autd3_core/acoustics/
mod.rs

1/// directivity module
2pub mod directivity;
3
4use std::f32::consts::PI;
5
6use crate::{
7    defined::T4010A1_AMPLITUDE,
8    geometry::{Complex, Point3, Transducer, UnitVector3},
9};
10
11use directivity::Directivity;
12
13/// Calculate the pressure at the target position.
14#[inline]
15#[must_use]
16pub fn propagate<D: Directivity>(
17    tr: &Transducer,
18    wavenumber: f32,
19    dir: &UnitVector3,
20    target_pos: &Point3,
21) -> Complex {
22    const P0: f32 = T4010A1_AMPLITUDE / (4. * PI);
23    let diff = target_pos - tr.position();
24    let dist = diff.norm();
25    Complex::from_polar(
26        P0 / dist * D::directivity_from_dir(dir, &diff),
27        wavenumber * dist,
28    )
29}
30
31#[cfg(test)]
32mod tests {
33    use super::*;
34
35    use rand::Rng;
36
37    use crate::{
38        defined::mm,
39        geometry::{Device, UnitQuaternion, Vector3},
40    };
41    use directivity::tests::TestDirectivity;
42
43    macro_rules! assert_complex_approx_eq {
44        ($a:expr, $b:expr) => {
45            approx::assert_abs_diff_eq!($a.re, $b.re, epsilon = 1e-3 / mm);
46            approx::assert_abs_diff_eq!($a.im, $b.im, epsilon = 1e-3 / mm);
47        };
48    }
49
50    #[rstest::fixture]
51    fn tr() -> Transducer {
52        let mut rng = rand::rng();
53        Transducer::new(Point3::new(
54            rng.random_range(-100.0..100.0),
55            rng.random_range(-100.0..100.0),
56            rng.random_range(-100.0..100.0),
57        ))
58    }
59
60    #[rstest::fixture]
61    fn rot() -> UnitQuaternion {
62        let mut rng = rand::rng();
63        UnitQuaternion::from_axis_angle(
64            &Vector3::x_axis(),
65            rng.random_range::<f32, _>(-180.0..180.0).to_radians(),
66        ) * UnitQuaternion::from_axis_angle(
67            &Vector3::y_axis(),
68            rng.random_range::<f32, _>(-180.0..180.0).to_radians(),
69        ) * UnitQuaternion::from_axis_angle(
70            &Vector3::z_axis(),
71            rng.random_range::<f32, _>(-180.0..180.0).to_radians(),
72        )
73    }
74
75    #[rstest::fixture]
76    fn target() -> Point3 {
77        let mut rng = rand::rng();
78        Point3::new(
79            rng.random_range(-100.0..100.0),
80            rng.random_range(-100.0..100.0),
81            rng.random_range(-100.0..100.0),
82        )
83    }
84
85    #[rstest::fixture]
86    fn sound_speed() -> f32 {
87        let mut rng = rand::rng();
88        rng.random_range(300e3..400e3)
89    }
90
91    #[rstest::rstest]
92    #[test]
93    fn test_propagate(tr: Transducer, rot: UnitQuaternion, target: Point3, sound_speed: f32) {
94        let mut device = Device::new(rot, vec![tr.clone()]);
95        device.sound_speed = sound_speed;
96        let wavenumber = device.wavenumber();
97        assert_complex_approx_eq!(
98            {
99                let diff = target - tr.position();
100                let dist = diff.norm();
101                let r = T4010A1_AMPLITUDE / (4. * PI) / dist
102                    * TestDirectivity::directivity_from_dir(device.axial_direction(), &diff);
103                let phase = wavenumber * dist;
104                Complex::new(r * phase.cos(), r * phase.sin())
105            },
106            super::propagate::<TestDirectivity>(&tr, wavenumber, device.axial_direction(), &target)
107        );
108    }
109}
autd3_core/acoustics/mod.rs

autd3_core/acoustics/
mod.rs
