ESPContactForm.hpp

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#pragma once
 
#include "ContactForm.hpp"
#include <ipc/esp/esp_collisions.hpp>
#include <ipc/esp/esp_potential.hpp>
#include <cmath>
 
namespace polyfem::solver
{
 
    class ESPContactForm : public ContactForm
    {
    public:
        ESPContactForm(const ipc::CollisionMesh &collision_mesh,
                       const double dhat,
                       const double avg_mass,
                       const json esp_params,
                       const bool skip_obstacles,
                       std::shared_ptr<ipc::Barrier> barrier,
                       const bool use_adaptive_dhat,
                       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,
                       const double dhat_epsilon_scale);
 
        virtual std::string name() const override { return "ESP"; }
 
        void update_barrier_stiffness(const Eigen::VectorXd &x, const Eigen::MatrixXd &grad_energy) override;
 
        void post_step(const polysolve::nonlinear::PostStepData &data) override;
 
        const ipc::ESPParameters &get_params() const { return params; }
 
        const ipc::ESPCollisions &collision_set() const { return collision_set_; }
 
        const ipc::ESPPotential &barrier_potential() const { return barrier_potential_; }
 
    protected:
        double value_unweighted(const Eigen::VectorXd &x) const override;
 
        Eigen::VectorXd value_per_element_unweighted(const Eigen::VectorXd &x) const override;
 
        void first_derivative_unweighted(const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const override;
 
        void second_derivative_unweighted(const Eigen::VectorXd &x, StiffnessMatrix &hessian) const override;
 
        double barrier_support_size() const override { return dhat_; }
 
        void update_collision_set(const Eigen::MatrixXd &displaced_surface) override;
 
    private:
        ipc::ESPParameters params;
 
        ipc::ESPCollisions collision_set_;
 
        ipc::ESPPotential barrier_potential_;
 
        Eigen::MatrixXd cached_displaced_surface;
    };
} // namespace polyfem::solver