FixedCorotational.hpp

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#pragma once
 
#include <polyfem/assembler/Assembler.hpp>
#include <polyfem/assembler/MatParams.hpp>
#include <polyfem/utils/AutodiffTypes.hpp>
#include <polyfem/utils/ElasticityUtils.hpp>
 
// non linear NeoHookean material model
namespace polyfem::assembler
{
    class FixedCorotational : public NLAssembler, public ElasticityAssembler
    {
    public:
        FixedCorotational();
 
        using NLAssembler::assemble_energy;
        using NLAssembler::assemble_gradient;
        using NLAssembler::assemble_hessian;
 
        // energy, gradient, and hessian used in newton method
        double compute_energy(const NonLinearAssemblerData &data) const override;
        Eigen::VectorXd assemble_gradient(const NonLinearAssemblerData &data) const override;
        Eigen::MatrixXd assemble_hessian(const NonLinearAssemblerData &data) const override;
 
        void compute_stress_grad_multiply_mat(const OptAssemblerData &data,
                                              const Eigen::MatrixXd &mat,
                                              Eigen::MatrixXd &stress,
                                              Eigen::MatrixXd &result) const override;
 
        void compute_stress_grad_multiply_stress(const OptAssemblerData &data,
                                                 Eigen::MatrixXd &stress,
                                                 Eigen::MatrixXd &result) const override;
 
        void compute_dstress_dmu_dlambda(const OptAssemblerData &data,
                                         Eigen::MatrixXd &dstress_dmu,
                                         Eigen::MatrixXd &dstress_dlambda) const override;
 
        // sets material params
        void add_multimaterial(const int index, const json &params, const Units &units) override;
 
        void set_params(const LameParameters &params) { params_ = params; }
        const LameParameters &lame_params() const { return params_; }
 
        void update_lame_params(const Eigen::MatrixXd &lambdas, const Eigen::MatrixXd &mus) override
        {
            params_.lambda_mat_ = lambdas;
            params_.mu_mat_ = mus;
        }
 
        std::string name() const override { return "FixedCorotational"; }
        std::map<std::string, ParamFunc> parameters() const override;
 
        void assign_stress_tensor(const OutputData &data,
                                  const int all_size,
                                  const ElasticityTensorType &type,
                                  Eigen::MatrixXd &all,
                                  const std::function<Eigen::MatrixXd(const Eigen::MatrixXd &)> &fun) const override;
 
    private:
        LameParameters params_;
 
        // utility function that computes energy, the template is used for double, DScalar1, and DScalar2 in energy, gradient and hessian
        template <int dim>
        double compute_energy_aux(const NonLinearAssemblerData &data) const;
        template <int n_basis, int dim>
        void compute_energy_hessian_aux_fast(const NonLinearAssemblerData &data, Eigen::MatrixXd &H) const;
        template <int n_basis, int dim>
        void compute_energy_aux_gradient_fast(const NonLinearAssemblerData &data, Eigen::VectorXd &G_flattened) const;
    
        template <int dim>
        static double compute_energy_from_singular_values(const Eigen::Vector<double, dim> &sigmas, const double lambda, const double mu);
        template <int dim>
        static Eigen::Vector<double, dim> compute_stress_from_singular_values(const Eigen::Vector<double, dim> &sigmas, const double lambda, const double mu);
        template <int dim>
        static Eigen::Matrix<double, dim, dim> compute_stiffness_from_singular_values(const Eigen::Vector<double, dim> &sigmas, const double lambda, const double mu);
 
        template <int dim>
        static double compute_energy_from_def_grad(const Eigen::Matrix<double, dim, dim> &F, const double lambda, const double mu);
        template <int dim>
        static Eigen::Matrix<double, dim, dim> compute_stress_from_def_grad(const Eigen::Matrix<double, dim, dim> &F, const double lambda, const double mu);
        template <int dim>
        static Eigen::Matrix<double, dim*dim, dim*dim> compute_stiffness_from_def_grad(const Eigen::Matrix<double, dim, dim> &F, const double lambda, const double mu);
    };
} // namespace polyfem::assembler