):
+        for cusp in self.mcomplex.Vertices:
+            self._add_to_standard_torus_matrix(cusp)
+
+    def get_uniform_bindings(self):
+        # _check_consistency(self.mcomplex)
+
+        d = super().get_uniform_bindings()
+
+        orientations = [
+            +1 if tet.ShapeParameters[t3m.E01].imag() > 0 else -1
+            for tet in self.mcomplex.Tetrahedra ]
+
+        horosphere_scales = [
+            tet.R13_horosphere_scales[V]
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        margulisTubeTails = [
+            tet.margulisTubeEnds[V][0]
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        margulisTubeHeads = [
+            tet.margulisTubeEnds[V][1]
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        margulisTubeRadiusParams = [
+            tet.Class[V].margulisTubeRadiusParam
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        cusp_to_tet_matrices = [
+            tet.cusp_to_tet_matrices[V]
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        tet_to_cusp_matrices = [
+            tet.tet_to_cusp_matrices[V]
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        cusp_translations = [
+            [ [ z.real(), z.imag() ]
+              for z in tet.Class[V].Translations ]
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        logAdjustments = [
+            complex_to_pair(tet.cusp_triangle_vertex_positions[V][0])
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        cuspTriangleVertexPositions = [
+            tet.cusp_triangle_vertex_positions[V][1]
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices
+            ]
+
+        toStandardTorusMatrices = [
+            tet.Class[V].to_standard_torus_matrix
+            for tet in self.mcomplex.Tetrahedra
+            for V in t3m.ZeroSubsimplices ]
+
+        insphereRadiusParams = [
+            tet.cosh_sqr_inradius
+            for tet in self.mcomplex.Tetrahedra ]
+
+        isNonGeometric = (
+            self.snappy_manifold.solution_type() != 'all tetrahedra positively oriented')
+
+        d['orientations'] = ('int[]', orientations)
+        d['horosphereScales'] = ('float[]', horosphere_scales)
+        d['MargulisTubes.margulisTubeTails'] = ('vec4[]', margulisTubeTails)
+        d['MargulisTubes.margulisTubeHeads'] = ('vec4[]', margulisTubeHeads)
+        d['margulisTubeRadiusParams'] = ('float[]', margulisTubeRadiusParams)
+        d['TetCuspMatrices.cuspToTetMatrices'] = ('mat4[]', cusp_to_tet_matrices)
+        d['TetCuspMatrices.tetToCuspMatrices'] = ('mat4[]', tet_to_cusp_matrices)
+        d['cuspTranslations'] = ('mat2[]', cusp_translations)
+        d['logAdjustments'] = ('vec2[]', logAdjustments)
+        d['cuspTriangleVertexPositions'] = ('mat3x2[]', cuspTriangleVertexPositions)
+        d['toStandardTorusMatrices'] = ('mat2[]', toStandardTorusMatrices)
+        d['insphereRadiusParams'] = ('float[]', insphereRadiusParams)
+        d['isNonGeometric'] = ('bool', isNonGeometric)
+        d['nonGeometricTexture'] = ('int', 0)
+        d['eyeTexture'] = ('int', 1)
+
+        return d
+
+    def get_compile_time_constants(self):
+        d = super().get_compile_time_constants()
+        d[b'##finiteTrig##'] = 0
+        return d
+
+    def initial_view_state(self):
+        boost = make_matrix([[1.0,0.0,0.0,0.0],
+                             [0.0,1.0,0.0,0.0],
+                             [0.0,0.0,1.0,0.0],
+                             [0.0,0.0,0.0,1.0]])
+        tet_num = 0
+        weight = 0.0
+        return (boost, tet_num, weight)
+
+    def cusp_view_state_and_scale(self, which_cusp):
+        vert = self.mcomplex.Vertices[which_cusp]
+        corner = vert.Corners[0]
+        tet = corner.Tetrahedron
+        subsimplex = corner.Subsimplex
+        area = self.areas[which_cusp]
+
+        return (
+            self.update_view_state(
+                (_cusp_view_matrix(tet, subsimplex, area),
+                 corner.Tetrahedron.Index,
+                 0.0)),
+            _cusp_view_scale(tet, subsimplex, area))
+
+class NonGeometricRaytracingData(McomplexEngine):
+    @staticmethod
+    def from_manifold(manifold):
+        mcomplex = t3m.Mcomplex(manifold)
+        r = NonGeometricRaytracingData(mcomplex, manifold)
+        z = manifold.tetrahedra_shapes('rect')[0]
+        r.RF = z.real().parent()
+        return r
+
+    def __init__(self, mcomplex, manifold):
+        super().__init__(mcomplex)
+        self.manifold = manifold
+
+    def is_valid(self):
+        return False
+
+    def get_compile_time_constants(self):
+        return {
+            b'##num_tets##' : len(self.mcomplex.Tetrahedra),
+            b'##num_cusps##' : len(self.mcomplex.Vertices),
+            b'##num_edges##' : len(self.mcomplex.Edges),
+            b'##finiteTrig##' : 0,
+            }
+
+    def get_uniform_bindings(self):
+        return {
+            'isNonGeometric' :
+                ('bool', True),
+            'nonGeometricTexture' :
+                ('int', 0)}
+
+    def initial_view_state(self):
+        boost = make_matrix([[1.0,0.0,0.0,0.0],
+                             [0.0,1.0,0.0,0.0],
+                             [0.0,0.0,1.0,0.0],
+                             [0.0,0.0,0.0,1.0]])
+        tet_num = 0
+        weight = 0.0
+        return (boost, tet_num, weight)
+
+    def update_view_state(self, boost_tet_num_and_weight,
+                          m=make_matrix([[1.0, 0.0, 0.0, 0.0],
+                                         [0.0, 1.0, 0.0, 0.0],
+                                         [0.0, 0.0, 1.0, 0.0],
+                                         [0.0, 0.0, 0.0, 1.0]])):
+        boost, tet_num, weight = boost_tet_num_and_weight
+        boost = boost * m
+        return boost, tet_num, weight
+
+def _pgl2_matrix_for_face(tet, F):
+    gluing = tet.Gluing[F]
+    other_tet = tet.Neighbor[F]
+    verts = [
+        tet.complex_vertices[V]
+        for V in t3m.ZeroSubsimplices
+        if V & F ]
+    other_verts = [
+        other_tet.complex_vertices[gluing.image(V)]
+        for V in t3m.ZeroSubsimplices
+        if V & F ]
+
+    m1 = pgl2_matrix_taking_0_1_inf_to_given_points(*verts)
+    m2 = pgl2_matrix_taking_0_1_inf_to_given_points(*other_verts)
+
+    return m2 * sl2c_inverse(m1)
+
+
+def _o13_matrix_for_face(tet, F):
+    return pgl2c_to_o13(_pgl2_matrix_for_face(tet, F))
+
+
+def _compute_cusp_triangle_vertex_positions(tet, V, i):
+
+    z = tet.ShapeParameters[t3m.E01]
+    CF = z.parent()
+
+    triangle = tet.horotriangles[V]
+    otherVerts = [ t3m.ZeroSubsimplices[(i + j) % 4] for j in range(1, 4) ]
+    vertex_positions = [ triangle.vertex_positions[V | otherVert ]
+                         for otherVert in otherVerts ]
+
+    if tet.Class[V].is_complete:
+        m_translation, l_translation = tet.Class[V].Translations
+
+        a, c = m_translation.real(), m_translation.imag()
+        b, d = l_translation.real(), l_translation.imag()
+
+        log_z0 = CF(0)
+
+        # Inverting matrix here since SageMath screws up :(
+        translations_to_ml = make_matrix([[d,-b], [-c, a]]) / (a*d - b * c)
+
+        vertex_positions = [ translations_to_ml * complex_to_pair(z)
+                             for z in vertex_positions ]
+
+    else:
+        log_z0 = triangle.lifted_vertex_positions[V | otherVerts[0]]
+        z0 = vertex_positions[0]
+        vertex_positions = [ complex_to_pair(z / z0)
+                             for z in vertex_positions ]
+
+    return log_z0, vertex_positions
+
+
+def _compute_cusp_to_tet_and_inverse_matrices(tet, vertex, i):
+    trig = tet.horotriangles[vertex]
+
+    otherVerts = [ t3m.ZeroSubsimplices[(i + j) % 4] for j in range(1, 4) ]
+
+    tet_vertices = [ tet.complex_vertices[v] for v in otherVerts ]
+
+    cusp_vertices = [ trig.vertex_positions[vertex | v]
+                      for v in otherVerts ]
+
+    if not tet.Class[vertex].is_complete:
+        z0 = cusp_vertices[0]
+        cusp_vertices = [ z / z0 for z in cusp_vertices ]
+
+    std_to_tet = pgl2_matrix_taking_0_1_inf_to_given_points(*tet_vertices)
+    cusp_to_std = sl2c_inverse(
+        pgl2_matrix_taking_0_1_inf_to_given_points(*cusp_vertices))
+
+    return (
+        pgl2c_to_o13(         std_to_tet * cusp_to_std),
+        pgl2c_to_o13(sl2c_inverse(std_to_tet * cusp_to_std)))
+
+
+def _compute_margulis_tube_ends(tet, vertex):
+
+    if tet.Class[vertex].is_complete:
+        return [(0.0, 0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 0.0)]
+
+    return [ tet.cusp_to_tet_matrices[vertex] * make_vector([1.0, x, 0.0, 0.0])
+             for x in [-1.0, 1.0] ]
+
+
+def _cusp_view_matrix(tet, subsimplex, area):
+    # Complex numbers encoding translation of horosphere corresponding
+    # to meridian and longitude. Here, the horosphere maps to the
+    # boundary of a cusp neighborhood with area one.
+    m_translation, l_translation = tet.Class[subsimplex].Translations
+
+    CF = m_translation.parent()
+    RF = m_translation.real().parent()
+
+    # Let us work in the upper halfspace model
+    #         H^3 = { z + tj : z in C, t > 0 }
+    # and with coordinates such that:
+    # 1. The camera we start with is at jand looking down.
+    # 2. The above horosphere is horizontal.
+    # 3. The meridian and longitude act by the PSL(2,Z)-matrix
+    #    [[1, z], [0, 1]] where z = m_translation or z = l_translation,
+    #    respectively.
+
+    translation = (m_translation + l_translation) / 2
+
+    # A small factor to move the camera a little bit into the cusp neighborhood
+    # to avoid z-Fighting.
+    factor_to_move_inside = 1.0001
+    rotation = l_translation / abs(l_translation)
+    scale = factor_to_move_inside/area.sqrt()
+    borel_transform = make_matrix([[ scale*rotation, translation ],
+                                   [              0,   1 ]],
+                                  ring=CF)
+
+    base_camera_matrix = make_matrix(
+        [[ 1, 0, 0, 0],
+         [ 0, 0, 0, 1],
+         [ 0, 1, 0, 0],
+         [ 0, 0, 1, 0]], ring=RF)
+
+    # Apply necessary pre and post O13-transforms to the transform
+    # in the upper halfspace we computed above.
+    o13_matrix = (
+        tet.cusp_to_tet_matrices[subsimplex] *
+        pgl2c_to_o13(borel_transform) *
+        base_camera_matrix)
+
+    return o13_matrix
+
+
+def _cusp_view_scale(tet, subsimplex, area):
+    # Complex numbers encoding translation of horosphere corresponding
+    # to meridian and longitude. Here, the horosphere maps to the
+    # boundary of a cusp neighborhood with area one.
+    m_translation, l_translation = tet.Class[subsimplex].Translations
+
+    real_l_translation = abs(l_translation)
+    m_translation = m_translation * abs(l_translation) / l_translation
+
+    t = max(real_l_translation + m_translation.real(),
+            real_l_translation - m_translation.real(),
+            m_translation.imag())
+
+    return area.sqrt() * t
+
+
+def _check_consistency(mcomplex):
+    for tet in mcomplex.Tetrahedra:
+        for F in t3m.TwoSubsimplices:
+            for V in t3m.ZeroSubsimplices:
+                if V & F:
+                    v0 = tet.O13_matrices[F] * make_vector(tet.R13_vertices[V])
+                    v1 = tet.Neighbor[F].R13_vertices[tet.Gluing[F].image(V)]
+                    err = r13_dot(v0, v1)
+                    if err > 1e-10 or err < -1e-10:
+                        print("PROBLEM", v0, v1)