xref: /petsc/src/dm/impls/moab/dmmbfem.cxx (revision d0e6bf2ad94dcc89b258ce16c7987200a4714786) !

#include <petscconf.h>
#include <petscdt.h>                /*I "petscdt.h" I*/
#include <petsc/private/dmmbimpl.h> /*I  "petscdmmoab.h"   I*/

/* Utility functions */
static inline PetscReal DMatrix_Determinant_2x2_Internal(const PetscReal inmat[2 * 2])
{
  return inmat[0] * inmat[3] - inmat[1] * inmat[2];
}

static inline PetscErrorCode DMatrix_Invert_2x2_Internal(const PetscReal *inmat, PetscReal *outmat, PetscReal *determinant)
{
  PetscReal det = DMatrix_Determinant_2x2_Internal(inmat);
  if (outmat) {
    outmat[0] = inmat[3] / det;
    outmat[1] = -inmat[1] / det;
    outmat[2] = -inmat[2] / det;
    outmat[3] = inmat[0] / det;
  }
  if (determinant) *determinant = det;
  return PETSC_SUCCESS;
}

static inline PetscReal DMatrix_Determinant_3x3_Internal(const PetscReal inmat[3 * 3])
{
  return inmat[0] * (inmat[8] * inmat[4] - inmat[7] * inmat[5]) - inmat[3] * (inmat[8] * inmat[1] - inmat[7] * inmat[2]) + inmat[6] * (inmat[5] * inmat[1] - inmat[4] * inmat[2]);
}

static inline PetscErrorCode DMatrix_Invert_3x3_Internal(const PetscReal *inmat, PetscReal *outmat, PetscReal *determinant)
{
  PetscReal det = DMatrix_Determinant_3x3_Internal(inmat);
  if (outmat) {
    outmat[0] = (inmat[8] * inmat[4] - inmat[7] * inmat[5]) / det;
    outmat[1] = -(inmat[8] * inmat[1] - inmat[7] * inmat[2]) / det;
    outmat[2] = (inmat[5] * inmat[1] - inmat[4] * inmat[2]) / det;
    outmat[3] = -(inmat[8] * inmat[3] - inmat[6] * inmat[5]) / det;
    outmat[4] = (inmat[8] * inmat[0] - inmat[6] * inmat[2]) / det;
    outmat[5] = -(inmat[5] * inmat[0] - inmat[3] * inmat[2]) / det;
    outmat[6] = (inmat[7] * inmat[3] - inmat[6] * inmat[4]) / det;
    outmat[7] = -(inmat[7] * inmat[0] - inmat[6] * inmat[1]) / det;
    outmat[8] = (inmat[4] * inmat[0] - inmat[3] * inmat[1]) / det;
  }
  if (determinant) *determinant = det;
  return PETSC_SUCCESS;
}

static inline PetscReal DMatrix_Determinant_4x4_Internal(PetscReal inmat[4 * 4])
{
  return inmat[0 + 0 * 4] * (inmat[1 + 1 * 4] * (inmat[2 + 2 * 4] * inmat[3 + 3 * 4] - inmat[2 + 3 * 4] * inmat[3 + 2 * 4]) - inmat[1 + 2 * 4] * (inmat[2 + 1 * 4] * inmat[3 + 3 * 4] - inmat[2 + 3 * 4] * inmat[3 + 1 * 4]) + inmat[1 + 3 * 4] * (inmat[2 + 1 * 4] * inmat[3 + 2 * 4] - inmat[2 + 2 * 4] * inmat[3 + 1 * 4])) - inmat[0 + 1 * 4] * (inmat[1 + 0 * 4] * (inmat[2 + 2 * 4] * inmat[3 + 3 * 4] - inmat[2 + 3 * 4] * inmat[3 + 2 * 4]) - inmat[1 + 2 * 4] * (inmat[2 + 0 * 4] * inmat[3 + 3 * 4] - inmat[2 + 3 * 4] * inmat[3 + 0 * 4]) + inmat[1 + 3 * 4] * (inmat[2 + 0 * 4] * inmat[3 + 2 * 4] - inmat[2 + 2 * 4] * inmat[3 + 0 * 4])) + inmat[0 + 2 * 4] * (inmat[1 + 0 * 4] * (inmat[2 + 1 * 4] * inmat[3 + 3 * 4] - inmat[2 + 3 * 4] * inmat[3 + 1 * 4]) - inmat[1 + 1 * 4] * (inmat[2 + 0 * 4] * inmat[3 + 3 * 4] - inmat[2 + 3 * 4] * inmat[3 + 0 * 4]) + inmat[1 + 3 * 4] * (inmat[2 + 0 * 4] * inmat[3 + 1 * 4] - inmat[2 + 1 * 4] * inmat[3 + 0 * 4])) - inmat[0 + 3 * 4] * (inmat[1 + 0 * 4] * (inmat[2 + 1 * 4] * inmat[3 + 2 * 4] - inmat[2 + 2 * 4] * inmat[3 + 1 * 4]) - inmat[1 + 1 * 4] * (inmat[2 + 0 * 4] * inmat[3 + 2 * 4] - inmat[2 + 2 * 4] * inmat[3 + 0 * 4]) + inmat[1 + 2 * 4] * (inmat[2 + 0 * 4] * inmat[3 + 1 * 4] - inmat[2 + 1 * 4] * inmat[3 + 0 * 4]));
}

static inline PETSC_UNUSED PetscErrorCode DMatrix_Invert_4x4_Internal(PetscReal *inmat, PetscReal *outmat, PetscScalar *determinant)
{
  PetscReal det = DMatrix_Determinant_4x4_Internal(inmat);
  if (outmat) {
    outmat[0]  = (inmat[5] * inmat[10] * inmat[15] + inmat[6] * inmat[11] * inmat[13] + inmat[7] * inmat[9] * inmat[14] - inmat[5] * inmat[11] * inmat[14] - inmat[6] * inmat[9] * inmat[15] - inmat[7] * inmat[10] * inmat[13]) / det;
    outmat[1]  = (inmat[1] * inmat[11] * inmat[14] + inmat[2] * inmat[9] * inmat[15] + inmat[3] * inmat[10] * inmat[13] - inmat[1] * inmat[10] * inmat[15] - inmat[2] * inmat[11] * inmat[13] - inmat[3] * inmat[9] * inmat[14]) / det;
    outmat[2]  = (inmat[1] * inmat[6] * inmat[15] + inmat[2] * inmat[7] * inmat[13] + inmat[3] * inmat[5] * inmat[14] - inmat[1] * inmat[7] * inmat[14] - inmat[2] * inmat[5] * inmat[15] - inmat[3] * inmat[6] * inmat[13]) / det;
    outmat[3]  = (inmat[1] * inmat[7] * inmat[10] + inmat[2] * inmat[5] * inmat[11] + inmat[3] * inmat[6] * inmat[9] - inmat[1] * inmat[6] * inmat[11] - inmat[2] * inmat[7] * inmat[9] - inmat[3] * inmat[5] * inmat[10]) / det;
    outmat[4]  = (inmat[4] * inmat[11] * inmat[14] + inmat[6] * inmat[8] * inmat[15] + inmat[7] * inmat[10] * inmat[12] - inmat[4] * inmat[10] * inmat[15] - inmat[6] * inmat[11] * inmat[12] - inmat[7] * inmat[8] * inmat[14]) / det;
    outmat[5]  = (inmat[0] * inmat[10] * inmat[15] + inmat[2] * inmat[11] * inmat[12] + inmat[3] * inmat[8] * inmat[14] - inmat[0] * inmat[11] * inmat[14] - inmat[2] * inmat[8] * inmat[15] - inmat[3] * inmat[10] * inmat[12]) / det;
    outmat[6]  = (inmat[0] * inmat[7] * inmat[14] + inmat[2] * inmat[4] * inmat[15] + inmat[3] * inmat[6] * inmat[12] - inmat[0] * inmat[6] * inmat[15] - inmat[2] * inmat[7] * inmat[12] - inmat[3] * inmat[4] * inmat[14]) / det;
    outmat[7]  = (inmat[0] * inmat[6] * inmat[11] + inmat[2] * inmat[7] * inmat[8] + inmat[3] * inmat[4] * inmat[10] - inmat[0] * inmat[7] * inmat[10] - inmat[2] * inmat[4] * inmat[11] - inmat[3] * inmat[6] * inmat[8]) / det;
    outmat[8]  = (inmat[4] * inmat[9] * inmat[15] + inmat[5] * inmat[11] * inmat[12] + inmat[7] * inmat[8] * inmat[13] - inmat[4] * inmat[11] * inmat[13] - inmat[5] * inmat[8] * inmat[15] - inmat[7] * inmat[9] * inmat[12]) / det;
    outmat[9]  = (inmat[0] * inmat[11] * inmat[13] + inmat[1] * inmat[8] * inmat[15] + inmat[3] * inmat[9] * inmat[12] - inmat[0] * inmat[9] * inmat[15] - inmat[1] * inmat[11] * inmat[12] - inmat[3] * inmat[8] * inmat[13]) / det;
    outmat[10] = (inmat[0] * inmat[5] * inmat[15] + inmat[1] * inmat[7] * inmat[12] + inmat[3] * inmat[4] * inmat[13] - inmat[0] * inmat[7] * inmat[13] - inmat[1] * inmat[4] * inmat[15] - inmat[3] * inmat[5] * inmat[12]) / det;
    outmat[11] = (inmat[0] * inmat[7] * inmat[9] + inmat[1] * inmat[4] * inmat[11] + inmat[3] * inmat[5] * inmat[8] - inmat[0] * inmat[5] * inmat[11] - inmat[1] * inmat[7] * inmat[8] - inmat[3] * inmat[4] * inmat[9]) / det;
    outmat[12] = (inmat[4] * inmat[10] * inmat[13] + inmat[5] * inmat[8] * inmat[14] + inmat[6] * inmat[9] * inmat[12] - inmat[4] * inmat[9] * inmat[14] - inmat[5] * inmat[10] * inmat[12] - inmat[6] * inmat[8] * inmat[13]) / det;
    outmat[13] = (inmat[0] * inmat[9] * inmat[14] + inmat[1] * inmat[10] * inmat[12] + inmat[2] * inmat[8] * inmat[13] - inmat[0] * inmat[10] * inmat[13] - inmat[1] * inmat[8] * inmat[14] - inmat[2] * inmat[9] * inmat[12]) / det;
    outmat[14] = (inmat[0] * inmat[6] * inmat[13] + inmat[1] * inmat[4] * inmat[14] + inmat[2] * inmat[5] * inmat[12] - inmat[0] * inmat[5] * inmat[14] - inmat[1] * inmat[6] * inmat[12] - inmat[2] * inmat[4] * inmat[13]) / det;
    outmat[15] = (inmat[0] * inmat[5] * inmat[10] + inmat[1] * inmat[6] * inmat[8] + inmat[2] * inmat[4] * inmat[9] - inmat[0] * inmat[6] * inmat[9] - inmat[1] * inmat[4] * inmat[10] - inmat[2] * inmat[5] * inmat[8]) / det;
  }
  if (determinant) *determinant = det;
  return PETSC_SUCCESS;
}

/*
  Compute_Lagrange_Basis_1D_Internal - Evaluate bases and derivatives at quadrature points for a EDGE2 or EDGE3 element.

  The routine is given the coordinates of the vertices of a linear or quadratic edge element.

  The routine evaluates the basis functions associated with each quadrature point provided,
  and their derivatives with respect to X.

  Notes:

  Example Physical Element
.vb
    1-------2        1----3----2
      EDGE2             EDGE3
.ve

  Input Parameters:
+  PetscInt  nverts -          the number of element vertices
.  PetscReal coords[3*nverts] - the physical coordinates of the vertices (in canonical numbering)
.  PetscInt  npts -            the number of evaluation points (quadrature points)
-  PetscReal quad[3*npts] -    the evaluation points (quadrature points) in the reference space

  Output Parameters:
+  PetscReal phypts[3*npts] -  the evaluation points (quadrature points) transformed to the physical space
.  PetscReal jxw[npts] -       the jacobian determinant * quadrature weight necessary for assembling discrete contributions
.  PetscReal phi[npts] -       the bases evaluated at the specified quadrature points
.  PetscReal dphidx[npts] -    the derivative of the bases wrt X-direction evaluated at the specified quadrature points
. jacobian  - jacobian
. ijacobian - ijacobian
- volume    - volume

  Level: advanced
*/
static PetscErrorCode Compute_Lagrange_Basis_1D_Internal(const PetscInt nverts, const PetscReal *coords, const PetscInt npts, const PetscReal *quad, PetscReal *phypts, PetscReal *jxw, PetscReal *phi, PetscReal *dphidx, PetscReal *jacobian, PetscReal *ijacobian, PetscReal *volume)
{
  int i, j;

  PetscFunctionBegin;
  PetscAssertPointer(jacobian, 9);
  PetscAssertPointer(ijacobian, 10);
  PetscAssertPointer(volume, 11);
  if (phypts) PetscCall(PetscArrayzero(phypts, npts * 3));
  if (dphidx) { /* Reset arrays. */
    PetscCall(PetscArrayzero(dphidx, npts * nverts));
  }
  if (nverts == 2) { /* Linear Edge */

    for (j = 0; j < npts; j++) {
      const PetscInt  offset = j * nverts;
      const PetscReal r      = quad[j];

      phi[0 + offset] = (1.0 - r);
      phi[1 + offset] = (r);

      const PetscReal dNi_dxi[2] = {-1.0, 1.0};

      jacobian[0] = ijacobian[0] = volume[0] = 0.0;
      for (i = 0; i < nverts; ++i) {
        const PetscReal *vertices = coords + i * 3;
        jacobian[0] += dNi_dxi[i] * vertices[0];
        if (phypts) phypts[3 * j + 0] += phi[i + offset] * vertices[0];
      }

      /* invert the jacobian */
      *volume      = jacobian[0];
      ijacobian[0] = 1.0 / jacobian[0];
      jxw[j] *= *volume;

      /*  Divide by element jacobian. */
      for (i = 0; i < nverts; i++) {
        if (dphidx) dphidx[i + offset] += dNi_dxi[i] * ijacobian[0];
      }
    }
  } else if (nverts == 3) { /* Quadratic Edge */

    for (j = 0; j < npts; j++) {
      const PetscInt  offset = j * nverts;
      const PetscReal r      = quad[j];

      phi[0 + offset] = 1.0 + r * (2.0 * r - 3.0);
      phi[1 + offset] = 4.0 * r * (1.0 - r);
      phi[2 + offset] = r * (2.0 * r - 1.0);

      const PetscReal dNi_dxi[3] = {4 * r - 3.0, 4 * (1.0 - 2.0 * r), 4.0 * r - 1.0};

      jacobian[0] = ijacobian[0] = volume[0] = 0.0;
      for (i = 0; i < nverts; ++i) {
        const PetscReal *vertices = coords + i * 3;
        jacobian[0] += dNi_dxi[i] * vertices[0];
        if (phypts) phypts[3 * j + 0] += phi[i + offset] * vertices[0];
      }

      /* invert the jacobian */
      *volume      = jacobian[0];
      ijacobian[0] = 1.0 / jacobian[0];
      if (jxw) jxw[j] *= *volume;

      /*  Divide by element jacobian. */
      for (i = 0; i < nverts; i++) {
        if (dphidx) dphidx[i + offset] += dNi_dxi[i] * ijacobian[0];
      }
    }
  } else SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "The number of entity vertices are invalid. Currently only support EDGE2 and EDGE3 basis evaluations in 1-D : %" PetscInt_FMT, nverts);
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*
  Compute_Lagrange_Basis_2D_Internal - Evaluate bases and derivatives at quadrature points for a QUAD4 or TRI3 element.

  The routine is given the coordinates of the vertices of a quadrangle or triangle.

  The routine evaluates the basis functions associated with each quadrature point provided,
  and their derivatives with respect to X and Y.

  Notes:

  Example Physical Element (QUAD4)
.vb
    4------3        s
    |      |        |
    |      |        |
    |      |        |
    1------2        0-------r
.ve

  Input Parameters:
+  PetscInt  nverts -          the number of element vertices
.  PetscReal coords[3*nverts] - the physical coordinates of the vertices (in canonical numbering)
.  PetscInt  npts -            the number of evaluation points (quadrature points)
-  PetscReal quad[3*npts] -    the evaluation points (quadrature points) in the reference space

  Output Parameters:
+  PetscReal phypts[3*npts] -  the evaluation points (quadrature points) transformed to the physical space
.  PetscReal jxw[npts] -       the jacobian determinant * quadrature weight necessary for assembling discrete contributions
.  PetscReal phi[npts] -       the bases evaluated at the specified quadrature points
.  PetscReal dphidx[npts] -    the derivative of the bases wrt X-direction evaluated at the specified quadrature points
.  PetscReal dphidy[npts] -    the derivative of the bases wrt Y-direction evaluated at the specified quadrature points
. jacobian  - jacobian
. ijacobian - ijacobian
- volume    - volume

  Level: advanced
*/
static PetscErrorCode Compute_Lagrange_Basis_2D_Internal(const PetscInt nverts, const PetscReal *coords, const PetscInt npts, const PetscReal *quad, PetscReal *phypts, PetscReal *jxw, PetscReal *phi, PetscReal *dphidx, PetscReal *dphidy, PetscReal *jacobian, PetscReal *ijacobian, PetscReal *volume)
{
  PetscInt i, j, k;

  PetscFunctionBegin;
  PetscAssertPointer(jacobian, 10);
  PetscAssertPointer(ijacobian, 11);
  PetscAssertPointer(volume, 12);
  PetscCall(PetscArrayzero(phi, npts));
  if (phypts) PetscCall(PetscArrayzero(phypts, npts * 3));
  if (dphidx) { /* Reset arrays. */
    PetscCall(PetscArrayzero(dphidx, npts * nverts));
    PetscCall(PetscArrayzero(dphidy, npts * nverts));
  }
  if (nverts == 4) { /* Linear Quadrangle */

    for (j = 0; j < npts; j++) {
      const PetscInt  offset = j * nverts;
      const PetscReal r      = quad[0 + j * 2];
      const PetscReal s      = quad[1 + j * 2];

      phi[0 + offset] = (1.0 - r) * (1.0 - s);
      phi[1 + offset] = r * (1.0 - s);
      phi[2 + offset] = r * s;
      phi[3 + offset] = (1.0 - r) * s;

      const PetscReal dNi_dxi[4]  = {-1.0 + s, 1.0 - s, s, -s};
      const PetscReal dNi_deta[4] = {-1.0 + r, -r, r, 1.0 - r};

      PetscCall(PetscArrayzero(jacobian, 4));
      PetscCall(PetscArrayzero(ijacobian, 4));
      for (i = 0; i < nverts; ++i) {
        const PetscReal *vertices = coords + i * 3;
        jacobian[0] += dNi_dxi[i] * vertices[0];
        jacobian[2] += dNi_dxi[i] * vertices[1];
        jacobian[1] += dNi_deta[i] * vertices[0];
        jacobian[3] += dNi_deta[i] * vertices[1];
        if (phypts) {
          phypts[3 * j + 0] += phi[i + offset] * vertices[0];
          phypts[3 * j + 1] += phi[i + offset] * vertices[1];
          phypts[3 * j + 2] += phi[i + offset] * vertices[2];
        }
      }

      /* invert the jacobian */
      PetscCall(DMatrix_Invert_2x2_Internal(jacobian, ijacobian, volume));
      PetscCheck(*volume >= 1e-12, PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Quadrangular element has zero volume: %g. Degenerate element or invalid connectivity", *volume);

      if (jxw) jxw[j] *= *volume;

      /*  Let us compute the bases derivatives by scaling with inverse jacobian. */
      if (dphidx) {
        for (i = 0; i < nverts; i++) {
          for (k = 0; k < 2; ++k) {
            if (dphidx) dphidx[i + offset] += dNi_dxi[i] * ijacobian[k * 2 + 0];
            if (dphidy) dphidy[i + offset] += dNi_deta[i] * ijacobian[k * 2 + 1];
          } /* for k=[0..2) */
        } /* for i=[0..nverts) */
      } /* if (dphidx) */
    }
  } else if (nverts == 3) { /* Linear triangle */
    const PetscReal x2 = coords[2 * 3 + 0], y2 = coords[2 * 3 + 1];

    PetscCall(PetscArrayzero(jacobian, 4));
    PetscCall(PetscArrayzero(ijacobian, 4));

    /* Jacobian is constant */
    jacobian[0] = (coords[0 * 3 + 0] - x2);
    jacobian[1] = (coords[1 * 3 + 0] - x2);
    jacobian[2] = (coords[0 * 3 + 1] - y2);
    jacobian[3] = (coords[1 * 3 + 1] - y2);

    /* invert the jacobian */
    PetscCall(DMatrix_Invert_2x2_Internal(jacobian, ijacobian, volume));
    PetscCheck(*volume >= 1e-12, PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Triangular element has zero volume: %g. Degenerate element or invalid connectivity", (double)*volume);

    const PetscReal Dx[3] = {ijacobian[0], ijacobian[2], -ijacobian[0] - ijacobian[2]};
    const PetscReal Dy[3] = {ijacobian[1], ijacobian[3], -ijacobian[1] - ijacobian[3]};

    for (j = 0; j < npts; j++) {
      const PetscInt  offset = j * nverts;
      const PetscReal r      = quad[0 + j * 2];
      const PetscReal s      = quad[1 + j * 2];

      if (jxw) jxw[j] *= 0.5;

      /* const PetscReal Ni[3]  = { r, s, 1.0 - r - s }; */
      const PetscReal phipts_x = coords[2 * 3 + 0] + jacobian[0] * r + jacobian[1] * s;
      const PetscReal phipts_y = coords[2 * 3 + 1] + jacobian[2] * r + jacobian[3] * s;
      if (phypts) {
        phypts[offset + 0] = phipts_x;
        phypts[offset + 1] = phipts_y;
      }

      /* \phi_0 = (b.y - c.y) x + (b.x - c.x) y + c.x b.y - b.x c.y */
      phi[0 + offset] = (ijacobian[0] * (phipts_x - x2) + ijacobian[1] * (phipts_y - y2));
      /* \phi_1 = (c.y - a.y) x + (a.x - c.x) y + c.x a.y - a.x c.y */
      phi[1 + offset] = (ijacobian[2] * (phipts_x - x2) + ijacobian[3] * (phipts_y - y2));
      phi[2 + offset] = 1.0 - phi[0 + offset] - phi[1 + offset];

      if (dphidx) {
        dphidx[0 + offset] = Dx[0];
        dphidx[1 + offset] = Dx[1];
        dphidx[2 + offset] = Dx[2];
      }

      if (dphidy) {
        dphidy[0 + offset] = Dy[0];
        dphidy[1 + offset] = Dy[1];
        dphidy[2 + offset] = Dy[2];
      }
    }
  } else SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "The number of entity vertices are invalid. Currently only support QUAD4 and TRI3 basis evaluations in 2-D : %" PetscInt_FMT, nverts);
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*
  Compute_Lagrange_Basis_3D_Internal - Evaluate bases and derivatives at quadrature points for a HEX8 or TET4 element.

  The routine is given the coordinates of the vertices of a hexahedra or tetrahedra.

  The routine evaluates the basis functions associated with each quadrature point provided,
  and their derivatives with respect to X, Y and Z.

  Notes:

  Example Physical Element (HEX8)
.vb
      8------7
     /|     /|        t  s
    5------6 |        | /
    | |    | |        |/
    | 4----|-3        0-------r
    |/     |/
    1------2
.ve

  Input Parameters:
+  PetscInt  nverts -          the number of element vertices
.  PetscReal coords[3*nverts] - the physical coordinates of the vertices (in canonical numbering)
.  PetscInt  npts -            the number of evaluation points (quadrature points)
-  PetscReal quad[3*npts] -    the evaluation points (quadrature points) in the reference space

  Output Parameters:
+  PetscReal phypts[3*npts] -  the evaluation points (quadrature points) transformed to the physical space
.  PetscReal jxw[npts] -       the jacobian determinant * quadrature weight necessary for assembling discrete contributions
.  PetscReal phi[npts] -       the bases evaluated at the specified quadrature points
.  PetscReal dphidx[npts] -    the derivative of the bases wrt X-direction evaluated at the specified quadrature points
.  PetscReal dphidy[npts] -    the derivative of the bases wrt Y-direction evaluated at the specified quadrature points
.  PetscReal dphidz[npts] -    the derivative of the bases wrt Z-direction evaluated at the specified quadrature points
. jacobian  - jacobian
. ijacobian - ijacobian
- volume    - volume

  Level: advanced
*/
static PetscErrorCode Compute_Lagrange_Basis_3D_Internal(const PetscInt nverts, const PetscReal *coords, const PetscInt npts, const PetscReal *quad, PetscReal *phypts, PetscReal *jxw, PetscReal *phi, PetscReal *dphidx, PetscReal *dphidy, PetscReal *dphidz, PetscReal *jacobian, PetscReal *ijacobian, PetscReal *volume)
{
  PetscInt i, j, k;

  PetscFunctionBegin;
  PetscAssertPointer(jacobian, 11);
  PetscAssertPointer(ijacobian, 12);
  PetscAssertPointer(volume, 13);

  PetscCall(PetscArrayzero(phi, npts));
  if (phypts) PetscCall(PetscArrayzero(phypts, npts * 3));
  if (dphidx) {
    PetscCall(PetscArrayzero(dphidx, npts * nverts));
    PetscCall(PetscArrayzero(dphidy, npts * nverts));
    PetscCall(PetscArrayzero(dphidz, npts * nverts));
  }

  if (nverts == 8) { /* Linear Hexahedra */

    for (j = 0; j < npts; j++) {
      const PetscInt   offset = j * nverts;
      const PetscReal &r      = quad[j * 3 + 0];
      const PetscReal &s      = quad[j * 3 + 1];
      const PetscReal &t      = quad[j * 3 + 2];

      phi[offset + 0] = (1.0 - r) * (1.0 - s) * (1.0 - t); /* 0,0,0 */
      phi[offset + 1] = (r) * (1.0 - s) * (1.0 - t);       /* 1,0,0 */
      phi[offset + 2] = (r) * (s) * (1.0 - t);             /* 1,1,0 */
      phi[offset + 3] = (1.0 - r) * (s) * (1.0 - t);       /* 0,1,0 */
      phi[offset + 4] = (1.0 - r) * (1.0 - s) * (t);       /* 0,0,1 */
      phi[offset + 5] = (r) * (1.0 - s) * (t);             /* 1,0,1 */
      phi[offset + 6] = (r) * (s) * (t);                   /* 1,1,1 */
      phi[offset + 7] = (1.0 - r) * (s) * (t);             /* 0,1,1 */

      const PetscReal dNi_dxi[8] = {-(1.0 - s) * (1.0 - t), (1.0 - s) * (1.0 - t), (s) * (1.0 - t), -(s) * (1.0 - t), -(1.0 - s) * (t), (1.0 - s) * (t), (s) * (t), -(s) * (t)};

      const PetscReal dNi_deta[8] = {-(1.0 - r) * (1.0 - t), -(r) * (1.0 - t), (r) * (1.0 - t), (1.0 - r) * (1.0 - t), -(1.0 - r) * (t), -(r) * (t), (r) * (t), (1.0 - r) * (t)};

      const PetscReal dNi_dzeta[8] = {-(1.0 - r) * (1.0 - s), -(r) * (1.0 - s), -(r) * (s), -(1.0 - r) * (s), (1.0 - r) * (1.0 - s), (r) * (1.0 - s), (r) * (s), (1.0 - r) * (s)};

      PetscCall(PetscArrayzero(jacobian, 9));
      PetscCall(PetscArrayzero(ijacobian, 9));
      for (i = 0; i < nverts; ++i) {
        const PetscReal *vertex = coords + i * 3;
        jacobian[0] += dNi_dxi[i] * vertex[0];
        jacobian[3] += dNi_dxi[i] * vertex[1];
        jacobian[6] += dNi_dxi[i] * vertex[2];
        jacobian[1] += dNi_deta[i] * vertex[0];
        jacobian[4] += dNi_deta[i] * vertex[1];
        jacobian[7] += dNi_deta[i] * vertex[2];
        jacobian[2] += dNi_dzeta[i] * vertex[0];
        jacobian[5] += dNi_dzeta[i] * vertex[1];
        jacobian[8] += dNi_dzeta[i] * vertex[2];
        if (phypts) {
          phypts[3 * j + 0] += phi[i + offset] * vertex[0];
          phypts[3 * j + 1] += phi[i + offset] * vertex[1];
          phypts[3 * j + 2] += phi[i + offset] * vertex[2];
        }
      }

      /* invert the jacobian */
      PetscCall(DMatrix_Invert_3x3_Internal(jacobian, ijacobian, volume));
      PetscCheck(*volume >= 1e-8, PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Hexahedral element has zero volume: %g. Degenerate element or invalid connectivity", *volume);

      if (jxw) jxw[j] *= (*volume);

      /*  Divide by element jacobian. */
      for (i = 0; i < nverts; ++i) {
        for (k = 0; k < 3; ++k) {
          if (dphidx) dphidx[i + offset] += dNi_dxi[i] * ijacobian[0 * 3 + k];
          if (dphidy) dphidy[i + offset] += dNi_deta[i] * ijacobian[1 * 3 + k];
          if (dphidz) dphidz[i + offset] += dNi_dzeta[i] * ijacobian[2 * 3 + k];
        }
      }
    }
  } else if (nverts == 4) { /* Linear Tetrahedra */
    PetscReal       Dx[4] = {0, 0, 0, 0}, Dy[4] = {0, 0, 0, 0}, Dz[4] = {0, 0, 0, 0};
    const PetscReal x0 = coords[/*0 * 3 +*/ 0], y0 = coords[/*0 * 3 +*/ 1], z0 = coords[/*0 * 3 +*/ 2];

    PetscCall(PetscArrayzero(jacobian, 9));
    PetscCall(PetscArrayzero(ijacobian, 9));

    /* compute the jacobian */
    jacobian[0] = coords[1 * 3 + 0] - x0;
    jacobian[1] = coords[2 * 3 + 0] - x0;
    jacobian[2] = coords[3 * 3 + 0] - x0;
    jacobian[3] = coords[1 * 3 + 1] - y0;
    jacobian[4] = coords[2 * 3 + 1] - y0;
    jacobian[5] = coords[3 * 3 + 1] - y0;
    jacobian[6] = coords[1 * 3 + 2] - z0;
    jacobian[7] = coords[2 * 3 + 2] - z0;
    jacobian[8] = coords[3 * 3 + 2] - z0;

    /* invert the jacobian */
    PetscCall(DMatrix_Invert_3x3_Internal(jacobian, ijacobian, volume));
    PetscCheck(*volume >= 1e-8, PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Tetrahedral element has zero volume: %g. Degenerate element or invalid connectivity", (double)*volume);

    if (dphidx) {
      Dx[0] = (coords[1 + 2 * 3] * (coords[2 + 1 * 3] - coords[2 + 3 * 3]) - coords[1 + 1 * 3] * (coords[2 + 2 * 3] - coords[2 + 3 * 3]) - coords[1 + 3 * 3] * (coords[2 + 1 * 3] - coords[2 + 2 * 3])) / *volume;
      Dx[1] = -(coords[1 + 2 * 3] * (coords[2 + 0 * 3] - coords[2 + 3 * 3]) - coords[1 + 0 * 3] * (coords[2 + 2 * 3] - coords[2 + 3 * 3]) - coords[1 + 3 * 3] * (coords[2 + 0 * 3] - coords[2 + 2 * 3])) / *volume;
      Dx[2] = (coords[1 + 1 * 3] * (coords[2 + 0 * 3] - coords[2 + 3 * 3]) - coords[1 + 0 * 3] * (coords[2 + 1 * 3] - coords[2 + 3 * 3]) - coords[1 + 3 * 3] * (coords[2 + 0 * 3] - coords[2 + 1 * 3])) / *volume;
      Dx[3] = -(Dx[0] + Dx[1] + Dx[2]);
      Dy[0] = (coords[0 + 1 * 3] * (coords[2 + 2 * 3] - coords[2 + 3 * 3]) - coords[0 + 2 * 3] * (coords[2 + 1 * 3] - coords[2 + 3 * 3]) + coords[0 + 3 * 3] * (coords[2 + 1 * 3] - coords[2 + 2 * 3])) / *volume;
      Dy[1] = -(coords[0 + 0 * 3] * (coords[2 + 2 * 3] - coords[2 + 3 * 3]) - coords[0 + 2 * 3] * (coords[2 + 0 * 3] - coords[2 + 3 * 3]) + coords[0 + 3 * 3] * (coords[2 + 0 * 3] - coords[2 + 2 * 3])) / *volume;
      Dy[2] = (coords[0 + 0 * 3] * (coords[2 + 1 * 3] - coords[2 + 3 * 3]) - coords[0 + 1 * 3] * (coords[2 + 0 * 3] - coords[2 + 3 * 3]) + coords[0 + 3 * 3] * (coords[2 + 0 * 3] - coords[2 + 1 * 3])) / *volume;
      Dy[3] = -(Dy[0] + Dy[1] + Dy[2]);
      Dz[0] = (coords[0 + 1 * 3] * (coords[1 + 3 * 3] - coords[1 + 2 * 3]) - coords[0 + 2 * 3] * (coords[1 + 3 * 3] - coords[1 + 1 * 3]) + coords[0 + 3 * 3] * (coords[1 + 2 * 3] - coords[1 + 1 * 3])) / *volume;
      Dz[1] = -(coords[0 + 0 * 3] * (coords[1 + 3 * 3] - coords[1 + 2 * 3]) + coords[0 + 2 * 3] * (coords[1 + 0 * 3] - coords[1 + 3 * 3]) - coords[0 + 3 * 3] * (coords[1 + 0 * 3] - coords[1 + 2 * 3])) / *volume;
      Dz[2] = (coords[0 + 0 * 3] * (coords[1 + 3 * 3] - coords[1 + 1 * 3]) + coords[0 + 1 * 3] * (coords[1 + 0 * 3] - coords[1 + 3 * 3]) - coords[0 + 3 * 3] * (coords[1 + 0 * 3] - coords[1 + 1 * 3])) / *volume;
      Dz[3] = -(Dz[0] + Dz[1] + Dz[2]);
    }

    for (j = 0; j < npts; j++) {
      const PetscInt   offset = j * nverts;
      const PetscReal &r      = quad[j * 3 + 0];
      const PetscReal &s      = quad[j * 3 + 1];
      const PetscReal &t      = quad[j * 3 + 2];

      if (jxw) jxw[j] *= *volume;

      phi[offset + 0] = 1.0 - r - s - t;
      phi[offset + 1] = r;
      phi[offset + 2] = s;
      phi[offset + 3] = t;

      if (phypts) {
        for (i = 0; i < nverts; ++i) {
          const PetscReal *vertices = coords + i * 3;
          phypts[3 * j + 0] += phi[i + offset] * vertices[0];
          phypts[3 * j + 1] += phi[i + offset] * vertices[1];
          phypts[3 * j + 2] += phi[i + offset] * vertices[2];
        }
      }

      /* Now set the derivatives */
      if (dphidx) {
        dphidx[0 + offset] = Dx[0];
        dphidx[1 + offset] = Dx[1];
        dphidx[2 + offset] = Dx[2];
        dphidx[3 + offset] = Dx[3];

        dphidy[0 + offset] = Dy[0];
        dphidy[1 + offset] = Dy[1];
        dphidy[2 + offset] = Dy[2];
        dphidy[3 + offset] = Dy[3];

        dphidz[0 + offset] = Dz[0];
        dphidz[1 + offset] = Dz[1];
        dphidz[2 + offset] = Dz[2];
        dphidz[3 + offset] = Dz[3];
      }

    } /* Tetrahedra -- ends */
  } else SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "The number of entity vertices are invalid. Currently only support HEX8 and TET4 basis evaluations in 3-D : %" PetscInt_FMT, nverts);
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@C
  DMMoabFEMComputeBasis - Evaluate bases and derivatives at quadrature points for a linear EDGE/QUAD/TRI/HEX/TET element.

  The routine takes the coordinates of the vertices of an element and computes basis functions associated with
  each quadrature point provided, and their derivatives with respect to X, Y and Z as appropriate.

  Input Parameters:
+ dim         - the dimension
. nverts      - the number of element vertices
. coordinates - the physical coordinates of the vertices (in canonical numbering)
- quadrature  - the evaluation points (quadrature points) in the reference space

  Output Parameters:
+ phypts                             - the evaluation points (quadrature points) transformed to the physical space
. jacobian_quadrature_weight_product - the jacobian determinant * quadrature weight necessary for assembling discrete contributions
. fe_basis                           - the bases values evaluated at the specified quadrature points
- fe_basis_derivatives               - the derivative of the bases wrt (X,Y,Z)-directions (depending on the dimension) evaluated at the specified quadrature points

  Level: advanced

.seealso: `DMMoabCreate()`
@*/
PetscErrorCode DMMoabFEMComputeBasis(const PetscInt dim, const PetscInt nverts, const PetscReal *coordinates, const PetscQuadrature quadrature, PetscReal *phypts, PetscReal *jacobian_quadrature_weight_product, PetscReal *fe_basis, PetscReal **fe_basis_derivatives)
{
  PetscInt         npoints, idim;
  bool             compute_der;
  const PetscReal *quadpts, *quadwts;
  PetscReal        jacobian[9], ijacobian[9], volume;

  PetscFunctionBegin;
  PetscAssertPointer(coordinates, 3);
  PetscValidHeaderSpecific(quadrature, PETSCQUADRATURE_CLASSID, 4);
  PetscAssertPointer(fe_basis, 7);
  compute_der = (fe_basis_derivatives != NULL);

  /* Get the quadrature points and weights for the given quadrature rule */
  PetscCall(PetscQuadratureGetData(quadrature, &idim, NULL, &npoints, &quadpts, &quadwts));
  PetscCheck(idim == dim, PETSC_COMM_WORLD, PETSC_ERR_ARG_WRONG, "Dimension mismatch: provided (%" PetscInt_FMT ") vs quadrature (%" PetscInt_FMT ")", idim, dim);
  if (jacobian_quadrature_weight_product) PetscCall(PetscArraycpy(jacobian_quadrature_weight_product, quadwts, npoints));

  switch (dim) {
  case 1:
    PetscCall(Compute_Lagrange_Basis_1D_Internal(nverts, coordinates, npoints, quadpts, phypts, jacobian_quadrature_weight_product, fe_basis, compute_der ? fe_basis_derivatives[0] : NULL, jacobian, ijacobian, &volume));
    break;
  case 2:
    PetscCall(Compute_Lagrange_Basis_2D_Internal(nverts, coordinates, npoints, quadpts, phypts, jacobian_quadrature_weight_product, fe_basis, compute_der ? fe_basis_derivatives[0] : NULL, compute_der ? fe_basis_derivatives[1] : NULL, jacobian, ijacobian, &volume));
    break;
  case 3:
    PetscCall(Compute_Lagrange_Basis_3D_Internal(nverts, coordinates, npoints, quadpts, phypts, jacobian_quadrature_weight_product, fe_basis, compute_der ? fe_basis_derivatives[0] : NULL, compute_der ? fe_basis_derivatives[1] : NULL, compute_der ? fe_basis_derivatives[2] : NULL, jacobian, ijacobian, &volume));
    break;
  default:
    SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Invalid dimension; should be in [1,3] : %" PetscInt_FMT, dim);
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@C
  DMMoabFEMCreateQuadratureDefault - Create default quadrature rules for integration over an element with a given
  dimension and polynomial order (deciphered from number of element vertices).

  Input Parameters:
+ dim    - the element dimension (1=EDGE, 2=QUAD/TRI, 3=HEX/TET)
- nverts - the number of vertices in the physical element

  Output Parameter:
. quadrature - the quadrature object with default settings to integrate polynomials defined over the element

  Level: advanced

.seealso: `DMMoabCreate()`
@*/
PetscErrorCode DMMoabFEMCreateQuadratureDefault(const PetscInt dim, const PetscInt nverts, PetscQuadrature *quadrature)
{
  PetscReal *w, *x;
  PetscInt   nc = 1;

  PetscFunctionBegin;
  /* Create an appropriate quadrature rule to sample basis */
  switch (dim) {
  case 1:
    /* Create Gauss quadrature rules with <order = nverts> in the span [-1, 1] */
    PetscCall(PetscDTStroudConicalQuadrature(1, nc, nverts, 0, 1.0, quadrature));
    break;
  case 2:
    /* Create Gauss quadrature rules with <order = nverts> in the span [-1, 1] */
    if (nverts == 3) {
      const PetscInt order   = 2;
      const PetscInt npoints = (order == 2 ? 3 : 6);
      PetscCall(PetscMalloc2(npoints * 2, &x, npoints, &w));
      if (npoints == 3) {
        x[0] = x[1] = x[2] = x[5] = 1.0 / 6.0;
        x[3] = x[4] = 2.0 / 3.0;
        w[0] = w[1] = w[2] = 1.0 / 3.0;
      } else if (npoints == 6) {
        x[0] = x[1] = x[2] = 0.44594849091597;
        x[3] = x[4] = 0.10810301816807;
        x[5]        = 0.44594849091597;
        x[6] = x[7] = x[8] = 0.09157621350977;
        x[9] = x[10] = 0.81684757298046;
        x[11]        = 0.09157621350977;
        w[0] = w[1] = w[2] = 0.22338158967801;
        w[3] = w[4] = w[5] = 0.10995174365532;
      } else SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Triangle quadrature rules for points 3 and 6 supported; npoints : %" PetscInt_FMT, npoints);
      PetscCall(PetscQuadratureCreate(PETSC_COMM_SELF, quadrature));
      PetscCall(PetscQuadratureSetOrder(*quadrature, order));
      PetscCall(PetscQuadratureSetData(*quadrature, dim, nc, npoints, x, w));
      /* PetscCall(PetscDTStroudConicalQuadrature(dim, nc, nverts, 0.0, 1.0, quadrature)); */
    } else PetscCall(PetscDTGaussTensorQuadrature(dim, nc, nverts, 0.0, 1.0, quadrature));
    break;
  case 3:
    /* Create Gauss quadrature rules with <order = nverts> in the span [-1, 1] */
    if (nverts == 4) {
      PetscInt       order;
      const PetscInt npoints = 4; // Choose between 4 and 10
      PetscCall(PetscMalloc2(npoints * 3, &x, npoints, &w));
      if (npoints == 4) { /*  KEAST1, K1,  N=4, O=4 */
        const PetscReal x_4[12] = {0.5854101966249685, 0.1381966011250105, 0.1381966011250105, 0.1381966011250105, 0.1381966011250105, 0.1381966011250105,
                                   0.1381966011250105, 0.1381966011250105, 0.5854101966249685, 0.1381966011250105, 0.5854101966249685, 0.1381966011250105};
        PetscCall(PetscArraycpy(x, x_4, 12));

        w[0] = w[1] = w[2] = w[3] = 1.0 / 24.0;
        order                     = 4;
      } else if (npoints == 10) { /*  KEAST3, K3  N=10, O=10 */
        const PetscReal x_10[30] = {0.5684305841968444, 0.1438564719343852, 0.1438564719343852, 0.1438564719343852, 0.1438564719343852, 0.1438564719343852, 0.1438564719343852, 0.1438564719343852, 0.5684305841968444, 0.1438564719343852,
                                    0.5684305841968444, 0.1438564719343852, 0.0000000000000000, 0.5000000000000000, 0.5000000000000000, 0.5000000000000000, 0.0000000000000000, 0.5000000000000000, 0.5000000000000000, 0.5000000000000000,
                                    0.0000000000000000, 0.5000000000000000, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000, 0.5000000000000000, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000, 0.5000000000000000};
        PetscCall(PetscArraycpy(x, x_10, 30));

        w[0] = w[1] = w[2] = w[3] = 0.2177650698804054;
        w[4] = w[5] = w[6] = w[7] = w[8] = w[9] = 0.0214899534130631;
        order                                   = 10;
      } else SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Tetrahedral quadrature rules for points 4 and 10 supported; npoints : %" PetscInt_FMT, npoints);
      PetscCall(PetscQuadratureCreate(PETSC_COMM_SELF, quadrature));
      PetscCall(PetscQuadratureSetOrder(*quadrature, order));
      PetscCall(PetscQuadratureSetData(*quadrature, dim, nc, npoints, x, w));
      /* PetscCall(PetscDTStroudConicalQuadrature(dim, nc, nverts, 0.0, 1.0, quadrature)); */
    } else PetscCall(PetscDTGaussTensorQuadrature(dim, nc, nverts, 0.0, 1.0, quadrature));
    break;
  default:
    SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Invalid dimension; should be in [1,3] : %" PetscInt_FMT, dim);
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

/* Compute Jacobians */
static PetscErrorCode FEMComputeBasis_JandF(const PetscInt dim, const PetscInt nverts, const PetscReal *coordinates, const PetscReal *quadrature, PetscReal *phypts, PetscReal *phibasis, PetscReal *jacobian, PetscReal *ijacobian, PetscReal *volume)
{
  PetscFunctionBegin;
  switch (dim) {
  case 1:
    PetscCall(Compute_Lagrange_Basis_1D_Internal(nverts, coordinates, 1, quadrature, phypts, NULL, phibasis, NULL, jacobian, ijacobian, volume));
    break;
  case 2:
    PetscCall(Compute_Lagrange_Basis_2D_Internal(nverts, coordinates, 1, quadrature, phypts, NULL, phibasis, NULL, NULL, jacobian, ijacobian, volume));
    break;
  case 3:
    PetscCall(Compute_Lagrange_Basis_3D_Internal(nverts, coordinates, 1, quadrature, phypts, NULL, phibasis, NULL, NULL, NULL, jacobian, ijacobian, volume));
    break;
  default:
    SETERRQ(PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Invalid dimension; should be in [1,3] : %" PetscInt_FMT, dim);
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@C
  DMMoabPToRMapping - Compute the mapping from the physical coordinate system for a given element to the
  canonical reference element.

  Input Parameters:
+ dim         - the element dimension (1=EDGE, 2=QUAD/TRI, 3=HEX/TET)
. nverts      - the number of vertices in the physical element
. coordinates - the coordinates of vertices in the physical element
- xphy        - the coordinates of physical point for which natural coordinates (in reference frame) are sought

  Output Parameters:
+ natparam - the natural coordinates (in reference frame) corresponding to xphy
- phi      - the basis functions evaluated at the natural coordinates (natparam)

  Level: advanced

  Notes:
  In addition to finding the inverse mapping evaluation through Newton iteration, the basis
  function at the parametric point is also evaluated optionally.

.seealso: `DMMoabCreate()`
@*/
PetscErrorCode DMMoabPToRMapping(const PetscInt dim, const PetscInt nverts, const PetscReal *coordinates, const PetscReal *xphy, PetscReal *natparam, PetscReal *phi)
{
  /* Perform inverse evaluation for the mapping with use of Newton Raphson iteration */
  const PetscReal tol            = 1.0e-10;
  const PetscInt  max_iterations = 10;
  const PetscReal error_tol_sqr  = tol * tol;
  PetscReal       phibasis[8], jacobian[9], ijacobian[9], volume;
  PetscReal       phypts[3] = {0.0, 0.0, 0.0};
  PetscReal       delta[3]  = {0.0, 0.0, 0.0};
  PetscInt        iters     = 0;
  PetscReal       error     = 1.0;

  PetscFunctionBegin;
  PetscAssertPointer(coordinates, 3);
  PetscAssertPointer(xphy, 4);
  PetscAssertPointer(natparam, 5);

  PetscCall(PetscArrayzero(jacobian, dim * dim));
  PetscCall(PetscArrayzero(ijacobian, dim * dim));
  PetscCall(PetscArrayzero(phibasis, nverts));

  /* zero initial guess */
  natparam[0] = natparam[1] = natparam[2] = 0.0;

  /* Compute delta = evaluate( xi) - x */
  PetscCall(FEMComputeBasis_JandF(dim, nverts, coordinates, natparam, phypts, phibasis, jacobian, ijacobian, &volume));

  error = 0.0;
  switch (dim) {
  case 3:
    delta[2] = phypts[2] - xphy[2];
    error += (delta[2] * delta[2]);
  case 2:
    delta[1] = phypts[1] - xphy[1];
    error += (delta[1] * delta[1]);
  case 1:
    delta[0] = phypts[0] - xphy[0];
    error += (delta[0] * delta[0]);
    break;
  }

  while (error > error_tol_sqr) {
    PetscCheck(++iters <= max_iterations, PETSC_COMM_WORLD, PETSC_ERR_ARG_OUTOFRANGE, "Maximum Newton iterations (10) reached. Current point in reference space : (%g, %g, %g)", natparam[0], natparam[1], natparam[2]);

    /* Compute natparam -= J.inverse() * delta */
    switch (dim) {
    case 1:
      natparam[0] -= ijacobian[0] * delta[0];
      break;
    case 2:
      natparam[0] -= ijacobian[0] * delta[0] + ijacobian[1] * delta[1];
      natparam[1] -= ijacobian[2] * delta[0] + ijacobian[3] * delta[1];
      break;
    case 3:
      natparam[0] -= ijacobian[0] * delta[0] + ijacobian[1] * delta[1] + ijacobian[2] * delta[2];
      natparam[1] -= ijacobian[3] * delta[0] + ijacobian[4] * delta[1] + ijacobian[5] * delta[2];
      natparam[2] -= ijacobian[6] * delta[0] + ijacobian[7] * delta[1] + ijacobian[8] * delta[2];
      break;
    }

    /* Compute delta = evaluate( xi) - x */
    PetscCall(FEMComputeBasis_JandF(dim, nverts, coordinates, natparam, phypts, phibasis, jacobian, ijacobian, &volume));

    error = 0.0;
    switch (dim) {
    case 3:
      delta[2] = phypts[2] - xphy[2];
      error += (delta[2] * delta[2]);
    case 2:
      delta[1] = phypts[1] - xphy[1];
      error += (delta[1] * delta[1]);
    case 1:
      delta[0] = phypts[0] - xphy[0];
      error += (delta[0] * delta[0]);
      break;
    }
  }
  if (phi) PetscCall(PetscArraycpy(phi, phibasis, nverts));
  PetscFunctionReturn(PETSC_SUCCESS);
}