Vector integration in the DblPend example by sarrasoussia · Pull Request #4223 · JacquesCarette/Drasil

sarrasoussia · 2025-06-20T17:01:17Z

This PR was originally intended to isolate the dblpend integration work from #4261, but a few small updates to other examples were necessary to ensure the entire project builds successfully.

JacquesCarette

As a first step, this is good. Now on to making this not component-wise!

JacquesCarette · 2025-06-20T17:54:50Z

code/drasil-example/dblpend/lib/Drasil/DblPend/Body.hs

 import Language.Drasil.Code (quantvar)
 import Drasil.DblPend.ODEs (dblPenODEInfo)

+-- import Language.Drasil(vec2D, vAdd, vSub, vScale, norm, square)


Don't leave commented-out code in files. Just delete it.

JacquesCarette · 2025-06-20T17:57:29Z

code/drasil-example/dblpend/lib/Drasil/DblPend/DataDefs.hs

+  (sy angularVel_1 $* positionXEqn_1)
+
+velVecEqn_2 :: PExpr
+velVecEqn_2 = vec2D


Although this is correct, what we would really want here is a definition at the level of vectors rather than its components. We might not be able to 'say' that right now in Drasil, but we should at least 'say' it in a comment.

JacquesCarette · 2025-06-20T17:59:00Z

code/drasil-example/dblpend/lib/Drasil/DblPend/Expressions.hs

+  (sy angularVel_1 $* positionXEqn_1)
+-- Vector2 velocity
+velVecExpr_2 :: PExpr
+velVecExpr_2 = vec2D


same here (and likely everywhere in this file): the quantities should be computed 'vectorially' instead of 'component-wise'.

Yes, having everything inside a vector is an improvement, but we would really like to phrase things at the higher level.

Could you please clarify what you meant by “vector operations now handled”? Should we be using things like vecAdd, vScale, and deriv explicitly in expressions now? Or were you mainly referring to grouping components into vector quantities like velocityVec_1? Just want to make sure I’m applying it the right way.

Yes, exactly (vecAdd, etc).

balacij · 2025-09-19T21:51:18Z

Does anyone remember how our discussion back in #4247 concluded w.r.t. to this PR?

smiths · 2025-09-19T21:58:50Z

I admit to being confused with where we are at with this. I know we want to have double pendulum use vectors directly, rather than just focus on the components. @sarrasoussia made changes to the SRS to rewrite the theories in terms of vectors. It is my job to review this, but I'll have to track down which PR has this version when I get time to review. Maybe it is this one?

balacij · 2025-09-20T00:14:05Z

Hmm, maybe this PR is superseded by #4261?

https://github.com/JacquesCarette/Drasil/pull/4261/files#diff-538bbd015d7596d8b589b6a2553f2f629687b81debba60677e7dbad9a0f88638 (give it a minute to load, but it will bring you to stable/.../DblPend_SRS.html's diff)

sarrasoussia · 2025-10-10T17:57:09Z

I believe this is now ready for a review

balacij · 2025-10-10T20:01:48Z

It looks like this PR contains everything in #4261 ? Did you intend to target that PRs branch with this PR? It might be good to do that regardless, if only to review the changes unique to this PR solely within this PR.

Is there any way that we can keep code generation of DblPend working?

sarrasoussia · 2025-10-11T22:03:51Z

It looks like this PR contains everything in #4261 ? Did you intend to target that PRs branch with this PR? It might be good to do that regardless, if only to review the changes unique to this PR solely within this PR.

Is there any way that we can keep code generation of DblPend working?

I wanted to check if the equations in the SRS are correct first. With the current changes, code generation is still not available.

smiths · 2025-10-17T14:12:28Z

@sarrasoussia I've gone through your new version of the SRS. A marked-up pdf is attached. The main problem is with the derivations sections. You keep mentioning Clifford algebra, but Clifford algebra should not show up at all in the SRS. Clifford algebra is internal to Drasil. Externally, we want to generate documentation that looks like typical vector algebra. Your derivations should be much like the previous derivations, except written in vector form.

For the calculations (the generated code), I'm not sure really where Clifford algebra enters at all. Really, vector algebra isn't relevant in the generated code. The code is an ODE solver. The ODE can be represented as a system of equations in matrix form, but we don't do any operations on the system. (The current SRS version represents this as two separate scalar equations. We could change this to a vector representation if it is helpful, but I don't see that it adds anything right now.) The matrix representation is found by rearranging things as outlined in Dong's MEng report. Everything is then passed over to the external ODE solver library. We don't do any vector operations with these vectors for the calculations.

I haven't looked at the double pendulum code in a while. Maybe we can do vector operations for the output calculations? The position vector for mass 2 is calculated using the addition of the position vector for mass 1 plus some other terms. That would give us a place to exercise the vector addition code.

Sarra_DblPend_SRS.pdf

JacquesCarette

A lot of the more meaningful changes are very good.

There are a number of changes that are not needed and should be reverted. It does seem like this is a good set of changes (overall) to build on. Now you need to slowly re-enable that things you turned off!

JacquesCarette · 2025-10-17T19:53:13Z

code/drasil-code/lib/Language/Drasil/Code/Imperative/Import.hs

 -- this is really ugly!!
 -- | Read from a data description into a 'MSBlock' of 'MSStatement's.
-readDataProc :: (SharedProg r) => DataDesc -> GenState [MSBlock r]
+readDataProc :: (OOProg r) => DataDesc -> GenState [MSBlock r]


Why change SharedProg to OOProg here, what is the reason for doing that?

That's right, unnecessary. My fault

JacquesCarette · 2025-10-17T19:55:56Z

code/drasil-example/dblpend/lib/Drasil/DblPend/Assumptions.hs


 yAxisDirDesc :: Sentence
-yAxisDirDesc = atStartNP (direction `the_ofThe` yAxis) `S.is` S "directed opposite to" +:+. phrase gravity
+yAxisDirDesc = atStartNP (direction `the_ofThe` yAxis) `S.is` S "directed opposite to" +:+. phrase gravity


Please don't change files that don't need changing!

I dont know why this happened

JacquesCarette · 2025-10-17T19:56:51Z

code/drasil-example/dblpend/lib/Drasil/DblPend/Body.hs

       IScope scope,
       IChar [] charsOfReader [],
-       IOrgSec inModel (SRS.inModel [] []) EmptyS],
+  IOrgSec inModel (SRS.inModel [] []) (foldlSent [


These new sentences (which are fine) should not be inlined, but defined below and used here.

I did remove them for now

JacquesCarette · 2025-10-17T19:58:17Z

code/drasil-example/dblpend/lib/Drasil/DblPend/Body.hs

 tMods = [accelerationTM, velocityTM, newtonSL]

---------------------------------
+------------------------------


Also try not to have spurious changes (like deleting 3 -) that distract from the meaningful changes.

JacquesCarette · 2025-10-17T20:00:47Z

code/drasil-example/dblpend/lib/Drasil/DblPend/Derivations.hs

-velYDerivEqn3_1 = sy yVel_1 $= neg (deriv (sy lenRod_1 $* cos (sy pendDisAngle_1)) time)
-velYDerivEqn4_1 = sy yVel_1 $= neg (sy lenRod_1 $* deriv (cos (sy pendDisAngle_1)) time)
+-- =====================================================
+-- Vector-based Derivations using Clifford Algebra


Positive comment: a lot of these are not much more vector-based than component based, and that is very good.

JacquesCarette · 2025-10-17T20:06:00Z

code/drasil-example/swhs/lib/Drasil/SWHS/Unitals.hs

 import Control.Lens ((^.))

+-- | Helper function to create Clifford vector spaces of a given dimension
+realVect :: Dimension -> Space


Same here, abstract out (won't repeat again)

JacquesCarette · 2025-10-17T20:13:25Z

code/stable-website/index.html

        <ul class="list">
          <li>
-            DblPend  - To predict the motion of a double pendulum.
+            DblPend  - To predict the motion of a double pendulum using formulation.


"using formulation" is neither necessary, nor is it grammatical English. Please revert.

JacquesCarette · 2025-10-17T20:16:45Z

code/stable/glassbr/src/cpp/ReadTable.cpp

 using std::vector;

-void read_table(string filename, vector<double> &z_vector, vector<vector<double>> &x_matrix, vector<vector<double>> &y_matrix) {
+void read_table(string filename, vector<double> &z_vect3DSor, vector<vector<double>> &x_matrix, vector<vector<double>> &y_matrix) {


Does this name in the generated code really need to change?

JacquesCarette · 2025-10-17T20:18:57Z

code/stable/glassbr/src/csharp/designLog.txt

 Successfully matched Function (String :| [Real,Real]) Real with Func [String] Double.
-Successfully matched Vect Real with List Double.
-Successfully matched Vect (Vect Real) with List (List Double).
+Successfully matched ClifS (Fixed 3) Vector Real with List Double.


As Dr. Smith said on other parts already, ClifS should not escape the insides of Drasil. Best would be if this were to say (details TBD) "Vector of Length 3 of Real" (and below "3x3 Matrix ..."

JacquesCarette · 2025-10-17T20:20:27Z

code/stable/sglpend/SRS/HTML/SglPend_SRS.html

            <h2>Scope of Requirements</h2>
            <p class="paragraph">
-              The scope of the requirements includes the analysis of a two-dimensional (<span title="two-dimensional">2D</span>) pendulum motion problem with various initial conditions.
+              The scope of the requirements includes the analysis of a two-dimensional (<span title="two-dimensional">2D</span>) pendulum motion problem with various initial conditions using for geometric representation of physical quantities.


not grammatical -- needed?

My formatter switched out the `*`'s for `-`'s, and I didn't notice until I saw the diff. I'm switching back now.

As with my other PR, my formatter automatically replaced the latter with the former, thus making diff comparison impossible. This puts it back, so the diff should be readable again.

Position vector DataDefs (p_1, p_2) caused type checking errors because ddENoRefs with PExpr cannot handle vector construction using vect[...] and cScale operators. The type checker cannot infer vector types in this context, even though the same expressions work fine in Expressions.hs. Changes: - Moved position vector expressions to Expressions.hs (mvPosExpr_1/2) - Commented out positionVecDD_1/2 from dataDefs list in DataDefs.hs - Updated GenDefs.hs to remove references to positionVecDD_1 - Updated velocity derivation sentences to not reference DataDefs Position vectors are still defined and used in: - Expressions.hs: mvPosExpr_1, mvPosExpr_2 - Unitals.hs: posVec_1, posVec_2 - GenDefs: velocity/acceleration/force derivations Type checker now passes with no errors.

Fixed the wiki link for GOOL/GProc Overview

...from sidebar to working-notes

Result of executing `find . -type f -name "*.hs" -exec perl -0777 -i -pe 's/\n\n\n/\n\n/g' {} +`.

`drasil-lang`: Switch `RawContent`'s `CodeBlock` constructor from using `CodeExpr` to `Expr`.

Updated "Getting to Know Potential Users of Drasil" Page

Wiki: Updated SubPackages to Match Its Current Role

Linter Workflow: Add check for excessive consecutive newlines and remove offending newlines.

`drasil-database`: Update READMEs.

Wiki: Debugging in Drasil

Remove `drasil-database`-related re-exports from `drasil-lang`.

sarrasoussia · 2025-12-09T18:17:17Z

This PR introduces a substantially complete integration of GA into the dblpend example.
The core language now supports a dedicated ClifS space type, multivector kinds, GA constructors, and key operations such as cScale, cAdd, negClif, vect, and the geometric/wedge products.
In the dblpend example, all physical quantities (position, velocity, acceleration, force) are redefined as multivectors, with corresponding expressions implemented using the new GA operators.
General definitions, data definitions, derivations, and instance models have been extended with detailed GA explanations, and the document body has been updated to display these definitions properly.

Currently fixing the merge conflicts

- Updated GenDefs.hs to use QPP.mass and phrase mass - Updated Derivations.hs to use QPP.mass in all expressions - Updated Expressions.hs to use QPP.mass in all expressions - Cleaned up blank line in Unitals.hs Remaining issue: Runtime error 'Failed to find chunk mass (expected type: DefinedQuantityDict)' needs investigation into ChunkDB registration and UID preservation.

sarrasoussia requested review from JacquesCarette and cd155 as code owners June 20, 2025 17:01

JacquesCarette reviewed Jun 20, 2025

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smiths mentioned this pull request Jun 24, 2025

Drasil Team Meeting - Tuesday, Date, 1:30 pm, ITB/225 #4219

Closed

sarrasoussia mentioned this pull request Jun 25, 2025

Drasil Team Meeting - Tuesday, July 8, 1:30 pm, ITB/225 #4247

Closed

sarrasoussia requested a review from smiths as a code owner October 6, 2025 19:56

sarrasoussia mentioned this pull request Oct 7, 2025

Drasil Team Meeting - Tuesday, Oct 7, 1:30 pm, ITB/112 #4394

Closed

sarrasoussia force-pushed the vectorInteg branch from 4729b5a to f85552a Compare October 9, 2025 20:00

sarrasoussia requested review from balacij, bmaclach and samm82 as code owners October 9, 2025 20:00

sarrasoussia force-pushed the vectorInteg branch from ac369ab to 8174ee8 Compare October 10, 2025 12:33

sarrasoussia force-pushed the vectorInteg branch from d26bd8f to 6afc384 Compare October 14, 2025 15:44

B-rando1 requested a review from JacquesCarette October 14, 2025 17:57

JacquesCarette requested changes Oct 17, 2025

View reviewed changes

B-rando1 and others added 8 commits October 20, 2025 19:49

Removed auto-formatting

7d145b9

My formatter switched out the `*`'s for `-`'s, and I didn't notice until I saw the diff. I'm switching back now.

Removed link to deleted wiki page

31a8c4f

Replaced -'s with *'s

bd610b7

As with my other PR, my formatter automatically replaced the latter with the former, thus making diff comparison impossible. This puts it back, so the diff should be readable again.

Removed other random bit of auto-formatting

2378b28

stabilized

01f4425

website stabilized

63f30a1

Merge pull request #4408 from JacquesCarette/fix-gool-overview-link

c08b087

Fixed the wiki link for GOOL/GProc Overview

B-rando1 and others added 21 commits December 1, 2025 15:20

Added a line from subpackages to folder layout

62c6e44

Added a warning message above SubPackages

d361226

Moved link to SubPackages

a6922af

...from sidebar to working-notes

Fixed a typo

ed7cd68

Reworked the git and makefile sections

97e268d

Linter Workflow: Add check for excessive consecutive newlines.

ef105e5

Remove duplicate newline character to trigger Linter CI.

98d6678

Remove all extra newlines

5ee89d4

Result of executing `find . -type f -name "*.hs" -exec perl -0777 -i -pe 's/\n\n\n/\n\n/g' {} +`.

drasil-database: Update READMEs.

d4a80ba

Updated the notes on debugging Chunks

b3d1e47

Added a note on "not found in"

863865c

Added a note on ripgrep

34bd912

Merge pull request #4497 from JacquesCarette/codeBlockExpr

62cdda9

`drasil-lang`: Switch `RawContent`'s `CodeBlock` constructor from using `CodeExpr` to `Expr`.

Merge pull request #4484 from JacquesCarette/potential-users

d53e30c

Updated "Getting to Know Potential Users of Drasil" Page

Merge pull request #4499 from JacquesCarette/subpackages

4de3e90

Wiki: Updated SubPackages to Match Its Current Role

Merge pull request #4500 from JacquesCarette/lintExcessiveNewlines

7b0e67d

Linter Workflow: Add check for excessive consecutive newlines and remove offending newlines.

Merge pull request #4505 from JacquesCarette/updbrdm

8c1c439

`drasil-database`: Update READMEs.

Merge pull request #4506 from JacquesCarette/wiki-debugging

12c9864

Wiki: Debugging in Drasil

Merge branch 'main' of github.com:JacquesCarette/Drasil into drasilDBL

f207dba

Merge pull request #4498 from JacquesCarette/drasilDBL

70f9267

Remove `drasil-database`-related re-exports from `drasil-lang`.

partial fixes

783c056

sarrasoussia mentioned this pull request Dec 9, 2025

Drasil Team Meeting - Tuesday, Dec 9, 1:45 pm, ITB/112 #4501

Closed

sarrasoussia added 6 commits December 9, 2025 19:50

Merge origin/main into vectorInteg - resolved all conflicts

815aee9

Fix remaining conflict marker in Physics.hs

f9f5eed

Fix remaining conflict markers in DataDefs.hs and ModuleDefs.hs

3ad731c

WIP: Space.hs changes

8fc81d6

Merge CSchankGA into vectorInteg - resolved all conflicts

c0b65f4

balacij mentioned this pull request Dec 12, 2025

Document PR 4223: Vector integration in DblPend using Clifford algebra #4482

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