warp-lang 1.0.0b2__py3-none-manylinux2014_x86_64.whl → 1.0.0b6__py3-none-manylinux2014_x86_64.whl

warp/fem/space/basis_space.py

@@ -0,0 +1,489 @@
+from typing import Optional
+
+import warp as wp
+
+from warp.fem.types import ElementIndex, Coords, make_free_sample
+from warp.fem.geometry import Geometry
+from warp.fem.quadrature import Quadrature
+from warp.fem import cache
+
+from .topology import SpaceTopology, DiscontinuousSpaceTopology
+from .shape import ShapeFunction
+
+
+class BasisSpace:
+    """Interface class for defining a scalar-valued basis over a geometry.
+
+    A basis space makes it easy to define multiple function spaces sharing the same basis (and thus nodes) but with different valuation functions;
+    however, it is not a required ingredient of a function space.
+
+    See also: :func:`make_polynomial_basis_space`, :func:`make_collocated_function_space`
+    """
+
+    @wp.struct
+    class BasisArg:
+        """Argument structure to be passed to device functions"""
+
+        pass
+
+    def __init__(self, topology: SpaceTopology):
+        self._topology = topology
+
+        self.NODES_PER_ELEMENT = self._topology.NODES_PER_ELEMENT
+
+    @property
+    def topology(self) -> SpaceTopology:
+        """Underlying topology of the basis space"""
+        return self._topology
+
+    @property
+    def geometry(self) -> Geometry:
+        """Underlying geometry of the basis space"""
+        return self._topology.geometry
+
+    def basis_arg_value(self, device) -> "BasisArg":
+        """Value for the argument structure to be passed to device functions"""
+        return BasisSpace.BasisArg()
+
+    # Helpers for generating node positions
+
+    def node_positions(self, out: Optional[wp.array] = None) -> wp.array:
+        """Returns a temporary array containing the world position for each node"""
+
+        NODES_PER_ELEMENT = self.NODES_PER_ELEMENT
+
+        pos_type = cache.cached_vec_type(length=self.geometry.dimension, dtype=float)
+
+        node_coords_in_element = self.make_node_coords_in_element()
+
+        @cache.dynamic_kernel(suffix=self.name, kernel_options={"max_unroll": 4, "enable_backward": False})
+        def fill_node_positions(
+            geo_cell_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            topo_arg: self.topology.TopologyArg,
+            node_positions: wp.array(dtype=pos_type),
+        ):
+            element_index = wp.tid()
+
+            for n in range(NODES_PER_ELEMENT):
+                node_index = self.topology.element_node_index(geo_cell_arg, topo_arg, element_index, n)
+                coords = node_coords_in_element(geo_cell_arg, basis_arg, element_index, n)
+
+                sample = make_free_sample(element_index, coords)
+                pos = self.geometry.cell_position(geo_cell_arg, sample)
+
+                node_positions[node_index] = pos
+
+        shape = (self.topology.node_count(),)
+        if out is None:
+            node_positions = wp.empty(
+                shape=shape,
+                dtype=pos_type,
+            )
+        else:
+            if out.shape != shape or not wp.types.types_equal(pos_type, out.dtype):
+                raise ValueError(
+                    f"Out node positions array must have shape {shape} and data type {wp.types.type_repr(pos_type)}"
+                )
+            node_positions = out
+
+        wp.launch(
+            dim=self.geometry.cell_count(),
+            kernel=fill_node_positions,
+            inputs=[
+                self.geometry.cell_arg_value(device=node_positions.device),
+                self.basis_arg_value(device=node_positions.device),
+                self.topology.topo_arg_value(device=node_positions.device),
+                node_positions,
+            ],
+        )
+
+        return node_positions
+
+    def make_node_coords_in_element(self):
+        raise NotImplementedError()
+
+    def make_node_quadrature_weight(self):
+        raise NotImplementedError()
+
+    def make_element_inner_weight(self):
+        raise NotImplementedError()
+
+    def make_element_outer_weight(self):
+        return self.make_element_inner_weight()
+
+    def make_element_inner_weight_gradient(self):
+        raise NotImplementedError()
+
+    def make_element_outer_weight_gradient(self):
+        return self.make_element_inner_weight_gradient()
+
+    def make_trace_node_quadrature_weight(self):
+        raise NotImplementedError()
+
+    def trace(self) -> "TraceBasisSpace":
+        return TraceBasisSpace(self)
+
+
+class ShapeBasisSpace(BasisSpace):
+    """Base class for defining shape-function-based basis spaces."""
+
+    def __init__(self, topology: SpaceTopology, shape: ShapeFunction):
+        super().__init__(topology)
+        self._shape = shape
+
+        self.ORDER = self._shape.ORDER
+
+        if hasattr(shape, "element_node_triangulation"):
+            self.node_triangulation = self._node_triangulation
+        if hasattr(shape, "element_node_tets"):
+            self.node_tets = self._node_tets
+        if hasattr(shape, "element_node_hexes"):
+            self.node_hexes = self._node_hexes
+
+    @property
+    def shape(self) -> ShapeFunction:
+        """Shape functions used for defining individual element basis"""
+        return self._shape
+
+    @property
+    def name(self):
+        return f"{self.topology.name}_{self._shape.name}"
+
+    def make_node_coords_in_element(self):
+        shape_node_coords_in_element = self._shape.make_node_coords_in_element()
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_coords_in_element(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return shape_node_coords_in_element(node_index_in_elt)
+
+        return node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        shape_node_quadrature_weight = self._shape.make_node_quadrature_weight()
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_quadrature_weight(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return shape_node_quadrature_weight(node_index_in_elt)
+
+        return node_quadrature_weight
+
+    def make_element_inner_weight(self):
+        shape_element_inner_weight = self._shape.make_element_inner_weight()
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            return shape_element_inner_weight(coords, node_index_in_elt)
+
+        return element_inner_weight
+
+    def make_element_inner_weight_gradient(self):
+        shape_element_inner_weight_gradient = self._shape.make_element_inner_weight_gradient()
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight_gradient(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            return shape_element_inner_weight_gradient(coords, node_index_in_elt)
+
+        return element_inner_weight_gradient
+
+    def make_trace_node_quadrature_weight(self, trace_basis):
+        shape_trace_node_quadrature_weight = self._shape.make_trace_node_quadrature_weight()
+
+        @cache.dynamic_func(suffix=self.name)
+        def trace_node_quadrature_weight(
+            geo_side_arg: trace_basis.geometry.SideArg,
+            basis_arg: trace_basis.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            neighbour_elem, index_in_neighbour = trace_basis.topology.neighbor_cell_index(
+                geo_side_arg, element_index, node_index_in_elt
+            )
+            return shape_trace_node_quadrature_weight(index_in_neighbour)
+
+        return trace_node_quadrature_weight
+
+    def _node_triangulation(self):
+        element_node_indices = self._topology.element_node_indices().numpy()
+        element_triangles = self._shape.element_node_triangulation()
+
+        tri_indices = element_node_indices[:, element_triangles].reshape(-1, 3)
+        return tri_indices
+
+    def _node_tets(self):
+        element_node_indices = self._topology.element_node_indices().numpy()
+        element_tets = self._shape.element_node_tets()
+
+        tet_indices = element_node_indices[:, element_tets].reshape(-1, 4)
+        return tet_indices
+
+    def _node_hexes(self):
+        element_node_indices = self._topology.element_node_indices().numpy()
+        element_hexes = self._shape.element_node_hexes()
+
+        hex_indices = element_node_indices[:, element_hexes].reshape(-1, 8)
+        return hex_indices
+
+
+class TraceBasisSpace(BasisSpace):
+    """Auto-generated trace space evaluating the cell-defined basis on the geometry sides"""
+
+    def __init__(self, basis: BasisSpace):
+        super().__init__(basis.topology.trace())
+
+        self.ORDER = basis.ORDER
+
+        self._basis = basis
+        self.BasisArg = self._basis.BasisArg
+        self.basis_arg_value = self._basis.basis_arg_value
+
+    @property
+    def name(self):
+        return f"{self._basis.name}_Trace"
+
+    def make_node_coords_in_element(self):
+        node_coords_in_cell = self._basis.make_node_coords_in_element()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_node_coords_in_element(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            neighbour_elem, index_in_neighbour = self.topology.neighbor_cell_index(
+                geo_side_arg, element_index, node_index_in_elt
+            )
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            neighbour_coords = node_coords_in_cell(
+                geo_cell_arg,
+                basis_arg,
+                neighbour_elem,
+                index_in_neighbour,
+            )
+
+            return self.geometry.side_from_cell_coords(geo_side_arg, element_index, neighbour_elem, neighbour_coords)
+
+        return trace_node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        return self._basis.make_trace_node_quadrature_weight(self)
+
+    def make_element_inner_weight(self):
+        cell_inner_weight = self._basis.make_element_inner_weight()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_inner_weight(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            cell_index, index_in_cell = self.topology.inner_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if index_in_cell < 0:
+                return 0.0
+
+            cell_coords = self.geometry.side_inner_cell_coords(geo_side_arg, element_index, coords)
+
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_inner_weight(
+                geo_cell_arg,
+                basis_arg,
+                cell_index,
+                cell_coords,
+                index_in_cell,
+            )
+
+        return trace_element_inner_weight
+
+    def make_element_outer_weight(self):
+        cell_outer_weight = self._basis.make_element_outer_weight()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_outer_weight(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            cell_index, index_in_cell = self.topology.outer_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if index_in_cell < 0:
+                return 0.0
+
+            cell_coords = self.geometry.side_outer_cell_coords(geo_side_arg, element_index, coords)
+
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_outer_weight(
+                geo_cell_arg,
+                basis_arg,
+                cell_index,
+                cell_coords,
+                index_in_cell,
+            )
+
+        return trace_element_outer_weight
+
+    def make_element_inner_weight_gradient(self):
+        cell_inner_weight_gradient = self._basis.make_element_inner_weight_gradient()
+        grad_vec_type = wp.vec(length=self.geometry.dimension, dtype=float)
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_inner_weight_gradient(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            cell_index, index_in_cell = self.topology.inner_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if index_in_cell < 0:
+                return grad_vec_type(0.0)
+
+            cell_coords = self.geometry.side_inner_cell_coords(geo_side_arg, element_index, coords)
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_inner_weight_gradient(geo_cell_arg, basis_arg, cell_index, cell_coords, index_in_cell)
+
+        return trace_element_inner_weight_gradient
+
+    def make_element_outer_weight_gradient(self):
+        cell_outer_weight_gradient = self._basis.make_element_outer_weight_gradient()
+        grad_vec_type = wp.vec(length=self.geometry.dimension, dtype=float)
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_outer_weight_gradient(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            cell_index, index_in_cell = self.topology.outer_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if index_in_cell < 0:
+                return grad_vec_type(0.0)
+
+            cell_coords = self.geometry.side_outer_cell_coords(geo_side_arg, element_index, coords)
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_outer_weight_gradient(geo_cell_arg, basis_arg, cell_index, cell_coords, index_in_cell)
+
+        return trace_element_outer_weight_gradient
+
+    def __eq__(self, other: "TraceBasisSpace") -> bool:
+        return self._topo == other._topo
+
+
+class PointBasisSpace(BasisSpace):
+    """An unstructured :class:`BasisSpace` that is non-zero at a finite set of points only.
+
+    The node locations and nodal quadrature weights are defined by a :class:`Quadrature` formula.
+    """
+
+    def __init__(self, quadrature: Quadrature):
+        self._quadrature = quadrature
+
+        if quadrature.points_per_element() is None:
+            raise NotImplementedError("Varying number of points per element is not supported yet")
+
+        topology = DiscontinuousSpaceTopology(
+            geometry=quadrature.domain.geometry, nodes_per_element=quadrature.points_per_element()
+        )
+        super().__init__(topology)
+
+        self.BasisArg = quadrature.Arg
+        self.basis_arg_value = quadrature.arg_value
+        self.ORDER = 0
+
+        self.make_element_outer_weight = self.make_element_inner_weight
+        self.make_element_outer_weight_gradient = self.make_element_outer_weight_gradient
+
+    @property
+    def name(self):
+        return f"{self._quadrature.name}_Point"
+
+    def make_node_coords_in_element(self):
+        @cache.dynamic_func(suffix=self.name)
+        def node_coords_in_element(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return self._quadrature.point_coords(elt_arg, basis_arg, element_index, node_index_in_elt)
+
+        return node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        @cache.dynamic_func(suffix=self.name)
+        def node_quadrature_weight(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return self._quadrature.point_weight(elt_arg, basis_arg, element_index, node_index_in_elt)
+
+        return node_quadrature_weight
+
+    def make_element_inner_weight(self):
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            qp_coord = self._quadrature.point_coords(elt_arg, basis_arg, element_index, node_index_in_elt)
+            return wp.select(wp.length_sq(coords - qp_coord) < 0.001, 0.0, 1.0)
+
+        return element_inner_weight
+
+    def make_element_inner_weight_gradient(self):
+        gradient_vec = cache.cached_vec_type(length=self.geometry.dimension, dtype=float)
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight_gradient(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            return gradient_vec(0.0)
+
+        return element_inner_weight_gradient
+
+    def make_trace_node_quadrature_weight(self, trace_basis):
+        @cache.dynamic_func(suffix=self.name)
+        def trace_node_quadrature_weight(
+            elt_arg: trace_basis.geometry.SideArg,
+            basis_arg: trace_basis.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return 0.0
+
+        return trace_node_quadrature_weight

warp/fem/space/collocated_function_space.py

@@ -0,0 +1,105 @@
+from typing import Any, Optional
+
+import warp as wp
+
+from warp.fem.types import DofIndex, get_node_coord
+from warp.fem.geometry import GeometryPartition
+from warp.fem import cache, utils
+
+
+from .function_space import FunctionSpace
+from .dof_mapper import DofMapper, IdentityMapper
+from .partition import make_space_partition, SpacePartition
+
+from .basis_space import BasisSpace
+
+
+class CollocatedFunctionSpace(FunctionSpace):
+    """Function space where values are collocated at nodes"""
+
+    def __init__(self, basis: BasisSpace, dtype: type = float, dof_mapper: DofMapper = None):
+        super().__init__(topology=basis.topology)
+
+        self.dof_mapper = IdentityMapper(dtype) if dof_mapper is None else dof_mapper
+        self.dtype = self.dof_mapper.value_dtype
+        self.dof_dtype = self.dof_mapper.dof_dtype
+        self.VALUE_DOF_COUNT = self.dof_mapper.DOF_SIZE
+
+        self._basis = basis
+        self.SpaceArg = self._basis.BasisArg
+
+        self.ORDER = self._basis.ORDER
+
+        self.unit_dof_value = self._make_unit_dof_value(self.dof_mapper)
+
+        self.node_coords_in_element = self._basis.make_node_coords_in_element()
+        self.node_quadrature_weight = self._basis.make_node_quadrature_weight()
+        self.element_inner_weight = self._basis.make_element_inner_weight()
+        self.element_inner_weight_gradient = self._basis.make_element_inner_weight_gradient()
+        self.element_outer_weight = self._basis.make_element_outer_weight()
+        self.element_outer_weight_gradient = self._basis.make_element_outer_weight_gradient()
+
+        # For backward compatibility
+        if hasattr(basis, "node_grid"):
+            self.node_grid = basis.node_grid
+        if hasattr(basis, "node_triangulation"):
+            self.node_triangulation = basis.node_triangulation
+        if hasattr(basis, "node_tets"):
+            self.node_tets = basis.node_tets
+        if hasattr(basis, "node_hexes"):
+            self.node_hexes = basis.node_hexes
+
+    def space_arg_value(self, device):
+        return self._basis.basis_arg_value(device)
+
+    @property
+    def name(self):
+        return f"{self._basis.name}_{self.dof_mapper}".replace(".", "_")
+
+    @property
+    def degree(self):
+        """Maximum polynomial degree of the underlying basis"""
+        return self.ORDER
+
+    def make_field(
+        self,
+        space_partition: Optional[SpacePartition] = None,
+    ) -> "wp.fem.field.NodalField":
+
+        from warp.fem.field import NodalField
+
+        if space_partition is None:
+            space_partition = make_space_partition(space_topology=self.topology)
+
+        return NodalField(space=self, space_partition=space_partition)
+
+    def _make_unit_dof_value(self, dof_mapper: DofMapper):
+        @cache.dynamic_func(suffix=self.name)
+        def unit_dof_value(geo_arg: self.topology.ElementArg, space_arg: self.SpaceArg, dof: DofIndex):
+            return dof_mapper.dof_to_value(utils.unit_element(dof_mapper.dof_dtype(0.0), get_node_coord(dof)))
+
+        return unit_dof_value
+
+    def node_count(self):
+        return self.topology.node_count()
+
+    def node_positions(self, out:Optional[wp.array] = None) -> wp.array:
+        return self._basis.node_positions(out=out)
+
+    def trace(self) -> "CollocatedFunctionSpace":
+        return CollocatedFunctionSpaceTrace(self)
+
+
+class CollocatedFunctionSpaceTrace(CollocatedFunctionSpace):
+    """Trace of a :class:`CollocatedFunctionSpace`"""
+
+    def __init__(self, space: CollocatedFunctionSpace):
+        self._space = space
+        super().__init__(space._basis.trace(), space.dtype, space.dof_mapper)
+
+    @property
+    def name(self):
+        return f"{self._space.name}_Trace"
+
+    def __eq__(self, other: "CollocatedFunctionSpaceTrace") -> bool:
+        return self._space == other._space

warp/fem/space/dof_mapper.py

@@ -5,7 +5,7 @@ import math
 import warp as wp
 import warp.types
 
-from warp.fem.types import vec6
+vec6 = wp.types.vector(length=6, dtype=wp.float32)
 
 _SQRT_2 = wp.constant(math.sqrt(2.0))
 _SQRT_3 = wp.constant(math.sqrt(3.0))
@@ -65,7 +65,7 @@ class SymmetricTensorMapper(DofMapper):
             first the three diagonal terms, then off-diagonal coefficients"""
         DB16 = 1
         """Ordering that also separates normal from tangential coefficients:
-            first trace, then other diagonal terms, then off-diagonal coefficients.
+           first trace, then other diagonal terms, then off-diagonal coefficients.
            See [Daviet and Bertails-Descoubes 2016]"""
 
     def __init__(self, dtype: type, mapping: Mapping = Mapping.VOIGT):
@@ -187,3 +187,50 @@ class SymmetricTensorMapper(DofMapper):
         f = 0.5 * (val[1, 0] + val[0, 1])
 
         return vec6(a, b, c, d, e, f)
+
+
+class SkewSymmetricTensorMapper(DofMapper):
+    """Orthonormal isomorphism from R^{n (n-1)} to nxn skew-symmetric tensors,
+    using usual L2 norm for vectors and half Frobenius norm, (tau : tau)/2 for tensors.
+    """
+
+    def __init__(self, dtype: type):
+        self.value_dtype = dtype
+
+        if dtype == wp.mat22:
+            self.dof_dtype = float
+            self.DOF_SIZE = wp.constant(1)
+            self.dof_to_value = SkewSymmetricTensorMapper.dof_to_value_2d
+            self.value_to_dof = SkewSymmetricTensorMapper.value_to_dof_2d
+        elif dtype == wp.mat33:
+            self.dof_dtype = wp.vec3
+            self.DOF_SIZE = wp.constant(3)
+            self.dof_to_value = SkewSymmetricTensorMapper.dof_to_value_3d
+            self.value_to_dof = SkewSymmetricTensorMapper.value_to_dof_3d
+        else:
+            raise ValueError("Unsupported value dtype: ", dtype)
+
+    def __str__(self):
+        return f"{self.__class__.__name__}_{self.DOF_SIZE}"
+
+    @wp.func
+    def dof_to_value_2d(dof: float):
+        return wp.mat22(0.0, -dof, dof, 0.0)
+
+    @wp.func
+    def value_to_dof_2d(val: wp.mat22):
+        return 0.5 * (val[1, 0] - val[0, 1])
+
+    @wp.func
+    def dof_to_value_3d(dof: wp.vec3):
+        a = dof[0]
+        b = dof[1]
+        c = dof[2]
+        return wp.mat33(0.0, -c, b, c, 0.0, -a, -b, a, 0.0)
+
+    @wp.func
+    def value_to_dof_3d(val: wp.mat33):
+        a = 0.5 * (val[2, 1] - val[1, 2])
+        b = 0.5 * (val[0, 2] - val[2, 0])
+        c = 0.5 * (val[1, 0] - val[0, 1])
+        return wp.vec3(a, b, c)