PolyFEM
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BarrierContactForm.hpp
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1#pragma once
2
3#include "ContactForm.hpp"
4#include <ipc/potentials/barrier_potential.hpp>
5
6namespace polyfem::solver
7{
9 {
10 public:
11 BarrierContactForm(const ipc::CollisionMesh &collision_mesh,
12 const double dhat,
13 const double avg_mass,
14 const bool use_area_weighting,
16 const bool use_physical_barrier,
18 const bool is_time_dependent,
19 const bool enable_shape_derivatives,
20 const ipc::BroadPhaseMethod broad_phase_method,
21 const double ccd_tolerance,
22 const int ccd_max_iterations);
23
24 virtual std::string name() const override { return "barrier-contact"; }
25
26 virtual void update_barrier_stiffness(const Eigen::VectorXd &x, const Eigen::MatrixXd &grad_energy) override;
27
31 void post_step(const polysolve::nonlinear::PostStepData &data) override;
32
34
36 bool use_area_weighting() const { return collision_set().use_area_weighting();}
37
39 bool use_improved_max_operator() const { return collision_set().use_improved_max_approximator();}
40
42 bool use_physical_barrier() const { return barrier_potential_.use_physical_barrier(); }
43
44 void force_shape_derivative(const ipc::NormalCollisions &collision_set, const Eigen::MatrixXd &solution, const Eigen::VectorXd &adjoint_sol, Eigen::VectorXd &term) const;
45
46 const ipc::NormalCollisions &collision_set() const { return collision_set_; }
47 const ipc::BarrierPotential &barrier_potential() const { return barrier_potential_; }
48
49 protected:
53 virtual double value_unweighted(const Eigen::VectorXd &x) const override;
54
58 Eigen::VectorXd value_per_element_unweighted(const Eigen::VectorXd &x) const override;
59
63 virtual void first_derivative_unweighted(const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const override;
64
68 virtual void second_derivative_unweighted(const Eigen::VectorXd &x, StiffnessMatrix &hessian) const override;
69
70 void update_collision_set(const Eigen::MatrixXd &displaced_surface) override;
71
73 ipc::NormalCollisions collision_set_;
74
76 const ipc::BarrierPotential barrier_potential_;
77 };
78}
int x
virtual void first_derivative_unweighted(const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const override
Compute the first derivative of the value wrt x.
bool use_improved_max_operator() const
Get use_improved_max_operator.
virtual void second_derivative_unweighted(const Eigen::VectorXd &x, StiffnessMatrix &hessian) const override
Compute the second derivative of the value wrt x.
void force_shape_derivative(const ipc::NormalCollisions &collision_set, const Eigen::MatrixXd &solution, const Eigen::VectorXd &adjoint_sol, Eigen::VectorXd &term) const
const ipc::BarrierPotential & barrier_potential() const
bool use_convergent_formulation() const override
Get use_convergent_formulation.
bool use_area_weighting() const
Get use_area_weighting.
virtual double value_unweighted(const Eigen::VectorXd &x) const override
Compute the contact barrier potential value.
virtual std::string name() const override
Eigen::VectorXd value_per_element_unweighted(const Eigen::VectorXd &x) const override
Compute the value of the form multiplied per element.
const ipc::NormalCollisions & collision_set() const
virtual void update_barrier_stiffness(const Eigen::VectorXd &x, const Eigen::MatrixXd &grad_energy) override
Update the barrier stiffness based on the current elasticity energy.
void update_collision_set(const Eigen::MatrixXd &displaced_surface) override
Update the cached candidate set for the current solution.
const ipc::BarrierPotential barrier_potential_
Contact potential.
ipc::NormalCollisions collision_set_
Cached constraint set for the current solution.
void post_step(const polysolve::nonlinear::PostStepData &data) override
Update fields after a step in the optimization.
bool use_physical_barrier() const
Get use_physical_barrier.
Form representing the contact potential and forces.
bool use_adaptive_barrier_stiffness() const
Get use_adaptive_barrier_stiffness.
Eigen::SparseMatrix< double, Eigen::ColMajor > StiffnessMatrix
Definition Types.hpp:22