Integrate Refactor solver sources and dual MSVC CMake builds

2026-10-18 02:10:51 +09:00
parent 7ee32e5837
commit 12d51480de
218 changed files with 17842 additions and 9689 deletions
@@ -1193,16 +1193,15 @@ fesa::Vector3 VectorAt(const std::vector<double>& values,

 fesa::Vector3 SpatialMoment(const fesa::Vector3& phi,
                            const fesa::Vector3& generalized) {
-  const Matrix transform = InverseTransposeLeftJacobianSO3(phi);
-  return {transform(0U, 0U) * generalized.X() +
-              transform(0U, 1U) * generalized.Y() +
-              transform(0U, 2U) * generalized.Z(),
-          transform(1U, 0U) * generalized.X() +
-              transform(1U, 1U) * generalized.Y() +
-              transform(1U, 2U) * generalized.Z(),
-          transform(2U, 0U) * generalized.X() +
-              transform(2U, 1U) * generalized.Y() +
-              transform(2U, 2U) * generalized.Z()};
+  // Independent closed-form action, used only as a test oracle.
+  const double angle = phi.Norm();
+  const double square = angle * angle;
+  const double coefficient = angle < 1e-4 ?
+      1.0 / 12.0 + square / 720.0 + square * square / 30240.0 +
+          square * square * square / 1209600.0 :
+      (1.0 - 0.5 * angle / std::tan(0.5 * angle)) / square;
+  return generalized + 0.5 * phi.Cross(generalized) +
+         coefficient * phi.Cross(phi.Cross(generalized));
 }

 fesa::Vector3 MaskedResidual(const Hdf5Projection& projection,