BarrierForms.cpp

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#include <polyfem/optimization/forms/BarrierForms.hpp>
 
#include <polyfem/varforms/NonlinearElasticVarForm.hpp>
#include <polyfem/Common.hpp>
#include <polyfem/utils/Logger.hpp>
#include <polyfem/utils/Types.hpp>
#include <polyfem/utils/BoundarySampler.hpp>
#include <polyfem/optimization/DiffCache.hpp>
#include <polyfem/optimization/AdjointTools.hpp>
 
#include <Eigen/Core>
 
#include <cassert>
#include <cstddef>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
namespace polyfem::solver
{
    namespace
    {
        class QuadraticBarrier : public ipc::Barrier
        {
        public:
            QuadraticBarrier(const double weight = 1) : weight_(weight) {}
 
            double operator()(const double d, const double dhat) const override
            {
                if (d > dhat)
                    return 0;
                else
                    return weight_ * (d - dhat) * (d - dhat);
            }
            double first_derivative(const double d, const double dhat) const override
            {
                if (d > dhat)
                    return 0;
                else
                    return 2 * weight_ * (d - dhat);
            }
            double second_derivative(const double d, const double dhat) const override
            {
                if (d > dhat)
                    return 0;
                else
                    return 2 * weight_;
            }
            double units(const double dhat) const override
            {
                return dhat * dhat;
            }
 
        private:
            const double weight_;
        };
 
    } // namespace
 
    CollisionBarrierForm::CollisionBarrierForm(const VariableToSimulationGroup &variable_to_simulation, std::shared_ptr<const varform::DifferentiableVarForm> varform, const io::ResourceIO &resources, const double dhat, const double dmin)
        : AdjointForm(variable_to_simulation), varform_(std::move(varform)), dhat_(dhat), dmin_(dmin), barrier_potential_(dhat, 1.0)
    {
        varform::NonlinearElasticVarForm::build_collision_mesh(
            varform_->get_mesh(), varform_->primary_space().geometry->n_bases, varform_->primary_space().geometry_basis_list(), varform_->primary_space().geometry_basis_list(),
            varform_->boundary_state().total_local_boundary, varform_->get_obstacle(), varform_->get_args(), resources,
            varform_->primary_space().space_in_node_to_node, collision_mesh_);
 
        Eigen::MatrixXd V;
        varform_->get_vertices(V);
        X_init = utils::flatten(V);
 
        broad_phase_method_ = ipc::BroadPhaseMethod::HASH_GRID;
    }
 
    double CollisionBarrierForm::value_unweighted(const Eigen::VectorXd &x) const
    {
        const Eigen::MatrixXd displaced_surface = collision_mesh_.vertices(utils::unflatten(get_updated_mesh_nodes(x), varform_->get_mesh().dimension()));
        return barrier_potential_(collision_set, collision_mesh_, displaced_surface);
    }
 
    void CollisionBarrierForm::compute_partial_gradient(const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const
    {
        gradv = weight() * variable_to_simulations_.apply_parametrization_jacobian(ParameterType::Shape, *varform_, x, [this, &x]() {
            const Eigen::MatrixXd displaced_surface = collision_mesh_.vertices(utils::unflatten(get_updated_mesh_nodes(x), varform_->get_mesh().dimension()));
            const Eigen::VectorXd grad = collision_mesh_.to_full_dof(barrier_potential_.gradient(collision_set, collision_mesh_, displaced_surface));
            return AdjointTools::map_node_to_primitive_order(*varform_, grad);
        });
    }
 
    void CollisionBarrierForm::solution_changed(const Eigen::VectorXd &x)
    {
        AdjointForm::solution_changed(x);
 
        const Eigen::MatrixXd displaced_surface = collision_mesh_.vertices(utils::unflatten(get_updated_mesh_nodes(x), varform_->get_mesh().dimension()));
        build_collision_set(displaced_surface);
    }
 
    bool CollisionBarrierForm::is_step_collision_free(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
    {
        const Eigen::MatrixXd V0 = utils::unflatten(get_updated_mesh_nodes(x0), varform_->get_mesh().dimension());
        const Eigen::MatrixXd V1 = utils::unflatten(get_updated_mesh_nodes(x1), varform_->get_mesh().dimension());
 
        // Skip CCD if the displacement is zero.
        if ((V1 - V0).lpNorm<Eigen::Infinity>() == 0.0)
            return true;
 
        const ipc::TightInclusionCCD tight_inclusion_ccd(1e-6, 1e6);
        bool is_valid = ipc::is_step_collision_free(
            collision_mesh_,
            collision_mesh_.vertices(V0),
            collision_mesh_.vertices(V1),
            dmin_,
            ipc::create_broad_phase(broad_phase_method_).get(),
            tight_inclusion_ccd);
 
        return is_valid;
    }
 
    double CollisionBarrierForm::max_step_size(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
    {
        const Eigen::MatrixXd V0 = utils::unflatten(get_updated_mesh_nodes(x0), varform_->get_mesh().dimension());
        const Eigen::MatrixXd V1 = utils::unflatten(get_updated_mesh_nodes(x1), varform_->get_mesh().dimension());
 
        const ipc::TightInclusionCCD tight_inclusion_ccd(1e-6, 1e6);
        double max_step = ipc::compute_collision_free_stepsize(
            collision_mesh_,
            collision_mesh_.vertices(V0),
            collision_mesh_.vertices(V1),
            dmin_,
            ipc::create_broad_phase(broad_phase_method_).get(),
            tight_inclusion_ccd);
 
        adjoint_logger().info("Objective {}: max step size is {}.", name(), max_step);
 
        return max_step;
    }
 
    void CollisionBarrierForm::build_collision_set(const Eigen::MatrixXd &displaced_surface)
    {
        static Eigen::MatrixXd cached_displaced_surface;
        if (cached_displaced_surface.size() == displaced_surface.size() && cached_displaced_surface == displaced_surface)
            return;
 
        collision_set.build(collision_mesh_, displaced_surface, dhat_, dmin_, ipc::create_broad_phase(broad_phase_method_).get());
 
        cached_displaced_surface = displaced_surface;
    }
 
    Eigen::VectorXd CollisionBarrierForm::get_updated_mesh_nodes(const Eigen::VectorXd &x) const
    {
        Eigen::VectorXd X = X_init;
        variable_to_simulations_.compute_state_variable(ParameterType::Shape, *varform_, x, X);
        return AdjointTools::map_primitive_to_node_order(*varform_, X);
    }
 
    LayerThicknessForm::LayerThicknessForm(const VariableToSimulationGroup &variable_to_simulations,
                                           std::shared_ptr<const varform::DifferentiableVarForm> varform,
                                           const io::ResourceIO &resources,
                                           const std::vector<int> &boundary_ids,
                                           const double dhat,
                                           const bool use_log_barrier,
                                           const double dmin)
        : CollisionBarrierForm(variable_to_simulations, std::move(varform), resources, dhat, dmin),
          boundary_ids_(boundary_ids)
    {
        for (const auto &id : boundary_ids_)
            boundary_ids_to_dof_[id] = std::set<int>();
 
        build_collision_mesh();
 
        if (!use_log_barrier)
            barrier_potential_.set_barrier(std::make_shared<QuadraticBarrier>());
    }
 
    void LayerThicknessForm::build_collision_mesh()
    {
        Eigen::MatrixXd node_positions;
        Eigen::MatrixXi boundary_edges, boundary_triangles;
        std::vector<Eigen::Triplet<double>> displacement_map_entries;
        io::OutGeometryData::extract_boundary_mesh(varform_->get_mesh(), varform_->primary_space().geometry->n_bases, varform_->primary_space().geometry_basis_list(), varform_->boundary_state().total_local_boundary,
                                                   node_positions, boundary_edges, boundary_triangles, displacement_map_entries);
 
        std::vector<bool> is_on_surface;
        is_on_surface.resize(node_positions.rows(), false);
 
        assembler::ElementAssemblyValues vals;
        Eigen::MatrixXd points, uv, normals;
        Eigen::VectorXd weights;
        Eigen::VectorXi global_primitive_ids;
        for (const auto &lb : varform_->boundary_state().total_local_boundary)
        {
            const int e = lb.element_id();
            bool has_samples = utils::BoundarySampler::boundary_quadrature(lb, varform_->n_boundary_samples(), varform_->get_mesh(), false, uv, points, normals, weights, global_primitive_ids);
 
            if (!has_samples)
                continue;
 
            const basis::ElementBases &gbs = varform_->primary_space().geometry_basis_list()[e];
 
            vals.compute(e, varform_->get_mesh().is_volume(), points, gbs, gbs);
 
            for (int i = 0; i < lb.size(); ++i)
            {
                const int primitive_global_id = lb.global_primitive_id(i);
                const auto nodes = gbs.local_nodes_for_primitive(primitive_global_id, varform_->get_mesh());
                const int boundary_id = varform_->get_mesh().get_boundary_id(primitive_global_id);
 
                if (!std::count(boundary_ids_.begin(), boundary_ids_.end(), boundary_id))
                    continue;
 
                for (long n = 0; n < nodes.size(); ++n)
                {
                    const assembler::AssemblyValues &v = vals.basis_values[nodes(n)];
                    is_on_surface[v.global[0].index] = true;
                    assert(v.global[0].index < node_positions.rows());
                    boundary_ids_to_dof_[boundary_id].insert(v.global[0].index);
                }
            }
        }
 
        Eigen::SparseMatrix<double> displacement_map;
        if (!displacement_map_entries.empty())
        {
            displacement_map.resize(node_positions.rows(), varform_->primary_space().geometry->n_bases);
            displacement_map.setFromTriplets(displacement_map_entries.begin(), displacement_map_entries.end());
        }
 
        // Fix boundary edges and boundary triangles to exclude vertices not on triangles
        Eigen::MatrixXi boundary_edges_alt(0, 2), boundary_triangles_alt(0, 3);
        {
            for (int i = 0; i < boundary_edges.rows(); ++i)
            {
                bool on_surface = true;
                for (int j = 0; j < boundary_edges.cols(); ++j)
                    on_surface &= is_on_surface[boundary_edges(i, j)];
                if (on_surface)
                {
                    boundary_edges_alt.conservativeResize(boundary_edges_alt.rows() + 1, 2);
                    boundary_edges_alt.row(boundary_edges_alt.rows() - 1) = boundary_edges.row(i);
                }
            }
 
            if (varform_->get_mesh().is_volume())
            {
                for (int i = 0; i < boundary_triangles.rows(); ++i)
                {
                    bool on_surface = true;
                    for (int j = 0; j < boundary_triangles.cols(); ++j)
                        on_surface &= is_on_surface[boundary_triangles(i, j)];
                    if (on_surface)
                    {
                        boundary_triangles_alt.conservativeResize(boundary_triangles_alt.rows() + 1, 3);
                        boundary_triangles_alt.row(boundary_triangles_alt.rows() - 1) = boundary_triangles.row(i);
                    }
                }
            }
            else
                boundary_triangles_alt.resize(0, 0);
        }
 
        collision_mesh_ = ipc::CollisionMesh(is_on_surface,
                                             std::vector<bool>(is_on_surface.size(), false),
                                             node_positions,
                                             boundary_edges_alt,
                                             boundary_triangles_alt,
                                             displacement_map);
 
        can_collide_cache_.resize(collision_mesh_.num_vertices(), collision_mesh_.num_vertices());
        for (int i = 0; i < can_collide_cache_.rows(); ++i)
        {
            int dof_idx_i = collision_mesh_.to_full_vertex_id(i);
            if (!is_on_surface[dof_idx_i])
                continue;
            for (int j = 0; j < can_collide_cache_.cols(); ++j)
            {
                int dof_idx_j = collision_mesh_.to_full_vertex_id(j);
                if (!is_on_surface[dof_idx_j])
                    continue;
 
                bool collision_allowed = true;
                for (const auto &id : boundary_ids_)
                    if (boundary_ids_to_dof_[id].count(dof_idx_i) && boundary_ids_to_dof_[id].count(dof_idx_j))
                        collision_allowed = false;
                can_collide_cache_(i, j) = collision_allowed;
            }
        }
 
        collision_mesh_.can_collide = [&](size_t vi, size_t vj) {
            return (bool)can_collide_cache_(vi, vj);
        };
 
        collision_mesh_.init_area_jacobians();
    }
 
    DeformedCollisionBarrierForm::DeformedCollisionBarrierForm(const VariableToSimulationGroup &variable_to_simulation, std::shared_ptr<const varform::DifferentiableVarForm> varform, std::shared_ptr<const DiffCache> diff_cache, const io::ResourceIO &resources, const double dhat)
        : AdjointForm(variable_to_simulation), varform_(std::move(varform)), diff_cache_(std::move(diff_cache)), dhat_(dhat), barrier_potential_(dhat, 1.0)
    {
        if (varform_->primary_space().n_bases != varform_->primary_space().geometry->n_bases)
            log_and_throw_adjoint_error("[{}] Should use linear FE basis!", name());
 
        varform::NonlinearElasticVarForm::build_collision_mesh(
            varform_->get_mesh(), varform_->primary_space().geometry->n_bases, varform_->primary_space().geometry_basis_list(), varform_->primary_space().geometry_basis_list(),
            varform_->boundary_state().total_local_boundary, varform_->get_obstacle(), varform_->get_args(), resources,
            varform_->primary_space().space_in_node_to_node, collision_mesh_);
 
        Eigen::MatrixXd V;
        varform_->get_vertices(V);
        X_init = utils::flatten(V);
 
        broad_phase_method_ = ipc::BroadPhaseMethod::HASH_GRID;
    }
 
    double DeformedCollisionBarrierForm::value_unweighted(const Eigen::VectorXd &x) const
    {
        const Eigen::MatrixXd displaced_surface = collision_mesh_.vertices(utils::unflatten(get_updated_mesh_nodes(x), varform_->get_mesh().dimension()));
 
        return barrier_potential_(collision_set, collision_mesh_, displaced_surface);
    }
 
    void DeformedCollisionBarrierForm::compute_partial_gradient(const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const
    {
        gradv = weight() * variable_to_simulations_.apply_parametrization_jacobian(ParameterType::Shape, *varform_, x, [this, &x]() {
            const Eigen::MatrixXd displaced_surface = collision_mesh_.vertices(utils::unflatten(get_updated_mesh_nodes(x), varform_->get_mesh().dimension()));
            const Eigen::VectorXd grad = collision_mesh_.to_full_dof(barrier_potential_.gradient(collision_set, collision_mesh_, displaced_surface));
            return AdjointTools::map_node_to_primitive_order(*varform_, grad);
        });
    }
 
    void DeformedCollisionBarrierForm::solution_changed(const Eigen::VectorXd &x)
    {
        AdjointForm::solution_changed(x);
 
        const Eigen::MatrixXd displaced_surface = collision_mesh_.vertices(utils::unflatten(get_updated_mesh_nodes(x), varform_->get_mesh().dimension()));
        build_collision_set(displaced_surface);
    }
 
    bool DeformedCollisionBarrierForm::is_step_collision_free(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
    {
        // const Eigen::MatrixXd V0 = utils::unflatten(get_updated_mesh_nodes(x0), varform_->get_mesh().dimension());
        // const Eigen::MatrixXd V1 = utils::unflatten(get_updated_mesh_nodes(x1), varform_->get_mesh().dimension());
 
        // // Skip CCD if the displacement is zero.
        // if ((V1 - V0).lpNorm<Eigen::Infinity>() == 0.0)
        //     return true;
 
        // bool is_valid = ipc::is_step_collision_free(
        //     collision_mesh_,
        //     collision_mesh_.vertices(V0),
        //     collision_mesh_.vertices(V1),
        //     broad_phase_method_,
        //     1e-6, 1e6);
 
        return true; // is_valid;
    }
 
    double DeformedCollisionBarrierForm::max_step_size(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
    {
        // const Eigen::MatrixXd V0 = utils::unflatten(get_updated_mesh_nodes(x0), varform_->get_mesh().dimension());
        // const Eigen::MatrixXd V1 = utils::unflatten(get_updated_mesh_nodes(x1), varform_->get_mesh().dimension());
 
        // double max_step = ipc::compute_collision_free_stepsize(
        //     collision_mesh_,
        //     collision_mesh_.vertices(V0),
        //     collision_mesh_.vertices(V1),
        //     broad_phase_method_, 1e-6, 1e6);
 
        return 1; // max_step;
    }
 
    void DeformedCollisionBarrierForm::build_collision_set(const Eigen::MatrixXd &displaced_surface)
    {
        static Eigen::MatrixXd cached_displaced_surface;
        if (cached_displaced_surface.size() == displaced_surface.size() && cached_displaced_surface == displaced_surface)
            return;
 
        collision_set.build(collision_mesh_, displaced_surface, dhat_, 0, ipc::create_broad_phase(broad_phase_method_).get());
 
        cached_displaced_surface = displaced_surface;
    }
 
    Eigen::VectorXd DeformedCollisionBarrierForm::get_updated_mesh_nodes(const Eigen::VectorXd &x) const
    {
        Eigen::VectorXd X = X_init;
        variable_to_simulations_.compute_state_variable(ParameterType::Shape, *varform_, x, X);
        return AdjointTools::map_primitive_to_node_order(*varform_, X) + diff_cache_->u(0);
    }
 
    SmoothContactForceForm::SmoothContactForceForm(
        const VariableToSimulationGroup &variable_to_simulations,
        std::shared_ptr<const varform::DifferentiableVarForm> varform,
        std::shared_ptr<const DiffCache> diff_cache,
        const json &args)
        : StaticForm(variable_to_simulations),
          varform_(std::move(varform)),
          diff_cache_(std::move(diff_cache)),
          params_(varform_->get_args()["contact"]["dhat"], varform_->get_args()["contact"]["alpha_t"], 0, varform_->get_args()["contact"]["alpha_n"], 0, varform_->get_mesh().is_volume() ? 2 : 1),
          potential_(params_)
    {
        auto tmp_ids = args["surface_selection"].get<std::vector<int>>();
        boundary_ids_ = std::set(tmp_ids.begin(), tmp_ids.end());
 
        build_collision_mesh();
    }
 
    void SmoothContactForceForm::build_collision_mesh()
    {
        // Deep copy and change the can_collide() function
        collision_mesh_ = varform_->collision_mesh();
 
        // const int num_fe_nodes = varform_->primary_space().n_bases - varform_->obstacle.n_vertices();
 
        // collision_mesh_.can_collide = [this, num_fe_nodes](size_t vi, size_t vj) {
        //  return this->collision_mesh()_.to_full_vertex_id(vi) >= num_fe_nodes || this->collision_mesh()_.to_full_vertex_id(vj) >= num_fe_nodes;
        // };
 
        std::vector<int> is_obstacle(varform_->primary_space().n_bases);
        for (int e = 0; e < varform_->primary_space().basis_list().size(); e++)
        {
            const auto &b = varform_->primary_space().basis_list()[e];
            if (varform_->get_mesh().get_body_id(e) == 1)
                for (const auto &bs : b.bases)
                {
                    for (const auto &g : bs.global())
                    {
                        is_obstacle[g.index] = true;
                    }
                }
        }
 
        collision_mesh_.can_collide = [this, is_obstacle](size_t vi, size_t vj) {
            return is_obstacle[this->collision_mesh_.to_full_vertex_id(vi)] || is_obstacle[this->collision_mesh_.to_full_vertex_id(vj)];
        };
    }
 
    ipc::SmoothCollisions SmoothContactForceForm::get_smooth_collision_set(const Eigen::MatrixXd &displaced_surface)
    {
        ipc::SmoothCollisions collisions;
        const auto smooth_contact = dynamic_cast<const SmoothContactForm *>(varform_->solve_data()->contact_form.get());
        collisions.build(collision_mesh_, displaced_surface, smooth_contact->get_params(), smooth_contact->using_adaptive_dhat(), smooth_contact->get_broad_phase().get());
        return collisions;
    }
 
    double SmoothContactForceForm::value_unweighted_step(const int time_step, const Eigen::VectorXd &x) const
    {
        assert(varform_->solve_data()->contact_form != nullptr);
 
        const Eigen::MatrixXd displaced_surface = collision_mesh_.displace_vertices(utils::unflatten(diff_cache_->u(time_step), collision_mesh_.dim()));
 
        Eigen::VectorXd forces = collision_mesh_.to_full_dof(potential_.gradient(collisions_, collision_mesh_, displaced_surface));
 
        // return forces.squaredNorm();
 
        Eigen::VectorXd coeff(forces.size());
        coeff.setZero();
        coeff(Eigen::seq(1, coeff.size(), collision_mesh_.dim())).array() = 1;
        return (coeff.array() * forces.array()).matrix().squaredNorm() / 2;
    }
 
    Eigen::VectorXd SmoothContactForceForm::compute_adjoint_rhs_step(const int time_step, const Eigen::VectorXd &x, const varform::DifferentiableVarForm &varform, const DiffCache &diff_cache) const
    {
        assert(varform_->solve_data()->contact_form != nullptr);
 
        const Eigen::MatrixXd displaced_surface = collision_mesh_.displace_vertices(utils::unflatten(diff_cache_->u(time_step), collision_mesh_.dim()));
 
        Eigen::VectorXd forces = potential_.gradient(collisions_, collision_mesh_, displaced_surface);
        forces = collision_mesh_.to_full_dof(forces);
 
        StiffnessMatrix hessian = potential_.hessian(collisions_, collision_mesh_, displaced_surface, ipc::PSDProjectionMethod::NONE);
        hessian = collision_mesh_.to_full_dof(hessian);
 
        Eigen::VectorXd coeff(forces.size());
        coeff.setZero();
        coeff(Eigen::seq(1, coeff.size(), collision_mesh_.dim())).array() = 1;
        return weight() * (hessian * (coeff.array() * forces.array()).matrix());
    }
 
    void SmoothContactForceForm::compute_partial_gradient_step(const int time_step, const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const
    {
        assert(varform_->solve_data()->contact_form != nullptr);
 
        const Eigen::MatrixXd displaced_surface = collision_mesh_.displace_vertices(utils::unflatten(diff_cache_->u(time_step), collision_mesh_.dim()));
 
        Eigen::VectorXd forces = potential_.gradient(collisions_, collision_mesh_, displaced_surface);
        forces = collision_mesh_.to_full_dof(forces);
 
        StiffnessMatrix hessian = potential_.hessian(collisions_, collision_mesh_, displaced_surface, ipc::PSDProjectionMethod::NONE);
        hessian = collision_mesh_.to_full_dof(hessian);
 
        gradv = weight() * variable_to_simulations_.apply_parametrization_jacobian(ParameterType::Shape, *varform_, x, [this, &x, &forces, &hessian]() {
            // Eigen::VectorXd grads = 2 * hessian.transpose() * forces;
 
            Eigen::VectorXd coeff(forces.size());
            coeff.setZero();
            coeff(Eigen::seq(1, coeff.size(), collision_mesh_.dim())).array() = 1;
            Eigen::VectorXd grads = (hessian * (coeff.array() * forces.array()).matrix());
 
            grads = diff_cache_->basis_nodes_to_gbasis_nodes() * grads;
            return AdjointTools::map_node_to_primitive_order(*varform_, grads);
        });
    }
 
    void SmoothContactForceForm::solution_changed_step(const int time_step, const Eigen::VectorXd &x)
    {
        build_collision_mesh();
        const Eigen::MatrixXd displaced_surface = collision_mesh_.displace_vertices(utils::unflatten(diff_cache_->u(time_step), collision_mesh_.dim()));
        collisions_ = get_smooth_collision_set(displaced_surface);
    }
} // namespace polyfem::solver