BarrierContactForceDerivative.cpp

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#include "BarrierContactForceDerivative.hpp"
 
#include <Eigen/Core>
#include <polyfem/solver/forms/BarrierContactForm.hpp>
#include <polyfem/utils/Types.hpp>
#include <ipc/collisions/normal/normal_collisions.hpp>
 
namespace polyfem::solver
{
    void BarrierContactForceDerivative::force_shape_derivative(
        const BarrierContactForm &form,
        const ipc::NormalCollisions &collision_set,
        const Eigen::MatrixXd &solution,
        const Eigen::VectorXd &adjoint_sol,
        Eigen::VectorXd &term)
    {
        // Eigen::MatrixXd U = collision_mesh_.vertices(utils::unflatten(solution, collision_mesh_.dim()));
        // Eigen::MatrixXd X = collision_mesh_.vertices(boundary_nodes_pos_);
        const Eigen::MatrixXd displaced_surface = form.compute_displaced_surface(solution);
 
        StiffnessMatrix dq_h = form.collision_mesh_.to_full_dof(form.barrier_potential_.shape_derivative(collision_set, form.collision_mesh_, displaced_surface));
        term = form.barrier_stiffness() * dq_h.transpose() * adjoint_sol;
    }
} // namespace polyfem::solver