The Gödel Engine (additional material): Derivation of the special solution to the geodesic equations

Transcription

1 EUROGRAPHICS 2009 / H.-C. Hege, I. Hotz, and T. Munzner Guest Editors) Volume ), Number 3 The Gödel Engine additional material): Derivation of the special solution to the geodesic equations F. Grave,2, T. Müller, C. Dachsbacher and G. Wunner 2 Visualization Research Center, University of Stuttgart, Germany 2. Institute for Theoretical Physics, University of Stuttgart, Gemany. Introduction Our contribution The Gödel Engine - An interactive approach to visualization in general relativity uses the analytical solution to the geodesic equations of Gödel s universe to enable interactive renderings including a local illumination model. Section 5. of the paper provides compact instructions on solving these equations. Although this section is self-contained, we provide this detailed version of the derivation to simplify the verification of our results. Due to the page limitation and the focus of the conference these calculations have not been included in the paper itself. All differentiations are with respect to the affine curve parameter λ unless otherwise denoted. 2. Gödel s metric In general relativity, distances in spacetime are calculated using the line element ds 2 3 = g µνx)dx µ dx ν. µ,ν=0 This is comparable to the Pythagorean theorem for the distance between two points in Euclidian space. Here, the points on a four-dimensional pseudo-riemannian manifold are infinitesimally neighboring and the metric tensor g µν, a 4 4 matrix, is introduced. Note that we use index notation g µν when referring to the entries of the metric tensor g. In Gödel s universe we obtain a line element [KWSD04] and therefore a metric tensor ds 2 = c 2 dt 2 + g = dr 2 +[r/)] 2 + r2 [r/)] 2) dϕ 2 + dz 2 2r 2 c dtdϕ a c 2 0 r2 c [r/)] 2 r2 c 0 r 2 [r/)] 2) 0. ) This metric tensor has a different algebraic sign compared to [KWSD04]. The underlying physics remain unaffected by this convention. 3. Lagrange formalism We can formulate the Lagrangian or Lagrange function of motion [Rin0] which reads L = g µνẋ µ ẋ ν = g µνu µ u ν = κc 2. 2) Published by Blackwell Publishing, 9600 Garsington Road, Oxford OX4 2DQ, UK and 350 Main Street, Malden, MA 0248, USA.

2 The equations of motion are second-order ordinary differential equations. They can be derived using the Lagrangian, namely The parameter κ denotes the type of geodesic, we have κ = : d L dλ ẋ µ L x µ = 0. 3) timelike geodesics, κ = 0 : lightlike geodesics, κ = : spacelike geodesics. We can find constants of motion if a spacetime has certain symmetries. This enables us to formulate an equivalent set of equations of motion which are of first order in λ. These constants can be found, for example, by applying the Noether theorem L Lx µ ) L ẋ µ = const. 4) 4. Equations of motion in Gödel s universe With Eqns. and 2 the Langrangian of Gödel s universe reads L = c 2 ṫ 2 + ṙ 2 +[r/)] 2 + r2 [r/)] 2) ϕ 2 + ż 2 2r 2 c ṫ ϕ = κc 2 5) a and is independent of t,ϕ and z. Using Eq. 4 we find three constants of motion k 0 = cṫ r2 ϕ, 6a) k 2 = r 2 [r/)] 2) ϕ r2 c ṫ, 6b) k 3 = ż. 6c) These expressions are constant for every λ for a particular geodesic. We can therefore use these constants of motion to specify the initial conditions x µ 0) and ẋ µ 0) of this geodesic: k 0 = cṫ0) r2 0) ϕ0), k 2 = r 2 0) [r0)/)] 2) ϕ0) r2 0)c ṫ0), 7a) 7b) We solve Eqns. 6 with respect to ẋ µ and arrive at k 3 = ż0). 7c) [r/)] 2 cṫ = k 0 +[r/)] 2 k 2 +[r/)] 2 ), ϕ = k 2 r 2 k 0 / ) r 2 +[r/)] 2), 8a) 8b) 8c) These expressions are then inserted into the Lagrangian Eq. 5) to eliminate ṫ, ϕ and ż. The Lagrangian now depends only on rλ) and its derivative: ṙ 2 k0 2 [r/)] 2) + k2 2 /r2 2k 0 k 2 /a L = +[r/)] 2 + k3 2 = κc 2. 9)

3 We obtain a coupled first-order ordinary differential equations system using Eqns. 8 and 9: [r/)] 2 cṫ = k 0 +[r/)] 2 k 2 +[r/)] 2 ), ṙ 2 = κc 2 k 2 3) ϕ = k 2 r 2 k 0 / ) r 2 +[r/)] 2), +[r/)] 2) k2 2 r 2 + 2k0 k 2 + k0 2 a 0a) [r/)] 2), 0b) The equations presented here are formulated for arbitrary initial conditions. We now restrict the solution to special initial conditions. Within the context of the paper we are only interested in geodesics starting at the origin. Isometries are used to obtain indirect access to the general solution of the geodesic equations. For further details see Sec Starting at the origin r0) = 0, Eqns. 7 simplify to These equations show that k 0 can be identified with the negative time direction and we therefore choose k 0 = ±. A positive sign denotes geodesics evolving into the past while a negative sign corresponds to geodesics propagating into the future. When we investigate the visual appearance of an object as seen by an observer we need k 0 = +, because we trace the geodesics back into the past starting at the observer s position. If we illuminate an object, we use geodesics propagating into the future. Constant of motion k 3 is the component of the geodesics s starting direction along the z-axis. We restrict ż0) = k 3 [ ;] and obtain ṙ0) = k 2 3 )/2 for photons leaving the origin r = 0. The vertical starting angle ϑ 0 results to as stated in the paper. ϑ 0 = arctan 0c) 0d) k 0 = cṫ0), a) k 2 = 0, b) k 3 = ż0). c) ) ) ṙ ż = arccos ż ṙ 2 + ż 2 = arccosk 3 ) The final differential equations for lightlike geodesics κ = 0) and k 0 = ± result from inserting Eqns. in Eqns. 0. In geometrical units c = ), they can be written as ṫ = k 0 [r/)] 2 +[r/)] 2, ż0) z ϑ 0 ṙ0) ẋ µ 0) r ) ṙ 2 = k3 2 )[r/)] 2 2, 2b) k ϕ = 0 +[r/)] 2 ), 2c) Eqns. and 2c are coupled to Eq. 2b. Eq. 2d is trivial. The integration of these equations can be verified using the integration tables of [BSMM07] and elementary trigonometric transformations or by inserting the solution into Eqns. 2. We will solve Eq. 2b first. 2d) 5. Solution to the geodesic equations Radial coordinate After separation of variables we obtain ±dr 4a 2 k 2 3 )/+k2 3 ) r2 = +k 2 3 dλ,

4 where the two signs on the left-hand side result from extracting the root of Eq. 2b and describe a photon leaving from or arriving at the origin, respectively. This equation is integrated, which yields ) r 2 2 ±arcsin k3 2 r 0 = λ λ 0± ) with two different integration constants λ 0± depending on the branch of the solution. Furthermore we set r 0 = 0 due to our initial conditions. This can be written as k3 2 2 rλ) = ± 2 sin λ λ 0± ). The different branches of the solution are merged to a continuous function for both incoming and outgoing photons and the initial condition r0) = 0 k3 2 rλ) = 2 sin 2 λ, 3) which is as introduced in the paper. Time coordinate After inserting Eq. 3 into we find ) 2 )/ k2 3 ) sin2 k3 2/)λ ṫ = k 0 ) 2)/ k2 3 )+sin2 k3 2/)λ which integrates to tλ) = k 0 λ 2 k 0 arctan 2 +k tan λ +π λ+ +t s. 2 π 2 The floor function x is introduced, because arctantanx)) x but resembles a discontinuous function. In mathematical terms arctantanx)) is a piecewise linear function sawtooth function ), because π/2 < arctany) < π/2 y R. Adding an appropriate piecewise constant function results to arctantanx)) + π x/π + /2 = x. Hence, the solution is continuously differentiable for all λ. We set the integration constant t s = t0) w.l.o.g. to zero. Angular coordinate We insert Eq. 3 into 2c, which takes the form ϕ = k 0 +k 2 3 )/ k2 3 ) +k 2 3 )/ k2 3 )+sin2 +k 2 3 /)λ )) and is solved by ϕλ) = k 0 arctan tan λ +π 2 π λ+ +k 2 3 π 2 π λ +ϕ s. The function x guarantees the continuous differentiability of the angular solution. The integration constant ϕ s = ϕ0) must be interpreted as the angular starting direction of the geodesic within the rϕ-plane. z-coordinate Obviously, Eq. 2d is solved by zλ) = k 3 λ+z s,

5 where we set z 3 = 0 due to the initial conditions. Abbreviations With the help functions +k 2 3 f qλ) = π π λ+q, gλ) = arctan 2 2 tan λ, 2 the calculations provided here reproduce the analytical solution as presented in the paper. References [BSMM07] BRONSTEIN I., SEMENDJAJEW K., MUSIOL G., MÜHLIG H.: Handbook of Mathematics. Springer, [KWSD04] KAJARI E., WALSER R., SCHLEICH W. P., DELGADO A.: Sagnac Effect of Gödel s Universe. Gen. Rel. Grav., ), [Rin0] RINDLER W.: Relativity - Special, General and Cosmology. Oxford University Press, 200.