{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# 3-sphere: charts, quaternions and Hopf fibration\n", "\n", "This notebook demonstrates some differential geometry capabilities of SageMath on the example of the 3-dimensional sphere, $\\mathbb{S}^3$. The corresponding tools have been developed within the [SageManifolds](https://sagemanifolds.obspm.fr) project.\n", "\n", "Click [here](https://raw.githubusercontent.com/sagemanifolds/SageManifolds/master/Notebooks/SM_sphere_S3_Hopf.ipynb) to download the notebook file (ipynb format). To run it, you must start SageMath with the Jupyter notebook, via the command `sage -n jupyter`" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "*NB:* a version of SageMath at least equal to 7.5 is required to run this notebook:" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "'SageMath version 9.2.beta6, Release Date: 2020-07-25'" ] }, "execution_count": 1, "metadata": {}, "output_type": "execute_result" } ], "source": [ "version()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "First we set up the notebook to display mathematical objects using LaTeX formatting:" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "%display latex" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "and we initialize a time counter for benchmarking:" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "import time\n", "comput_time0 = time.perf_counter()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "To increase the computational speed, we ask for demanding computations to be parallelly performed on 8 threads:" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "Parallelism().set(nproc=8)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## $\\mathbb{S}^3$ as a 3-dimensional differentiable manifold\n", "\n", "We start by declaring $\\mathbb{S}^3$ as a differentiable manifold of dimension 3 over $\\mathbb{R}$:" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "S3 = Manifold(3, 'S^3', latex_name=r'\\mathbb{S}^3', start_index=1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The first argument, `3`, is the dimension of the manifold, while the second argument is the symbol used to label the manifold, with the LaTeX output specified by the argument `latex_name`. The argument `start_index` sets the index range to be used on the manifold for labelling components w.r.t. a basis or a frame: `start_index=1` corresponds to $\\{1,2,3\\}$; the default value is `start_index=0`, yielding to $\\{0,1,2\\}$." ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "3-dimensional differentiable manifold S^3\n" ] } ], "source": [ "print(S3)" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\mathbb{S}^3$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\mathbb{S}^3\n", "\\end{math}" ], "text/plain": [ "3-dimensional differentiable manifold S^3" ] }, "execution_count": 7, "metadata": {}, "output_type": "execute_result" } ], "source": [ "S3" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Coordinate charts on $\\mathbb{S}^3$\n", "\n", "The 3-sphere cannot be covered by a single chart. At least two charts are necessary, for instance the charts associated with the stereographic projections from two distinct points, $N$ and $S$ say,\n", "which we may call the *North pole* and the *South pole* respectively. Let us introduce the open subsets covered by these two charts: \n", "$$ U := \\mathbb{S}^3\\setminus\\{N\\} $$ \n", "$$ V := \\mathbb{S}^3\\setminus\\{S\\} $$" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Open subset U of the 3-dimensional differentiable manifold S^3\n" ] } ], "source": [ "U = S3.open_subset('U') ; print(U)" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Open subset V of the 3-dimensional differentiable manifold S^3\n" ] } ], "source": [ "V = S3.open_subset('V') ; print(V)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We declare that $\\mathbb{S}^3 = U \\cup V$:" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [], "source": [ "S3.declare_union(U, V)" ] }, { "cell_type": "markdown", "metadata": { "collapsed": true }, "source": [ "Then we introduce the stereographic chart on $U$, denoting by $(x,y,z)$ the coordinates resulting from the stereographic projection from the North pole onto the equatorial plane:" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(U,(x, y, z)\\right)$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(U,(x, y, z)\\right)\n", "\\end{math}" ], "text/plain": [ "Chart (U, (x, y, z))" ] }, "execution_count": 11, "metadata": {}, "output_type": "execute_result" } ], "source": [ "stereoN. = U.chart()\n", "stereoN" ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}x :\\ \\left( -\\infty, +\\infty \\right) ;\\quad y :\\ \\left( -\\infty, +\\infty \\right) ;\\quad z :\\ \\left( -\\infty, +\\infty \\right)$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}x :\\ \\left( -\\infty, +\\infty \\right) ;\\quad y :\\ \\left( -\\infty, +\\infty \\right) ;\\quad z :\\ \\left( -\\infty, +\\infty \\right)\n", "\\end{math}" ], "text/plain": [ "x: (-oo, +oo); y: (-oo, +oo); z: (-oo, +oo)" ] }, "execution_count": 12, "metadata": {}, "output_type": "execute_result" } ], "source": [ "stereoN.coord_range()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Similarly, we introduce on $V$ the coordinates $(x',y',z')$ corresponding to the stereographic projection from the South pole onto the equatorial plane:" ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(V,({x'}, {y'}, {z'})\\right)$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(V,({x'}, {y'}, {z'})\\right)\n", "\\end{math}" ], "text/plain": [ "Chart (V, (xp, yp, zp))" ] }, "execution_count": 13, "metadata": {}, "output_type": "execute_result" } ], "source": [ "stereoS. = V.chart(\"xp:x' yp:y' zp:z'\")\n", "stereoS" ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}{x'} :\\ \\left( -\\infty, +\\infty \\right) ;\\quad {y'} :\\ \\left( -\\infty, +\\infty \\right) ;\\quad {z'} :\\ \\left( -\\infty, +\\infty \\right)$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}{x'} :\\ \\left( -\\infty, +\\infty \\right) ;\\quad {y'} :\\ \\left( -\\infty, +\\infty \\right) ;\\quad {z'} :\\ \\left( -\\infty, +\\infty \\right)\n", "\\end{math}" ], "text/plain": [ "xp: (-oo, +oo); yp: (-oo, +oo); zp: (-oo, +oo)" ] }, "execution_count": 14, "metadata": {}, "output_type": "execute_result" } ], "source": [ "stereoS.coord_range()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We have to specify the **transition map** between the charts `stereoN` = $(U,(x,y,z))$ and `stereoS` = $(V,(x',y',z'))$; it is given by the standard inversion formulas:" ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left\\{\\begin{array}{lcl} {x'} & = & \\frac{x}{x^{2} + y^{2} + z^{2}} \\\\ {y'} & = & \\frac{y}{x^{2} + y^{2} + z^{2}} \\\\ {z'} & = & \\frac{z}{x^{2} + y^{2} + z^{2}} \\end{array}\\right.$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left\\{\\begin{array}{lcl} {x'} & = & \\frac{x}{x^{2} + y^{2} + z^{2}} \\\\ {y'} & = & \\frac{y}{x^{2} + y^{2} + z^{2}} \\\\ {z'} & = & \\frac{z}{x^{2} + y^{2} + z^{2}} \\end{array}\\right.\n", "\\end{math}" ], "text/plain": [ "xp = x/(x^2 + y^2 + z^2)\n", "yp = y/(x^2 + y^2 + z^2)\n", "zp = z/(x^2 + y^2 + z^2)" ] }, "execution_count": 15, "metadata": {}, "output_type": "execute_result" } ], "source": [ "r2 = x^2+y^2+z^2\n", "stereoN_to_S = stereoN.transition_map(stereoS, \n", " (x/r2, y/r2, z/r2), \n", " intersection_name='W',\n", " restrictions1= x^2+y^2+z^2!=0, \n", " restrictions2= xp^2+yp^2+zp^2!=0)\n", "stereoN_to_S.display()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In the above declaration, `'W'` is the name given to the open subset where the two charts overlap: $W := U\\cap V$, the condition $x^2+y^2+z^2\\not=0$ defines $W$ as a subset of $U$, and the condition $x'^2+y'^2+z'^2\\not=0$ defines $W$ as a subset of $V$.\n", "\n", "The inverse coordinate transformation is computed by means of the method `inverse()`:" ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left\\{\\begin{array}{lcl} x & = & \\frac{{x'}}{{x'}^{2} + {y'}^{2} + {z'}^{2}} \\\\ y & = & \\frac{{y'}}{{x'}^{2} + {y'}^{2} + {z'}^{2}} \\\\ z & = & \\frac{{z'}}{{x'}^{2} + {y'}^{2} + {z'}^{2}} \\end{array}\\right.$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left\\{\\begin{array}{lcl} x & = & \\frac{{x'}}{{x'}^{2} + {y'}^{2} + {z'}^{2}} \\\\ y & = & \\frac{{y'}}{{x'}^{2} + {y'}^{2} + {z'}^{2}} \\\\ z & = & \\frac{{z'}}{{x'}^{2} + {y'}^{2} + {z'}^{2}} \\end{array}\\right.\n", "\\end{math}" ], "text/plain": [ "x = xp/(xp^2 + yp^2 + zp^2)\n", "y = yp/(xp^2 + yp^2 + zp^2)\n", "z = zp/(xp^2 + yp^2 + zp^2)" ] }, "execution_count": 16, "metadata": {}, "output_type": "execute_result" } ], "source": [ "stereoS_to_N = stereoN_to_S.inverse()\n", "stereoS_to_N.display()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Note that the situation is of course perfectly symmetric regarding the coordinates $(x,y,z)$ and $(x',y',z')$.\n", "\n", "At this stage, the user's atlas has four charts:" ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left[\\left(U,(x, y, z)\\right), \\left(V,({x'}, {y'}, {z'})\\right), \\left(W,(x, y, z)\\right), \\left(W,({x'}, {y'}, {z'})\\right)\\right]$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left[\\left(U,(x, y, z)\\right), \\left(V,({x'}, {y'}, {z'})\\right), \\left(W,(x, y, z)\\right), \\left(W,({x'}, {y'}, {z'})\\right)\\right]\n", "\\end{math}" ], "text/plain": [ "[Chart (U, (x, y, z)),\n", " Chart (V, (xp, yp, zp)),\n", " Chart (W, (x, y, z)),\n", " Chart (W, (xp, yp, zp))]" ] }, "execution_count": 17, "metadata": {}, "output_type": "execute_result" } ], "source": [ "S3.atlas()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For future reference, we store $W=U\\cap V$ into a Python variable:" ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Open subset W of the 3-dimensional differentiable manifold S^3\n" ] } ], "source": [ "W = U.intersection(V)\n", "print(W)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### The North and South poles\n", "\n", "$N$ is the point of $V$ of stereographic coordinates $(x',y',z')=(0,0,0)$:" ] }, { "cell_type": "code", "execution_count": 19, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Point N on the 3-dimensional differentiable manifold S^3\n" ] } ], "source": [ "N = V((0,0,0), chart=stereoS, name='N')\n", "print(N)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "while $S$ is the point of U of stereographic coordinates $(x,y,z)=(0,0,0)$:" ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Point S on the 3-dimensional differentiable manifold S^3\n" ] } ], "source": [ "S = U((0,0,0), chart=stereoN, name='S')\n", "print(S)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We have of course" ] }, { "cell_type": "code", "execution_count": 21, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\mathrm{True}$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\mathrm{True}\n", "\\end{math}" ], "text/plain": [ "True" ] }, "execution_count": 21, "metadata": {}, "output_type": "execute_result" } ], "source": [ "all([N not in U, N in V, S in U, S not in V])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Embedding of $\\mathbb{S}^3$ into $\\mathbb{R}^4$\n", "\n", "Let us first declare $\\mathbb{R}^4$ as a 4-dimensional manifold covered by a single chart (the so-called **Cartesian coordinates**):" ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(\\mathbb{R}^4,(T, X, Y, Z)\\right)$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(\\mathbb{R}^4,(T, X, Y, Z)\\right)\n", "\\end{math}" ], "text/plain": [ "Chart (R^4, (T, X, Y, Z))" ] }, "execution_count": 22, "metadata": {}, "output_type": "execute_result" } ], "source": [ "R4 = Manifold(4, 'R^4', r'\\mathbb{R}^4')\n", "X4. = R4.chart()\n", "X4" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The embedding of $\\mathbb{S}^3$ into $\\mathbb{R}^4$ is then defined by the standard formulas relating the stereographic coordinates to the ambient Cartesian ones when considering a **stereographic projection** from the point $(-1,0,0,0)$ to the equatorial plane $T=0$:" ] }, { "cell_type": "code", "execution_count": 23, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\begin{array}{llcl} \\Phi:& \\mathbb{S}^3 & \\longrightarrow & \\mathbb{R}^4 \\\\ \\mbox{on}\\ U : & \\left(x, y, z\\right) & \\longmapsto & \\left(T, X, Y, Z\\right) = \\left(-\\frac{x^{2} + y^{2} + z^{2} - 1}{x^{2} + y^{2} + z^{2} + 1}, \\frac{2 \\, x}{x^{2} + y^{2} + z^{2} + 1}, \\frac{2 \\, y}{x^{2} + y^{2} + z^{2} + 1}, \\frac{2 \\, z}{x^{2} + y^{2} + z^{2} + 1}\\right) \\\\ \\mbox{on}\\ V : & \\left({x'}, {y'}, {z'}\\right) & \\longmapsto & \\left(T, X, Y, Z\\right) = \\left(\\frac{{x'}^{2} + {y'}^{2} + {z'}^{2} - 1}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}, \\frac{2 \\, {x'}}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}, \\frac{2 \\, {y'}}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}, \\frac{2 \\, {z'}}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}\\right) \\end{array}$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\begin{array}{llcl} \\Phi:& \\mathbb{S}^3 & \\longrightarrow & \\mathbb{R}^4 \\\\ \\mbox{on}\\ U : & \\left(x, y, z\\right) & \\longmapsto & \\left(T, X, Y, Z\\right) = \\left(-\\frac{x^{2} + y^{2} + z^{2} - 1}{x^{2} + y^{2} + z^{2} + 1}, \\frac{2 \\, x}{x^{2} + y^{2} + z^{2} + 1}, \\frac{2 \\, y}{x^{2} + y^{2} + z^{2} + 1}, \\frac{2 \\, z}{x^{2} + y^{2} + z^{2} + 1}\\right) \\\\ \\mbox{on}\\ V : & \\left({x'}, {y'}, {z'}\\right) & \\longmapsto & \\left(T, X, Y, Z\\right) = \\left(\\frac{{x'}^{2} + {y'}^{2} + {z'}^{2} - 1}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}, \\frac{2 \\, {x'}}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}, \\frac{2 \\, {y'}}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}, \\frac{2 \\, {z'}}{{x'}^{2} + {y'}^{2} + {z'}^{2} + 1}\\right) \\end{array}\n", "\\end{math}" ], "text/plain": [ "Phi: S^3 --> R^4\n", "on U: (x, y, z) |--> (T, X, Y, Z) = (-(x^2 + y^2 + z^2 - 1)/(x^2 + y^2 + z^2 + 1), 2*x/(x^2 + y^2 + z^2 + 1), 2*y/(x^2 + y^2 + z^2 + 1), 2*z/(x^2 + y^2 + z^2 + 1))\n", "on V: (xp, yp, zp) |--> (T, X, Y, Z) = ((xp^2 + yp^2 + zp^2 - 1)/(xp^2 + yp^2 + zp^2 + 1), 2*xp/(xp^2 + yp^2 + zp^2 + 1), 2*yp/(xp^2 + yp^2 + zp^2 + 1), 2*zp/(xp^2 + yp^2 + zp^2 + 1))" ] }, "execution_count": 23, "metadata": {}, "output_type": "execute_result" } ], "source": [ "rp2 = xp^2 + yp^2 + zp^2\n", "Phi = S3.diff_map(R4, {(stereoN, X4): \n", " [(1-r2)/(r2+1), 2*x/(r2+1), \n", " 2*y/(r2+1), 2*z/(r2+1)],\n", " (stereoS, X4):\n", " [(rp2-1)/(rp2+1), 2*xp/(rp2+1), \n", " 2*yp/(rp2+1), 2*zp/(rp2+1)]},\n", " name='Phi', latex_name=r'\\Phi')\n", "Phi.display()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "From this choice of stereographic projection, the \"North\" pole is actually the point of coordinates $(-1,0,0,0)$ in $\\mathbb{R}^4$:" ] }, { "cell_type": "code", "execution_count": 24, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(-1, 0, 0, 0\\right)$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(-1, 0, 0, 0\\right)\n", "\\end{math}" ], "text/plain": [ "(-1, 0, 0, 0)" ] }, "execution_count": 24, "metadata": {}, "output_type": "execute_result" } ], "source": [ "X4(Phi(N))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "while the \"South\" pole is the point of coordinates $(1,0,0,0)$:" ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [ { "data": { "text/html": [ " $\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(1, 0, 0, 0\\right)$ " ], "text/latex": [ "\\begin{math}\n", "\\newcommand{\\Bold}[1]{\\mathbf{#1}}\\left(1, 0, 0, 0\\right)\n", "\\end{math}" ], "text/plain": [ "(1, 0, 0, 0)" ] }, "execution_count": 25, "metadata": {}, "output_type": "execute_result" } ], "source": [ "X4(Phi(S))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We may use the embedding $\\Phi$ to plot the stereographic coordinate grid in terms of the $\\mathbb{R}^4$'s Cartesian coordinates: " ] }, { "cell_type": "code", "execution_count": 26, "metadata": { "scrolled": false }, "outputs": [ { "data": { "text/html": [ "\n", "