L2Projection.cpp

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#include "L2Projection.hpp"
 
#include <polyfem/solver/ALSolver.hpp>
#include <polyfem/solver/problems/StaticBoundaryNLProblem.hpp>
#include <polyfem/solver/forms/lagrangian/BCLagrangianForm.hpp>
#include <polyfem/solver/forms/InversionBarrierForm.hpp>
#include <polyfem/solver/forms/L2ProjectionForm.hpp>
#include <polyfem/utils/MatrixUtils.hpp>
#include <polyfem/utils/Logger.hpp>
 
#include <ipc/ipc.hpp>
 
#include <polysolve/linear/Solver.hpp>
 
namespace polyfem::mesh
{
    Eigen::MatrixXd unconstrained_L2_projection(
        const Eigen::SparseMatrix<double> &M,
        const Eigen::SparseMatrix<double> &A,
        const Eigen::Ref<const Eigen::MatrixXd> &y)
    {
        // Construct a linear solver for M
        std::unique_ptr<polysolve::linear::Solver> solver;
#ifdef POLYSOLVE_WITH_MKL
        solver = polysolve::linear::Solver::create("Eigen::PardisoLDLT", "");
#elif defined(POLYSOLVE_WITH_CHOLMOD)
        solver = polysolve::linear::Solver::create("Eigen::CholmodSimplicialLDLT", "");
#else
        solver = polysolve::linear::Solver::create("Eigen::SimplicialLDLT", "");
#endif
 
        solver->analyze_pattern(M, 0);
        solver->factorize(M);
 
        const Eigen::MatrixXd rhs = A * y;
        Eigen::MatrixXd x(rhs.rows(), rhs.cols());
        for (int i = 0; i < x.cols(); ++i)
            solver->solve(rhs.col(i), x.col(i));
 
        double residual_error = (M * x - rhs).norm();
        logger().debug("residual error in L2 projection: {}", residual_error);
        assert(residual_error < std::max(1e-12 * rhs.norm(), 1e-12));
 
        return x;
    }
 
    void reduced_L2_projection(
        const Eigen::MatrixXd &M,
        const Eigen::MatrixXd &A,
        const Eigen::Ref<const Eigen::MatrixXd> &y,
        const std::vector<int> &boundary_nodes,
        Eigen::Ref<Eigen::MatrixXd> x)
    {
        std::vector<int> free_nodes;
        for (int i = 0, j = 0; i < y.rows(); ++i)
        {
            if (boundary_nodes[j] == i)
                ++j;
            else
                free_nodes.push_back(i);
        }
 
        const Eigen::MatrixXd H = M(free_nodes, free_nodes);
 
        const Eigen::MatrixXd g = -((M * x - A * y)(free_nodes, Eigen::all));
        const Eigen::MatrixXd sol = H.llt().solve(g);
        x(free_nodes, Eigen::all) += sol;
    }
 
    Eigen::VectorXd constrained_L2_projection(
        // Nonlinear solver
        std::shared_ptr<polysolve::nonlinear::Solver> nl_solver,
        // L2 projection form
        const Eigen::SparseMatrix<double> &M,
        const Eigen::SparseMatrix<double> &A,
        const Eigen::VectorXd &y,
        // Inversion-free form
        const Eigen::MatrixXd &rest_positions,
        const Eigen::MatrixXi &elements,
        const int dim,
        // Contact form
        const ipc::CollisionMesh &collision_mesh,
        const double dhat,
        const double barrier_stiffness,
        const bool use_convergent_formulation,
        const ipc::BroadPhaseMethod broad_phase_method,
        const double ccd_tolerance,
        const int ccd_max_iterations,
        // Augmented lagrangian form
        const std::vector<int> &boundary_nodes,
        const size_t obstacle_ndof,
        const Eigen::VectorXd &target_x,
        // Initial guess
        const Eigen::VectorXd &x0)
    {
        using namespace polyfem::solver;
 
        assert(M.rows() == M.cols());
        assert(A.rows() == M.rows());
        assert(A.cols() == y.size());
 
        std::vector<std::shared_ptr<Form>> forms;
 
        forms.push_back(std::make_shared<L2ProjectionForm>(M, A, y));
 
        forms.push_back(std::make_shared<InversionBarrierForm>(
            rest_positions, elements, dim, /*vhat=*/1e-12));
        forms.back()->set_weight(barrier_stiffness); // use same weight as barrier stiffness
        assert(forms.back()->is_step_valid(x0, x0));
 
        if (collision_mesh.num_vertices() != 0)
        {
            forms.push_back(std::make_shared<ContactForm>(
                collision_mesh, dhat, /*avg_mass=*/1.0, use_convergent_formulation,
                /*use_adaptive_barrier_stiffness=*/false, /*is_time_dependent=*/true,
                /*enable_shape_derivatives=*/false, broad_phase_method, ccd_tolerance,
                ccd_max_iterations));
            forms.back()->set_weight(barrier_stiffness);
            assert(!ipc::has_intersections(collision_mesh, collision_mesh.displace_vertices(utils::unflatten(x0, dim))));
        }
 
        const int ndof = x0.size();
 
        std::shared_ptr<BCLagrangianForm> bc_lagrangian_form = std::make_shared<BCLagrangianForm>(
            ndof, boundary_nodes, M, obstacle_ndof, target_x);
        forms.push_back(bc_lagrangian_form);
 
        // --------------------------------------------------------------------
 
        std::vector<std::shared_ptr<AugmentedLagrangianForm>> bc_forms;
        bc_forms.push_back(bc_lagrangian_form);
 
        StaticBoundaryNLProblem problem(ndof, target_x, forms, bc_forms);
 
        // --------------------------------------------------------------------
 
        // Create augmented Lagrangian solver
        // AL parameters
        constexpr double al_initial_weight = 1e6;
        constexpr double al_scaling = 2.0;
        constexpr int al_max_weight = 100 * al_initial_weight;
        constexpr double al_eta_tol = 0.99;
        constexpr size_t al_max_solver_iter = 1000;
        ALSolver al_solver(
            bc_forms, al_initial_weight,
            al_scaling, al_max_weight, al_eta_tol,
            /*update_barrier_stiffness=*/[&](const Eigen::MatrixXd &x) {});
 
        Eigen::MatrixXd sol = x0;
 
        const size_t default_max_iterations = nl_solver->stop_criteria().iterations;
        nl_solver->stop_criteria().iterations = al_max_solver_iter;
        al_solver.solve_al(nl_solver, problem, sol);
 
        nl_solver->stop_criteria().iterations = default_max_iterations;
        al_solver.solve_reduced(nl_solver, problem, sol);
 
#ifndef NDEBUG
        assert(forms[1]->is_step_valid(sol, sol)); // inversion-free
        if (collision_mesh.num_vertices() != 0)
            assert(!ipc::has_intersections(collision_mesh, collision_mesh.displace_vertices(utils::unflatten(sol, dim))));
#endif
 
        return sol;
    }
} // namespace polyfem::mesh