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1069 lines
41 KiB
1069 lines
41 KiB
3 months ago
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// David Eberly, Geometric Tools, Redmond WA 98052
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// Copyright (c) 1998-2021
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// Distributed under the Boost Software License, Version 1.0.
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// https://www.boost.org/LICENSE_1_0.txt
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// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Version: 4.0.2019.12.05
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#pragma once
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#include <Mathematics/Math.h>
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#include <algorithm>
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#include <map>
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#include <vector>
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// The Find functions return the number of roots, if any, and this number
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// of elements of the outputs are valid. If the polynomial is identically
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// zero, Find returns 1.
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//
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// Some root-bounding algorithms for real-valued roots are mentioned next for
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// the polynomial p(t) = c[0] + c[1]*t + ... + c[d-1]*t^{d-1} + c[d]*t^d.
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//
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// 1. The roots must be contained by the interval [-M,M] where
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// M = 1 + max{|c[0]|, ..., |c[d-1]|}/|c[d]| >= 1
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// is called the Cauchy bound.
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//
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// 2. You may search for roots in the interval [-1,1]. Define
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// q(t) = t^d*p(1/t) = c[0]*t^d + c[1]*t^{d-1} + ... + c[d-1]*t + c[d]
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// The roots of p(t) not in [-1,1] are the roots of q(t) in [-1,1].
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//
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// 3. Between two consecutive roots of the derivative p'(t), say, r0 < r1,
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// the function p(t) is strictly monotonic on the open interval (r0,r1).
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// If additionally, p(r0) * p(r1) <= 0, then p(x) has a unique root on
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// the closed interval [r0,r1]. Thus, one can compute the derivatives
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// through order d for p(t), find roots for the derivative of order k+1,
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// then use these to bound roots for the derivative of order k.
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//
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// 4. Sturm sequences of polynomials may be used to determine bounds on the
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// roots. This is a more sophisticated approach to root bounding than item 3.
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// Moreover, a Sturm sequence allows you to compute the number of real-valued
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// roots on a specified interval.
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//
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// 5. For the low-degree Solve* functions, see
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// https://www.geometrictools.com/Documentation/LowDegreePolynomialRoots.pdf
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// FOR INTERNAL USE ONLY (unit testing). Do not define the symbol
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// GTE_ROOTS_LOW_DEGREE_UNIT_TEST in your own code.
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#if defined(GTE_ROOTS_LOW_DEGREE_UNIT_TEST)
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extern void RootsLowDegreeBlock(int);
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#define GTE_ROOTS_LOW_DEGREE_BLOCK(block) RootsLowDegreeBlock(block)
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#else
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#define GTE_ROOTS_LOW_DEGREE_BLOCK(block)
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#endif
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namespace gte
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{
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template <typename Real>
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class RootsPolynomial
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{
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public:
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// Low-degree root finders. These use exact rational arithmetic for
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// theoretically correct root classification. The roots themselves
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// are computed with mixed types (rational and floating-point
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// arithmetic). The Rational type must support rational arithmetic
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// (+, -, *, /); for example, BSRational<UIntegerAP32> suffices. The
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// Rational class must have single-input constructors where the input
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// is type Real. This ensures you can call the Solve* functions with
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// floating-point inputs; they will be converted to Rational
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// implicitly. The highest-order coefficients must be nonzero
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// (p2 != 0 for quadratic, p3 != 0 for cubic, and p4 != 0 for
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// quartic).
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template <typename Rational>
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static void SolveQuadratic(Rational const& p0, Rational const& p1,
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Rational const& p2, std::map<Real, int>& rmMap)
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{
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Rational const rat2 = 2;
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Rational q0 = p0 / p2;
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Rational q1 = p1 / p2;
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Rational q1half = q1 / rat2;
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Rational c0 = q0 - q1half * q1half;
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std::map<Rational, int> rmLocalMap;
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SolveDepressedQuadratic(c0, rmLocalMap);
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rmMap.clear();
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for (auto& rm : rmLocalMap)
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{
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Rational root = rm.first - q1half;
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rmMap.insert(std::make_pair((Real)root, rm.second));
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}
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}
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template <typename Rational>
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static void SolveCubic(Rational const& p0, Rational const& p1,
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Rational const& p2, Rational const& p3, std::map<Real, int>& rmMap)
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{
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Rational const rat2 = 2, rat3 = 3;
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Rational q0 = p0 / p3;
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Rational q1 = p1 / p3;
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Rational q2 = p2 / p3;
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Rational q2third = q2 / rat3;
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Rational c0 = q0 - q2third * (q1 - rat2 * q2third * q2third);
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Rational c1 = q1 - q2 * q2third;
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std::map<Rational, int> rmLocalMap;
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SolveDepressedCubic(c0, c1, rmLocalMap);
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rmMap.clear();
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for (auto& rm : rmLocalMap)
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{
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Rational root = rm.first - q2third;
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rmMap.insert(std::make_pair((Real)root, rm.second));
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}
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}
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template <typename Rational>
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static void SolveQuartic(Rational const& p0, Rational const& p1,
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Rational const& p2, Rational const& p3, Rational const& p4,
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std::map<Real, int>& rmMap)
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{
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Rational const rat2 = 2, rat3 = 3, rat4 = 4, rat6 = 6;
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Rational q0 = p0 / p4;
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Rational q1 = p1 / p4;
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Rational q2 = p2 / p4;
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Rational q3 = p3 / p4;
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Rational q3fourth = q3 / rat4;
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Rational q3fourthSqr = q3fourth * q3fourth;
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Rational c0 = q0 - q3fourth * (q1 - q3fourth * (q2 - q3fourthSqr * rat3));
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Rational c1 = q1 - rat2 * q3fourth * (q2 - rat4 * q3fourthSqr);
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Rational c2 = q2 - rat6 * q3fourthSqr;
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std::map<Rational, int> rmLocalMap;
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SolveDepressedQuartic(c0, c1, c2, rmLocalMap);
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rmMap.clear();
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for (auto& rm : rmLocalMap)
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{
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Rational root = rm.first - q3fourth;
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rmMap.insert(std::make_pair((Real)root, rm.second));
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}
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}
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// Return only the number of real-valued roots and their
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// multiplicities. info.size() is the number of real-valued roots
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// and info[i] is the multiplicity of root corresponding to index i.
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template <typename Rational>
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static void GetRootInfoQuadratic(Rational const& p0, Rational const& p1,
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Rational const& p2, std::vector<int>& info)
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{
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Rational const rat2 = 2;
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Rational q0 = p0 / p2;
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Rational q1 = p1 / p2;
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Rational q1half = q1 / rat2;
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Rational c0 = q0 - q1half * q1half;
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info.clear();
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info.reserve(2);
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GetRootInfoDepressedQuadratic(c0, info);
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}
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template <typename Rational>
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static void GetRootInfoCubic(Rational const& p0, Rational const& p1,
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Rational const& p2, Rational const& p3, std::vector<int>& info)
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{
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Rational const rat2 = 2, rat3 = 3;
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Rational q0 = p0 / p3;
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Rational q1 = p1 / p3;
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Rational q2 = p2 / p3;
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Rational q2third = q2 / rat3;
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Rational c0 = q0 - q2third * (q1 - rat2 * q2third * q2third);
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Rational c1 = q1 - q2 * q2third;
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info.clear();
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info.reserve(3);
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GetRootInfoDepressedCubic(c0, c1, info);
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}
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template <typename Rational>
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static void GetRootInfoQuartic(Rational const& p0, Rational const& p1,
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Rational const& p2, Rational const& p3, Rational const& p4,
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std::vector<int>& info)
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{
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Rational const rat2 = 2, rat3 = 3, rat4 = 4, rat6 = 6;
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Rational q0 = p0 / p4;
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Rational q1 = p1 / p4;
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Rational q2 = p2 / p4;
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Rational q3 = p3 / p4;
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Rational q3fourth = q3 / rat4;
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Rational q3fourthSqr = q3fourth * q3fourth;
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Rational c0 = q0 - q3fourth * (q1 - q3fourth * (q2 - q3fourthSqr * rat3));
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Rational c1 = q1 - rat2 * q3fourth * (q2 - rat4 * q3fourthSqr);
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Rational c2 = q2 - rat6 * q3fourthSqr;
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info.clear();
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info.reserve(4);
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GetRootInfoDepressedQuartic(c0, c1, c2, info);
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}
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// General equations: sum_{i=0}^{d} c(i)*t^i = 0. The input array 'c'
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// must have at least d+1 elements and the output array 'root' must
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// have at least d elements.
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// Find the roots on (-infinity,+infinity).
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static int Find(int degree, Real const* c, unsigned int maxIterations, Real* roots)
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{
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if (degree >= 0 && c)
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{
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Real const zero = (Real)0;
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while (degree >= 0 && c[degree] == zero)
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{
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--degree;
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}
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if (degree > 0)
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{
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// Compute the Cauchy bound.
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Real const one = (Real)1;
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Real invLeading = one / c[degree];
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Real maxValue = zero;
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for (int i = 0; i < degree; ++i)
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{
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Real value = std::fabs(c[i] * invLeading);
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if (value > maxValue)
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{
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maxValue = value;
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}
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}
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Real bound = one + maxValue;
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return FindRecursive(degree, c, -bound, bound, maxIterations,
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roots);
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}
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else if (degree == 0)
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{
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// The polynomial is a nonzero constant.
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return 0;
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}
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else
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{
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// The polynomial is identically zero.
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roots[0] = zero;
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return 1;
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}
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}
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else
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{
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// Invalid degree or c.
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return 0;
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}
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}
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// If you know that p(tmin) * p(tmax) <= 0, then there must be at
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// least one root in [tmin, tmax]. Compute it using bisection.
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static bool Find(int degree, Real const* c, Real tmin, Real tmax,
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unsigned int maxIterations, Real& root)
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{
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Real const zero = (Real)0;
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Real pmin = Evaluate(degree, c, tmin);
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if (pmin == zero)
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{
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root = tmin;
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return true;
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}
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Real pmax = Evaluate(degree, c, tmax);
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if (pmax == zero)
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{
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root = tmax;
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return true;
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}
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if (pmin * pmax > zero)
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{
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// It is not known whether the interval bounds a root.
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return false;
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}
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if (tmin >= tmax)
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{
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// Invalid ordering of interval endpoitns.
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return false;
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}
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for (unsigned int i = 1; i <= maxIterations; ++i)
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{
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root = ((Real)0.5) * (tmin + tmax);
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// This test is designed for 'float' or 'double' when tmin
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// and tmax are consecutive floating-point numbers.
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if (root == tmin || root == tmax)
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{
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break;
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}
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Real p = Evaluate(degree, c, root);
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Real product = p * pmin;
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if (product < zero)
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{
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tmax = root;
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pmax = p;
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}
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else if (product > zero)
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{
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tmin = root;
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pmin = p;
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}
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else
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{
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break;
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}
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}
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return true;
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}
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private:
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// Support for the Solve* functions.
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template <typename Rational>
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static void SolveDepressedQuadratic(Rational const& c0,
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std::map<Rational, int>& rmMap)
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{
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Rational const zero = 0;
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if (c0 < zero)
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{
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// Two simple roots.
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Rational root1 = (Rational)std::sqrt((double)-c0);
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Rational root0 = -root1;
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rmMap.insert(std::make_pair(root0, 1));
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rmMap.insert(std::make_pair(root1, 1));
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GTE_ROOTS_LOW_DEGREE_BLOCK(0);
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}
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else if (c0 == zero)
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{
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// One double root.
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rmMap.insert(std::make_pair(zero, 2));
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GTE_ROOTS_LOW_DEGREE_BLOCK(1);
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}
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else // c0 > 0
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{
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// A complex-conjugate pair of roots.
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// Complex z0 = -q1/2 - i*sqrt(c0);
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// Complex z0conj = -q1/2 + i*sqrt(c0);
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GTE_ROOTS_LOW_DEGREE_BLOCK(2);
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}
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}
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template <typename Rational>
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static void SolveDepressedCubic(Rational const& c0, Rational const& c1,
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std::map<Rational, int>& rmMap)
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{
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// Handle the special case of c0 = 0, in which case the polynomial
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// reduces to a depressed quadratic.
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Rational const zero = 0;
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if (c0 == zero)
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{
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SolveDepressedQuadratic(c1, rmMap);
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auto iter = rmMap.find(zero);
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||
|
|
if (iter != rmMap.end())
|
||
|
|
{
|
||
|
|
// The quadratic has a root of zero, so the multiplicity
|
||
|
|
// must be increased.
|
||
|
|
++iter->second;
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(3);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// The quadratic does not have a root of zero. Insert the
|
||
|
|
// one for the cubic.
|
||
|
|
rmMap.insert(std::make_pair(zero, 1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(4);
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Handle the special case of c0 != 0 and c1 = 0.
|
||
|
|
double const oneThird = 1.0 / 3.0;
|
||
|
|
if (c1 == zero)
|
||
|
|
{
|
||
|
|
// One simple real root.
|
||
|
|
Rational root0;
|
||
|
|
if (c0 > zero)
|
||
|
|
{
|
||
|
|
root0 = (Rational)-std::pow((double)c0, oneThird);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(5);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
root0 = (Rational)std::pow(-(double)c0, oneThird);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(6);
|
||
|
|
}
|
||
|
|
rmMap.insert(std::make_pair(root0, 1));
|
||
|
|
|
||
|
|
// One complex conjugate pair.
|
||
|
|
// Complex z0 = root0*(-1 - i*sqrt(3))/2;
|
||
|
|
// Complex z0conj = root0*(-1 + i*sqrt(3))/2;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// At this time, c0 != 0 and c1 != 0.
|
||
|
|
Rational const rat2 = 2, rat3 = 3, rat4 = 4, rat27 = 27, rat108 = 108;
|
||
|
|
Rational delta = -(rat4 * c1 * c1 * c1 + rat27 * c0 * c0);
|
||
|
|
if (delta > zero)
|
||
|
|
{
|
||
|
|
// Three simple roots.
|
||
|
|
Rational deltaDiv108 = delta / rat108;
|
||
|
|
Rational betaRe = -c0 / rat2;
|
||
|
|
Rational betaIm = std::sqrt(deltaDiv108);
|
||
|
|
Rational theta = std::atan2(betaIm, betaRe);
|
||
|
|
Rational thetaDiv3 = theta / rat3;
|
||
|
|
double angle = (double)thetaDiv3;
|
||
|
|
Rational cs = (Rational)std::cos(angle);
|
||
|
|
Rational sn = (Rational)std::sin(angle);
|
||
|
|
Rational rhoSqr = betaRe * betaRe + betaIm * betaIm;
|
||
|
|
Rational rhoPowThird = (Rational)std::pow((double)rhoSqr, 1.0 / 6.0);
|
||
|
|
Rational temp0 = rhoPowThird * cs;
|
||
|
|
Rational temp1 = rhoPowThird * sn * (Rational)std::sqrt(3.0);
|
||
|
|
Rational root0 = rat2 * temp0;
|
||
|
|
Rational root1 = -temp0 - temp1;
|
||
|
|
Rational root2 = -temp0 + temp1;
|
||
|
|
rmMap.insert(std::make_pair(root0, 1));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
rmMap.insert(std::make_pair(root2, 1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(7);
|
||
|
|
}
|
||
|
|
else if (delta < zero)
|
||
|
|
{
|
||
|
|
// One simple root.
|
||
|
|
Rational deltaDiv108 = delta / rat108;
|
||
|
|
Rational temp0 = -c0 / rat2;
|
||
|
|
Rational temp1 = (Rational)std::sqrt(-(double)deltaDiv108);
|
||
|
|
Rational temp2 = temp0 - temp1;
|
||
|
|
Rational temp3 = temp0 + temp1;
|
||
|
|
if (temp2 >= zero)
|
||
|
|
{
|
||
|
|
temp2 = (Rational)std::pow((double)temp2, oneThird);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(8);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
temp2 = (Rational)-std::pow(-(double)temp2, oneThird);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(9);
|
||
|
|
}
|
||
|
|
if (temp3 >= zero)
|
||
|
|
{
|
||
|
|
temp3 = (Rational)std::pow((double)temp3, oneThird);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(10);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
temp3 = (Rational)-std::pow(-(double)temp3, oneThird);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(11);
|
||
|
|
}
|
||
|
|
Rational root0 = temp2 + temp3;
|
||
|
|
rmMap.insert(std::make_pair(root0, 1));
|
||
|
|
|
||
|
|
// One complex conjugate pair.
|
||
|
|
// Complex z0 = (-root0 - i*sqrt(3*root0*root0+4*c1))/2;
|
||
|
|
// Complex z0conj = (-root0 + i*sqrt(3*root0*root0+4*c1))/2;
|
||
|
|
}
|
||
|
|
else // delta = 0
|
||
|
|
{
|
||
|
|
// One simple root and one double root.
|
||
|
|
Rational root0 = -rat3 * c0 / (rat2 * c1);
|
||
|
|
Rational root1 = -rat2 * root0;
|
||
|
|
rmMap.insert(std::make_pair(root0, 2));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(12);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename Rational>
|
||
|
|
static void SolveDepressedQuartic(Rational const& c0, Rational const& c1,
|
||
|
|
Rational const& c2, std::map<Rational, int>& rmMap)
|
||
|
|
{
|
||
|
|
// Handle the special case of c0 = 0, in which case the polynomial
|
||
|
|
// reduces to a depressed cubic.
|
||
|
|
Rational const zero = 0;
|
||
|
|
if (c0 == zero)
|
||
|
|
{
|
||
|
|
SolveDepressedCubic(c1, c2, rmMap);
|
||
|
|
auto iter = rmMap.find(zero);
|
||
|
|
if (iter != rmMap.end())
|
||
|
|
{
|
||
|
|
// The cubic has a root of zero, so the multiplicity must
|
||
|
|
// be increased.
|
||
|
|
++iter->second;
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(13);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// The cubic does not have a root of zero. Insert the one
|
||
|
|
// for the quartic.
|
||
|
|
rmMap.insert(std::make_pair(zero, 1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(14);
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Handle the special case of c1 = 0, in which case the quartic is
|
||
|
|
// a biquadratic
|
||
|
|
// x^4 + c1*x^2 + c0 = (x^2 + c2/2)^2 + (c0 - c2^2/4)
|
||
|
|
if (c1 == zero)
|
||
|
|
{
|
||
|
|
SolveBiquadratic(c0, c2, rmMap);
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// At this time, c0 != 0 and c1 != 0, which is a requirement for
|
||
|
|
// the general solver that must use a root of a special cubic
|
||
|
|
// polynomial.
|
||
|
|
Rational const rat2 = 2, rat4 = 4, rat8 = 8, rat12 = 12, rat16 = 16;
|
||
|
|
Rational const rat27 = 27, rat36 = 36;
|
||
|
|
Rational c0sqr = c0 * c0, c1sqr = c1 * c1, c2sqr = c2 * c2;
|
||
|
|
Rational delta = c1sqr * (-rat27 * c1sqr + rat4 * c2 *
|
||
|
|
(rat36 * c0 - c2sqr)) + rat16 * c0 * (c2sqr * (c2sqr - rat8 * c0) +
|
||
|
|
rat16 * c0sqr);
|
||
|
|
Rational a0 = rat12 * c0 + c2sqr;
|
||
|
|
Rational a1 = rat4 * c0 - c2sqr;
|
||
|
|
|
||
|
|
if (delta > zero)
|
||
|
|
{
|
||
|
|
if (c2 < zero && a1 < zero)
|
||
|
|
{
|
||
|
|
// Four simple real roots.
|
||
|
|
std::map<Real, int> rmCubicMap;
|
||
|
|
SolveCubic(c1sqr - rat4 * c0 * c2, rat8 * c0, rat4 * c2, -rat8, rmCubicMap);
|
||
|
|
Rational t = (Rational)rmCubicMap.rbegin()->first;
|
||
|
|
Rational alphaSqr = rat2 * t - c2;
|
||
|
|
Rational alpha = (Rational)std::sqrt((double)alphaSqr);
|
||
|
|
double sgnC1;
|
||
|
|
if (c1 > zero)
|
||
|
|
{
|
||
|
|
sgnC1 = 1.0;
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(15);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
sgnC1 = -1.0;
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(16);
|
||
|
|
}
|
||
|
|
Rational arg = t * t - c0;
|
||
|
|
Rational beta = (Rational)(sgnC1 * std::sqrt(std::max((double)arg, 0.0)));
|
||
|
|
Rational D0 = alphaSqr - rat4 * (t + beta);
|
||
|
|
Rational sqrtD0 = (Rational)std::sqrt(std::max((double)D0, 0.0));
|
||
|
|
Rational D1 = alphaSqr - rat4 * (t - beta);
|
||
|
|
Rational sqrtD1 = (Rational)std::sqrt(std::max((double)D1, 0.0));
|
||
|
|
Rational root0 = (alpha - sqrtD0) / rat2;
|
||
|
|
Rational root1 = (alpha + sqrtD0) / rat2;
|
||
|
|
Rational root2 = (-alpha - sqrtD1) / rat2;
|
||
|
|
Rational root3 = (-alpha + sqrtD1) / rat2;
|
||
|
|
rmMap.insert(std::make_pair(root0, 1));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
rmMap.insert(std::make_pair(root2, 1));
|
||
|
|
rmMap.insert(std::make_pair(root3, 1));
|
||
|
|
}
|
||
|
|
else // c2 >= 0 or a1 >= 0
|
||
|
|
{
|
||
|
|
// Two complex-conjugate pairs. The values alpha, D0
|
||
|
|
// and D1 are those of the if-block.
|
||
|
|
// Complex z0 = (alpha - i*sqrt(-D0))/2;
|
||
|
|
// Complex z0conj = (alpha + i*sqrt(-D0))/2;
|
||
|
|
// Complex z1 = (-alpha - i*sqrt(-D1))/2;
|
||
|
|
// Complex z1conj = (-alpha + i*sqrt(-D1))/2;
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(17);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (delta < zero)
|
||
|
|
{
|
||
|
|
// Two simple real roots, one complex-conjugate pair.
|
||
|
|
std::map<Real, int> rmCubicMap;
|
||
|
|
SolveCubic(c1sqr - rat4 * c0 * c2, rat8 * c0, rat4 * c2, -rat8,
|
||
|
|
rmCubicMap);
|
||
|
|
Rational t = (Rational)rmCubicMap.rbegin()->first;
|
||
|
|
Rational alphaSqr = rat2 * t - c2;
|
||
|
|
Rational alpha = (Rational)std::sqrt(std::max((double)alphaSqr, 0.0));
|
||
|
|
double sgnC1;
|
||
|
|
if (c1 > zero)
|
||
|
|
{
|
||
|
|
sgnC1 = 1.0; // Leads to BLOCK(18)
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
sgnC1 = -1.0; // Leads to BLOCK(19)
|
||
|
|
}
|
||
|
|
Rational arg = t * t - c0;
|
||
|
|
Rational beta = (Rational)(sgnC1 * std::sqrt(std::max((double)arg, 0.0)));
|
||
|
|
Rational root0, root1;
|
||
|
|
if (sgnC1 > 0.0)
|
||
|
|
{
|
||
|
|
Rational D1 = alphaSqr - rat4 * (t - beta);
|
||
|
|
Rational sqrtD1 = (Rational)std::sqrt(std::max((double)D1, 0.0));
|
||
|
|
root0 = (-alpha - sqrtD1) / rat2;
|
||
|
|
root1 = (-alpha + sqrtD1) / rat2;
|
||
|
|
|
||
|
|
// One complex conjugate pair.
|
||
|
|
// Complex z0 = (alpha - i*sqrt(-D0))/2;
|
||
|
|
// Complex z0conj = (alpha + i*sqrt(-D0))/2;
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(18);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
Rational D0 = alphaSqr - rat4 * (t + beta);
|
||
|
|
Rational sqrtD0 = (Rational)std::sqrt(std::max((double)D0, 0.0));
|
||
|
|
root0 = (alpha - sqrtD0) / rat2;
|
||
|
|
root1 = (alpha + sqrtD0) / rat2;
|
||
|
|
|
||
|
|
// One complex conjugate pair.
|
||
|
|
// Complex z0 = (-alpha - i*sqrt(-D1))/2;
|
||
|
|
// Complex z0conj = (-alpha + i*sqrt(-D1))/2;
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(19);
|
||
|
|
}
|
||
|
|
rmMap.insert(std::make_pair(root0, 1));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
}
|
||
|
|
else // delta = 0
|
||
|
|
{
|
||
|
|
if (a1 > zero || (c2 > zero && (a1 != zero || c1 != zero)))
|
||
|
|
{
|
||
|
|
// One double real root, one complex-conjugate pair.
|
||
|
|
Rational const rat9 = 9;
|
||
|
|
Rational root0 = -c1 * a0 / (rat9 * c1sqr - rat2 * c2 * a1);
|
||
|
|
rmMap.insert(std::make_pair(root0, 2));
|
||
|
|
|
||
|
|
// One complex conjugate pair.
|
||
|
|
// Complex z0 = -root0 - i*sqrt(c2 + root0^2);
|
||
|
|
// Complex z0conj = -root0 + i*sqrt(c2 + root0^2);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(20);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
Rational const rat3 = 3;
|
||
|
|
if (a0 != zero)
|
||
|
|
{
|
||
|
|
// One double real root, two simple real roots.
|
||
|
|
Rational const rat9 = 9;
|
||
|
|
Rational root0 = -c1 * a0 / (rat9 * c1sqr - rat2 * c2 * a1);
|
||
|
|
Rational alpha = rat2 * root0;
|
||
|
|
Rational beta = c2 + rat3 * root0 * root0;
|
||
|
|
Rational discr = alpha * alpha - rat4 * beta;
|
||
|
|
Rational temp1 = (Rational)std::sqrt((double)discr);
|
||
|
|
Rational root1 = (-alpha - temp1) / rat2;
|
||
|
|
Rational root2 = (-alpha + temp1) / rat2;
|
||
|
|
rmMap.insert(std::make_pair(root0, 2));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
rmMap.insert(std::make_pair(root2, 1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(21);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// One triple real root, one simple real root.
|
||
|
|
Rational root0 = -rat3 * c1 / (rat4 * c2);
|
||
|
|
Rational root1 = -rat3 * root0;
|
||
|
|
rmMap.insert(std::make_pair(root0, 3));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(22);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename Rational>
|
||
|
|
static void SolveBiquadratic(Rational const& c0, Rational const& c2,
|
||
|
|
std::map<Rational, int>& rmMap)
|
||
|
|
{
|
||
|
|
// Solve 0 = x^4 + c2*x^2 + c0 = (x^2 + c2/2)^2 + a1, where
|
||
|
|
// a1 = c0 - c2^2/2. We know that c0 != 0 at the time of the
|
||
|
|
// function call, so x = 0 is not a root. The condition c1 = 0
|
||
|
|
// implies the quartic Delta = 256*c0*a1^2.
|
||
|
|
|
||
|
|
Rational const zero = 0, rat2 = 2, rat256 = 256;
|
||
|
|
Rational c2Half = c2 / rat2;
|
||
|
|
Rational a1 = c0 - c2Half * c2Half;
|
||
|
|
Rational delta = rat256 * c0 * a1 * a1;
|
||
|
|
if (delta > zero)
|
||
|
|
{
|
||
|
|
if (c2 < zero)
|
||
|
|
{
|
||
|
|
if (a1 < zero)
|
||
|
|
{
|
||
|
|
// Four simple roots.
|
||
|
|
Rational temp0 = (Rational)std::sqrt(-(double)a1);
|
||
|
|
Rational temp1 = -c2Half - temp0;
|
||
|
|
Rational temp2 = -c2Half + temp0;
|
||
|
|
Rational root1 = (Rational)std::sqrt((double)temp1);
|
||
|
|
Rational root0 = -root1;
|
||
|
|
Rational root2 = (Rational)std::sqrt((double)temp2);
|
||
|
|
Rational root3 = -root2;
|
||
|
|
rmMap.insert(std::make_pair(root0, 1));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
rmMap.insert(std::make_pair(root2, 1));
|
||
|
|
rmMap.insert(std::make_pair(root3, 1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(23);
|
||
|
|
}
|
||
|
|
else // a1 > 0
|
||
|
|
{
|
||
|
|
// Two simple complex conjugate pairs.
|
||
|
|
// double thetaDiv2 = atan2(sqrt(a1), -c2/2) / 2.0;
|
||
|
|
// double cs = cos(thetaDiv2), sn = sin(thetaDiv2);
|
||
|
|
// double length = pow(c0, 0.25);
|
||
|
|
// Complex z0 = length*(cs + i*sn);
|
||
|
|
// Complex z0conj = length*(cs - i*sn);
|
||
|
|
// Complex z1 = length*(-cs + i*sn);
|
||
|
|
// Complex z1conj = length*(-cs - i*sn);
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(24);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else // c2 >= 0
|
||
|
|
{
|
||
|
|
// Two simple complex conjugate pairs.
|
||
|
|
// Complex z0 = -i*sqrt(c2/2 - sqrt(-a1));
|
||
|
|
// Complex z0conj = +i*sqrt(c2/2 - sqrt(-a1));
|
||
|
|
// Complex z1 = -i*sqrt(c2/2 + sqrt(-a1));
|
||
|
|
// Complex z1conj = +i*sqrt(c2/2 + sqrt(-a1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(25);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (delta < zero)
|
||
|
|
{
|
||
|
|
// Two simple real roots.
|
||
|
|
Rational temp0 = (Rational)std::sqrt(-(double)a1);
|
||
|
|
Rational temp1 = -c2Half + temp0;
|
||
|
|
Rational root1 = (Rational)std::sqrt((double)temp1);
|
||
|
|
Rational root0 = -root1;
|
||
|
|
rmMap.insert(std::make_pair(root0, 1));
|
||
|
|
rmMap.insert(std::make_pair(root1, 1));
|
||
|
|
|
||
|
|
// One complex conjugate pair.
|
||
|
|
// Complex z0 = -i*sqrt(c2/2 + sqrt(-a1));
|
||
|
|
// Complex z0conj = +i*sqrt(c2/2 + sqrt(-a1));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(26);
|
||
|
|
}
|
||
|
|
else // delta = 0
|
||
|
|
{
|
||
|
|
if (c2 < zero)
|
||
|
|
{
|
||
|
|
// Two double real roots.
|
||
|
|
Rational root1 = (Rational)std::sqrt(-(double)c2Half);
|
||
|
|
Rational root0 = -root1;
|
||
|
|
rmMap.insert(std::make_pair(root0, 2));
|
||
|
|
rmMap.insert(std::make_pair(root1, 2));
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(27);
|
||
|
|
}
|
||
|
|
else // c2 > 0
|
||
|
|
{
|
||
|
|
// Two double complex conjugate pairs.
|
||
|
|
// Complex z0 = -i*sqrt(c2/2); // multiplicity 2
|
||
|
|
// Complex z0conj = +i*sqrt(c2/2); // multiplicity 2
|
||
|
|
GTE_ROOTS_LOW_DEGREE_BLOCK(28);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Support for the GetNumRoots* functions.
|
||
|
|
template <typename Rational>
|
||
|
|
static void GetRootInfoDepressedQuadratic(Rational const& c0,
|
||
|
|
std::vector<int>& info)
|
||
|
|
{
|
||
|
|
Rational const zero = 0;
|
||
|
|
if (c0 < zero)
|
||
|
|
{
|
||
|
|
// Two simple roots.
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else if (c0 == zero)
|
||
|
|
{
|
||
|
|
// One double root.
|
||
|
|
info.push_back(2); // root is zero
|
||
|
|
}
|
||
|
|
else // c0 > 0
|
||
|
|
{
|
||
|
|
// A complex-conjugate pair of roots.
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename Rational>
|
||
|
|
static void GetRootInfoDepressedCubic(Rational const& c0,
|
||
|
|
Rational const& c1, std::vector<int>& info)
|
||
|
|
{
|
||
|
|
// Handle the special case of c0 = 0, in which case the polynomial
|
||
|
|
// reduces to a depressed quadratic.
|
||
|
|
Rational const zero = 0;
|
||
|
|
if (c0 == zero)
|
||
|
|
{
|
||
|
|
if (c1 == zero)
|
||
|
|
{
|
||
|
|
info.push_back(3); // triple root of zero
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
info.push_back(1); // simple root of zero
|
||
|
|
GetRootInfoDepressedQuadratic(c1, info);
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
Rational const rat4 = 4, rat27 = 27;
|
||
|
|
Rational delta = -(rat4 * c1 * c1 * c1 + rat27 * c0 * c0);
|
||
|
|
if (delta > zero)
|
||
|
|
{
|
||
|
|
// Three simple real roots.
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else if (delta < zero)
|
||
|
|
{
|
||
|
|
// One simple real root.
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else // delta = 0
|
||
|
|
{
|
||
|
|
// One simple real root and one double real root.
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename Rational>
|
||
|
|
static void GetRootInfoDepressedQuartic(Rational const& c0,
|
||
|
|
Rational const& c1, Rational const& c2, std::vector<int>& info)
|
||
|
|
{
|
||
|
|
// Handle the special case of c0 = 0, in which case the polynomial
|
||
|
|
// reduces to a depressed cubic.
|
||
|
|
Rational const zero = 0;
|
||
|
|
if (c0 == zero)
|
||
|
|
{
|
||
|
|
if (c1 == zero)
|
||
|
|
{
|
||
|
|
if (c2 == zero)
|
||
|
|
{
|
||
|
|
info.push_back(4); // quadruple root of zero
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
info.push_back(2); // double root of zero
|
||
|
|
GetRootInfoDepressedQuadratic(c2, info);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
info.push_back(1); // simple root of zero
|
||
|
|
GetRootInfoDepressedCubic(c1, c2, info);
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Handle the special case of c1 = 0, in which case the quartic is
|
||
|
|
// a biquadratic
|
||
|
|
// x^4 + c1*x^2 + c0 = (x^2 + c2/2)^2 + (c0 - c2^2/4)
|
||
|
|
if (c1 == zero)
|
||
|
|
{
|
||
|
|
GetRootInfoBiquadratic(c0, c2, info);
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// At this time, c0 != 0 and c1 != 0, which is a requirement for
|
||
|
|
// the general solver that must use a root of a special cubic
|
||
|
|
// polynomial.
|
||
|
|
Rational const rat4 = 4, rat8 = 8, rat12 = 12, rat16 = 16;
|
||
|
|
Rational const rat27 = 27, rat36 = 36;
|
||
|
|
Rational c0sqr = c0 * c0, c1sqr = c1 * c1, c2sqr = c2 * c2;
|
||
|
|
Rational delta = c1sqr * (-rat27 * c1sqr + rat4 * c2 *
|
||
|
|
(rat36 * c0 - c2sqr)) + rat16 * c0 * (c2sqr * (c2sqr - rat8 * c0) +
|
||
|
|
rat16 * c0sqr);
|
||
|
|
Rational a0 = rat12 * c0 + c2sqr;
|
||
|
|
Rational a1 = rat4 * c0 - c2sqr;
|
||
|
|
|
||
|
|
if (delta > zero)
|
||
|
|
{
|
||
|
|
if (c2 < zero && a1 < zero)
|
||
|
|
{
|
||
|
|
// Four simple real roots.
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else // c2 >= 0 or a1 >= 0
|
||
|
|
{
|
||
|
|
// Two complex-conjugate pairs.
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (delta < zero)
|
||
|
|
{
|
||
|
|
// Two simple real roots, one complex-conjugate pair.
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else // delta = 0
|
||
|
|
{
|
||
|
|
if (a1 > zero || (c2 > zero && (a1 != zero || c1 != zero)))
|
||
|
|
{
|
||
|
|
// One double real root, one complex-conjugate pair.
|
||
|
|
info.push_back(2);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (a0 != zero)
|
||
|
|
{
|
||
|
|
// One double real root, two simple real roots.
|
||
|
|
info.push_back(2);
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// One triple real root, one simple real root.
|
||
|
|
info.push_back(3);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename Rational>
|
||
|
|
static void GetRootInfoBiquadratic(Rational const& c0,
|
||
|
|
Rational const& c2, std::vector<int>& info)
|
||
|
|
{
|
||
|
|
// Solve 0 = x^4 + c2*x^2 + c0 = (x^2 + c2/2)^2 + a1, where
|
||
|
|
// a1 = c0 - c2^2/2. We know that c0 != 0 at the time of the
|
||
|
|
// function call, so x = 0 is not a root. The condition c1 = 0
|
||
|
|
// implies the quartic Delta = 256*c0*a1^2.
|
||
|
|
|
||
|
|
Rational const zero = 0, rat2 = 2, rat256 = 256;
|
||
|
|
Rational c2Half = c2 / rat2;
|
||
|
|
Rational a1 = c0 - c2Half * c2Half;
|
||
|
|
Rational delta = rat256 * c0 * a1 * a1;
|
||
|
|
if (delta > zero)
|
||
|
|
{
|
||
|
|
if (c2 < zero)
|
||
|
|
{
|
||
|
|
if (a1 < zero)
|
||
|
|
{
|
||
|
|
// Four simple roots.
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else // a1 > 0
|
||
|
|
{
|
||
|
|
// Two simple complex conjugate pairs.
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else // c2 >= 0
|
||
|
|
{
|
||
|
|
// Two simple complex conjugate pairs.
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (delta < zero)
|
||
|
|
{
|
||
|
|
// Two simple real roots, one complex conjugate pair.
|
||
|
|
info.push_back(1);
|
||
|
|
info.push_back(1);
|
||
|
|
}
|
||
|
|
else // delta = 0
|
||
|
|
{
|
||
|
|
if (c2 < zero)
|
||
|
|
{
|
||
|
|
// Two double real roots.
|
||
|
|
info.push_back(2);
|
||
|
|
info.push_back(2);
|
||
|
|
}
|
||
|
|
else // c2 > 0
|
||
|
|
{
|
||
|
|
// Two double complex conjugate pairs.
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Support for the Find functions.
|
||
|
|
static int FindRecursive(int degree, Real const* c, Real tmin, Real tmax,
|
||
|
|
unsigned int maxIterations, Real* roots)
|
||
|
|
{
|
||
|
|
// The base of the recursion.
|
||
|
|
Real const zero = (Real)0;
|
||
|
|
Real root = zero;
|
||
|
|
if (degree == 1)
|
||
|
|
{
|
||
|
|
int numRoots;
|
||
|
|
if (c[1] != zero)
|
||
|
|
{
|
||
|
|
root = -c[0] / c[1];
|
||
|
|
numRoots = 1;
|
||
|
|
}
|
||
|
|
else if (c[0] == zero)
|
||
|
|
{
|
||
|
|
root = zero;
|
||
|
|
numRoots = 1;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
numRoots = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (numRoots > 0 && tmin <= root && root <= tmax)
|
||
|
|
{
|
||
|
|
roots[0] = root;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Find the roots of the derivative polynomial scaled by 1/degree.
|
||
|
|
// The scaling avoids the factorial growth in the coefficients;
|
||
|
|
// for example, without the scaling, the high-order term x^d
|
||
|
|
// becomes (d!)*x through multiple differentiations. With the
|
||
|
|
// scaling we instead get x. This leads to better numerical
|
||
|
|
// behavior of the root finder.
|
||
|
|
int derivDegree = degree - 1;
|
||
|
|
std::vector<Real> derivCoeff(derivDegree + 1);
|
||
|
|
std::vector<Real> derivRoots(derivDegree);
|
||
|
|
for (int i = 0; i <= derivDegree; ++i)
|
||
|
|
{
|
||
|
|
derivCoeff[i] = c[i + 1] * (Real)(i + 1) / (Real)degree;
|
||
|
|
}
|
||
|
|
int numDerivRoots = FindRecursive(degree - 1, &derivCoeff[0], tmin, tmax,
|
||
|
|
maxIterations, &derivRoots[0]);
|
||
|
|
|
||
|
|
int numRoots = 0;
|
||
|
|
if (numDerivRoots > 0)
|
||
|
|
{
|
||
|
|
// Find root on [tmin,derivRoots[0]].
|
||
|
|
if (Find(degree, c, tmin, derivRoots[0], maxIterations, root))
|
||
|
|
{
|
||
|
|
roots[numRoots++] = root;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Find root on [derivRoots[i],derivRoots[i+1]].
|
||
|
|
for (int i = 0; i <= numDerivRoots - 2; ++i)
|
||
|
|
{
|
||
|
|
if (Find(degree, c, derivRoots[i], derivRoots[i + 1],
|
||
|
|
maxIterations, root))
|
||
|
|
{
|
||
|
|
roots[numRoots++] = root;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Find root on [derivRoots[numDerivRoots-1],tmax].
|
||
|
|
if (Find(degree, c, derivRoots[numDerivRoots - 1], tmax,
|
||
|
|
maxIterations, root))
|
||
|
|
{
|
||
|
|
roots[numRoots++] = root;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// The polynomial is monotone on [tmin,tmax], so has at most one root.
|
||
|
|
if (Find(degree, c, tmin, tmax, maxIterations, root))
|
||
|
|
{
|
||
|
|
roots[numRoots++] = root;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return numRoots;
|
||
|
|
}
|
||
|
|
|
||
|
|
static Real Evaluate(int degree, Real const* c, Real t)
|
||
|
|
{
|
||
|
|
int i = degree;
|
||
|
|
Real result = c[i];
|
||
|
|
while (--i >= 0)
|
||
|
|
{
|
||
|
|
result = t * result + c[i];
|
||
|
|
}
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
}
|