ContactForm.hpp

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#pragma once
 
#include "Form.hpp"
 
#include <polyfem/Common.hpp>
#include <polyfem/utils/Types.hpp>
 
#include <ipc/collisions/normal/normal_collisions.hpp>
#include <ipc/collision_mesh.hpp>
#include <ipc/broad_phase/create_broad_phase.hpp>
#include <ipc/potentials/potential.hpp>
 
// map BroadPhaseMethod values to JSON as strings
namespace ipc
{
    // map ipc::BroadPhaseMethod values to JSON as strings
    NLOHMANN_JSON_SERIALIZE_ENUM(
        ipc::BroadPhaseMethod,
        {{ipc::BroadPhaseMethod::HASH_GRID, "hash_grid"}, // also default
            {ipc::BroadPhaseMethod::HASH_GRID, "HG"},
            {ipc::BroadPhaseMethod::BRUTE_FORCE, "brute_force"},
            {ipc::BroadPhaseMethod::BRUTE_FORCE, "BF"},
            {ipc::BroadPhaseMethod::SPATIAL_HASH, "spatial_hash"},
            {ipc::BroadPhaseMethod::SPATIAL_HASH, "SH"},
            {ipc::BroadPhaseMethod::BVH, "bvh"},
            {ipc::BroadPhaseMethod::BVH, "BVH"},
            {ipc::BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE, "sweep_and_tiniest_queue"},
            {ipc::BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE, "STQ"}
            })
}
 
namespace polyfem::solver
{
    class ContactForm : public Form
    {
    public:
        ContactForm(const ipc::CollisionMesh &collision_mesh,
                    const double dhat,
                    const double avg_mass,
                    const bool use_adaptive_barrier_stiffness,
                    const bool is_time_dependent,
                    const bool enable_shape_derivatives,
                    const ipc::BroadPhaseMethod broad_phase_method,
                    const double ccd_tolerance,
                    const int ccd_max_iterations);
        virtual ~ContactForm() = default;
 
        virtual std::string name() const override { return "contact"; }
 
        virtual void init(const Eigen::VectorXd &x) override;
 
    public:
        virtual void update_quantities(const double t, const Eigen::VectorXd &x) override;
 
        virtual double max_step_size(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const override;
 
        virtual void line_search_begin(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) override;
 
        void line_search_end() override;
 
        virtual void solution_changed(const Eigen::VectorXd &new_x) override;
 
        virtual bool is_step_collision_free(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const override;
 
        virtual void update_barrier_stiffness(const Eigen::VectorXd &x, const Eigen::MatrixXd &grad_energy) = 0;
 
        Eigen::MatrixXd compute_displaced_surface(const Eigen::VectorXd &x) const;
 
        double barrier_stiffness() const { return barrier_stiffness_; }
        void set_barrier_stiffness(const double barrier_stiffness) { barrier_stiffness_ = barrier_stiffness; }
        bool use_adaptive_barrier_stiffness() const { return use_adaptive_barrier_stiffness_; }
        virtual bool use_convergent_formulation() const { return false; }
        
        bool enable_shape_derivatives() const { return enable_shape_derivatives_; }
 
        double weight() const override { return weight_ * barrier_stiffness_; }
 
        bool save_ccd_debug_meshes = false;
 
        double dhat() const { return dhat_; }
 
        std::shared_ptr<ipc::BroadPhase> get_broad_phase() const { return broad_phase_; }
 
    protected:
        virtual void update_collision_set(const Eigen::MatrixXd &displaced_surface) = 0;
 
        virtual double barrier_support_size() const { return dhat_; }
 
        const ipc::CollisionMesh &collision_mesh_;
 
        const double dhat_;
 
        const double dmin_ = 0;
 
        const bool use_adaptive_barrier_stiffness_;
        double barrier_stiffness_;
        double max_barrier_stiffness_;
 
        const double avg_mass_;
 
        const bool is_time_dependent_;
 
        const bool enable_shape_derivatives_;
 
        const ipc::BroadPhaseMethod broad_phase_method_;
        const std::shared_ptr<ipc::BroadPhase> broad_phase_;
        const ipc::TightInclusionCCD tight_inclusion_ccd_;
 
        double prev_distance_;
 
        bool use_cached_candidates_ = false;
        ipc::Candidates candidates_;
    };
} // namespace polyfem::solver