NonlinearElasticVarForm.cpp

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#include "NonlinearElasticVarForm.hpp"
 
#include <polyfem/assembler/AssemblerUtils.hpp>
#include <polyfem/assembler/MacroStrain.hpp>
 
#include <polyfem/mesh/mesh2D/Mesh2D.hpp>
#include <polyfem/mesh/mesh3D/Mesh3D.hpp>
#include <polyfem/mesh/collision_proxy/CollisionProxy.hpp>
#include <polyfem/mesh/GeometryReader.hpp>
 
#include <polyfem/utils/Logger.hpp>
#include <polyfem/utils/MatrixUtils.hpp>
#include <polyfem/utils/StringUtils.hpp>
#include <polyfem/utils/Timer.hpp>
#include <polyfem/utils/JSONUtils.hpp>
#include <polyfem/utils/Jacobian.hpp>
 
#include <polyfem/io/MatrixIO.hpp>
#include <polyfem/io/OBJWriter.hpp>
#include <polyfem/io/SolverCSVWriter.hpp>
 
#include <polyfem/solver/ALSolver.hpp>
#include <polyfem/solver/NLProblem.hpp>
#include <polyfem/solver/forms/FrictionForm.hpp>
#include <polyfem/solver/forms/NormalAdhesionForm.hpp>
#include <polyfem/solver/forms/SmoothContactForm.hpp>
#include <polyfem/solver/forms/TangentialAdhesionForm.hpp>
#include <polyfem/time_integrator/ImplicitTimeIntegrator.hpp>
 
#include <igl/Timer.h>
#include <igl/edges.h>
 
#include <ipc/ipc.hpp>
 
#include <polysolve/linear/Solver.hpp>
#include <polysolve/nonlinear/Solver.hpp>
 
#include <algorithm>
#include <cmath>
#include <limits>
 
namespace polyfem::varform
{
    using namespace solver;
    using namespace time_integrator;
 
    void NonlinearElasticVarForm::init(const std::string &formulation, const Units &units, const json &args, const std::string &out_path)
    {
        json clean_args = args;
        const bool contact_dhat_was_explicit = clean_args["contact"].value("_dhat_was_explicit", false);
        clean_args["contact"].erase("_dhat_was_explicit");
        ElasticVarForm::init(formulation, units, clean_args, out_path);
        contact_dhat_was_explicit_ = contact_dhat_was_explicit;
    }
 
    void NonlinearElasticVarForm::reset()
    {
        ElasticVarForm::reset();
        collision_mesh = ipc::CollisionMesh();
        obstacle.clear();
        solve_data = solver::SolveData();
        forms.clear();
        elasticity_pressure_assembler = nullptr;
        damping_assembler = nullptr;
        damping_prev_assembler = nullptr;
        contact_dhat_was_explicit_ = false;
    }
 
    void NonlinearElasticVarForm::load_mesh(const mesh::Mesh &mesh, const json &args)
    {
        ElasticVarForm::load_mesh(mesh, args);
 
        logger().info("Loading obstacles...");
        obstacle = mesh::read_obstacle_geometry(
            units,
            args["geometry"],
            utils::json_as_array(args["boundary_conditions"]["obstacle_displacements"]),
            utils::json_as_array(args["boundary_conditions"]["dirichlet_boundary"]),
            root_path, mesh.dimension());
    }
 
    io::OutputSpace NonlinearElasticVarForm::output_space() const
    {
        auto space = ElasticVarForm::output_space();
        space.collision_mesh = is_contact_enabled() ? &collision_mesh : nullptr;
        space.obstacle = &obstacle;
        return space;
    }
 
    std::vector<io::OutputField> NonlinearElasticVarForm::output_fields(
        const io::OutputSample &sample,
        const Eigen::MatrixXd &solution,
        const io::OutputFieldOptions &options) const
    {
        std::vector<io::OutputField> fields = elastic_output_fields(
            sample, solution, options, &obstacle, solve_data.time_integrator.get(),
            solve_data.named_forms(), solve_data.elastic_form.get(), solve_data.contact_form.get());
        if (!mesh_ || !problem || solution.size() <= 0)
            return fields;
        if (sample.domain != io::OutputSample::Domain::Contact)
            return fields;
 
        const int actual_dim = problem->is_scalar() ? 1 : mesh_->dimension();
        const auto &paraview_options = args["output"]["paraview"]["options"];
        const bool explicit_fields = !options.fields.empty();
 
        const auto has_field = [&](const std::string &name) {
            return std::any_of(fields.begin(), fields.end(), [&](const io::OutputField &field) {
                return field.association == io::OutputField::Association::Point && field.name == name;
            });
        };
 
        const auto append_collision_dof_field = [&](const std::string &name, const Eigen::MatrixXd &dof_values) {
            if (has_field(name) || dof_values.size() <= 0)
                return;
 
            Eigen::MatrixXd values = collision_mesh.map_displacements(utils::unflatten(dof_values, actual_dim));
            if (values.rows() == sample.points.rows())
                fields.push_back({name, values, io::OutputField::Association::Point});
        };
 
        const auto append_collision_form_force = [&](const std::string &name, const std::shared_ptr<solver::Form> &form) {
            if (!form || !form->enabled() || sample.points.rows() != collision_mesh.rest_positions().rows())
                return;
 
            Eigen::VectorXd force;
            form->first_derivative(solution.col(0), force);
            const double acceleration_scaling =
                solve_data.time_integrator ? solve_data.time_integrator->acceleration_scaling() : 1;
            force *= -1.0 / acceleration_scaling;
            append_collision_dof_field(name, force);
        };
 
        if (paraview_options["forces"] && !problem->is_scalar())
        {
            const double s = solve_data.time_integrator ? solve_data.time_integrator->acceleration_scaling() : 1;
            for (const auto &[name, form] : solve_data.named_forms())
            {
                const std::string field_name = name + "_forces";
                if (!options.export_field(field_name))
                    continue;
 
                Eigen::VectorXd force;
                if (form && form->enabled())
                {
                    form->first_derivative(solution, force);
                    force *= -1.0 / s;
                }
                else
                {
                    force.setZero(solution.size());
                }
                append_collision_dof_field(field_name, force);
            }
        }
 
        if (options.export_field("gradient_of_elastic_potential") && solve_data.elastic_form)
        {
            Eigen::VectorXd potential_grad;
            solve_data.elastic_form->first_derivative(solution, potential_grad);
            append_collision_dof_field("gradient_of_elastic_potential", potential_grad);
        }
 
        if (options.export_field("gradient_of_contact_potential") && solve_data.contact_form && solve_data.contact_form->weight() > 0)
        {
            Eigen::VectorXd potential_grad;
            solve_data.contact_form->first_derivative(solution, potential_grad);
            potential_grad *= -solve_data.contact_form->barrier_stiffness() / solve_data.contact_form->weight();
            append_collision_dof_field("gradient_of_contact_potential", potential_grad);
        }
 
        if (options.export_field("displacement"))
            append_collision_dof_field("displacement", solution);
        if (options.export_field("solution"))
            append_collision_dof_field("solution", solution);
 
        if ((paraview_options["contact_forces"] || explicit_fields) && options.export_field("contact_forces"))
            append_collision_form_force("contact_forces", solve_data.contact_form);
        if ((paraview_options["friction_forces"] || explicit_fields) && options.export_field("friction_forces"))
            append_collision_form_force("friction_forces", solve_data.friction_form);
        if ((paraview_options["normal_adhesion_forces"] || explicit_fields) && options.export_field("normal_adhesion_forces"))
            append_collision_form_force("normal_adhesion_forces", solve_data.normal_adhesion_form);
        if ((paraview_options["tangential_adhesion_forces"] || explicit_fields) && options.export_field("tangential_adhesion_forces"))
            append_collision_form_force("tangential_adhesion_forces", solve_data.tangential_adhesion_form);
 
        if (explicit_fields
            && options.export_field("adaptive_dhat")
            && args["contact"]["use_gcp_formulation"]
            && args["contact"]["use_adaptive_dhat"])
        {
            const auto smooth_contact = std::dynamic_pointer_cast<solver::SmoothContactForm>(solve_data.contact_form);
            if (smooth_contact)
            {
                const auto &set = smooth_contact->collision_set();
                if (actual_dim == 2)
                {
                    Eigen::VectorXd dhats(collision_mesh.num_edges());
                    for (int e = 0; e < dhats.size(); ++e)
                        dhats(e) = set.get_edge_dhat(e);
                    fields.push_back({"dhat", dhats, io::OutputField::Association::Cell});
                }
                else
                {
                    Eigen::VectorXd dhats(collision_mesh.num_faces());
                    for (int f = 0; f < dhats.size(); ++f)
                        dhats(f) = set.get_face_dhat(f);
                    fields.push_back({"dhat_face", dhats, io::OutputField::Association::Cell});
 
                    Eigen::VectorXd vertex_dhats(collision_mesh.num_vertices());
                    for (int v = 0; v < vertex_dhats.size(); ++v)
                        vertex_dhats(v) = set.get_vert_dhat(v);
                    fields.push_back({"dhat_vert", vertex_dhats, io::OutputField::Association::Point});
                }
            }
        }
 
        return fields;
    }
 
    void NonlinearElasticVarForm::build_basis(mesh::Mesh &mesh, const bool iso_parametric, const json &args)
    {
        ElasticVarForm::build_basis(mesh, iso_parametric, args);
 
        // Legacy nonlinear/contact code assumes the displacement space includes obstacle vertices.
        // The shared build path only counts FE bases, so extend it here
        // before constructing collision/contact state.
        const int n_fe_bases = space_.n_bases;
        space_.n_bases += obstacle.n_vertices();
 
        logger().info("Building collision mesh...");
        build_collision_mesh(mesh, args);
        preprocess_contact_parameters();
        // FIXME!! handle periodic collision mesh
        //  if (periodic_bc && args["contact"]["periodic"])
        //      build_periodic_collision_mesh();
        logger().info("Done!");
 
        for (int i = n_fe_bases; i < space_.n_bases; ++i)
        {
            for (int d = 0; d < mesh.dimension(); ++d)
                boundary_.boundary_nodes.push_back(i * mesh.dimension() + d);
        }
 
        boundary_.normalize_boundary_nodes();
    }
 
    void NonlinearElasticVarForm::preprocess_contact_parameters()
    {
        if (!is_contact_enabled())
            return;
 
        double min_boundary_edge_length = std::numeric_limits<double>::max();
        for (const auto &edge : collision_mesh.edges().rowwise())
        {
            const VectorNd v0 = collision_mesh.rest_positions().row(edge(0));
            const VectorNd v1 = collision_mesh.rest_positions().row(edge(1));
            min_boundary_edge_length = std::min(min_boundary_edge_length, (v1 - v0).norm());
        }
 
        double dhat = Units::convert(args["contact"]["dhat"], units.length());
        args["contact"]["epsv"] = Units::convert(args["contact"]["epsv"], units.velocity());
 
        if (!contact_dhat_was_explicit_
            && std::isfinite(min_boundary_edge_length)
            && dhat > min_boundary_edge_length)
        {
            dhat = args["contact"]["dhat_percentage"].get<double>() * min_boundary_edge_length;
            logger().info("dhat set to {}", dhat);
        }
        else if (std::isfinite(min_boundary_edge_length) && dhat > min_boundary_edge_length)
        {
            logger().warn("dhat larger than min boundary edge, {} > {}", dhat, min_boundary_edge_length);
        }
 
        args["contact"]["dhat"] = dhat;
    }
 
    void NonlinearElasticVarForm::build_rhs_assembler()
    {
        json rhs_solver_params = args["solver"]["linear"];
        if (!rhs_solver_params.contains("Pardiso"))
            rhs_solver_params["Pardiso"] = {};
        rhs_solver_params["Pardiso"]["mtype"] = -2;
 
        const int size = problem->is_scalar() ? 1 : mesh_->dimension();
 
        solve_data.rhs_assembler = std::make_shared<assembler::RhsAssembler>(
            *primary_assembler_, *mesh_, &obstacle,
            boundary_.dirichlet_nodes, boundary_.neumann_nodes,
            boundary_.dirichlet_nodes_position, boundary_.neumann_nodes_position,
            space_.n_bases, size, space_.basis_list(), space_.geometry_basis_list(), mass_ass_vals_cache_, *problem,
            args["space"]["advanced"]["bc_method"],
            rhs_solver_params,
            /*fe_space_id=*/-1);
        rhs_assembler_ = solve_data.rhs_assembler;
    }
 
    void NonlinearElasticVarForm::build_collision_mesh(
        const mesh::Mesh &mesh,
        const json &args)
    {
        build_collision_mesh(
            mesh, space_.n_bases, space_.basis_list(), space_.geometry_basis_list(), boundary_.total_local_boundary, obstacle,
            args, [this](const std::string &p) { return utils::resolve_path(p, root_path, false); },
            space_.space_in_node_to_node, collision_mesh);
    }
 
    void NonlinearElasticVarForm::build_collision_mesh(
        const mesh::Mesh &mesh,
        const int n_bases,
        const std::vector<basis::ElementBases> &bases,
        const std::vector<basis::ElementBases> &geom_bases,
        const std::vector<mesh::LocalBoundary> &total_local_boundary,
        const mesh::Obstacle &obstacle,
        const json &args,
        const std::function<std::string(const std::string &)> &resolve_input_path,
        const Eigen::VectorXi &in_node_to_node,
        ipc::CollisionMesh &collision_mesh)
    {
        Eigen::MatrixXd collision_vertices;
        Eigen::VectorXi collision_codim_vids;
        Eigen::MatrixXi collision_edges, collision_triangles;
        std::vector<Eigen::Triplet<double>> displacement_map_entries;
 
        if (args.contains("/contact/collision_mesh"_json_pointer)
            && args.at("/contact/collision_mesh/enabled"_json_pointer).get<bool>())
        {
            const json collision_mesh_args = args.at("/contact/collision_mesh"_json_pointer);
            if (collision_mesh_args.contains("linear_map"))
            {
                assert(displacement_map_entries.empty());
                assert(collision_mesh_args.contains("mesh"));
                const std::string root_path = utils::json_value<std::string>(args, "root_path", "");
                // TODO: handle transformation per geometry
                const json transformation = utils::json_as_array(args["geometry"])[0]["transformation"];
                mesh::load_collision_proxy(
                    utils::resolve_path(collision_mesh_args["mesh"], root_path),
                    utils::resolve_path(collision_mesh_args["linear_map"], root_path),
                    in_node_to_node, transformation, collision_vertices, collision_codim_vids,
                    collision_edges, collision_triangles, displacement_map_entries);
            }
            else if (collision_mesh_args.contains("max_edge_length"))
            {
                logger().debug(
                    "Building collision proxy with max edge length={} ...",
                    collision_mesh_args["max_edge_length"].get<double>());
                igl::Timer timer;
                timer.start();
                build_collision_proxy(
                    bases, geom_bases, total_local_boundary, n_bases, mesh.dimension(),
                    collision_mesh_args["max_edge_length"], collision_vertices,
                    collision_triangles, displacement_map_entries,
                    collision_mesh_args["tessellation_type"]);
                if (collision_triangles.size())
                    igl::edges(collision_triangles, collision_edges);
                timer.stop();
                logger().debug(fmt::format(
                    std::locale("en_US.UTF-8"),
                    "Done (took {:g}s, {:L} vertices, {:L} triangles)",
                    timer.getElapsedTime(),
                    collision_vertices.rows(), collision_triangles.rows()));
            }
            else
            {
                io::OutGeometryData::extract_boundary_mesh(
                    mesh, n_bases - obstacle.n_vertices(), bases, total_local_boundary,
                    collision_vertices, collision_edges, collision_triangles, displacement_map_entries);
            }
        }
        else
        {
            io::OutGeometryData::extract_boundary_mesh(
                mesh, n_bases - obstacle.n_vertices(), bases, total_local_boundary,
                collision_vertices, collision_edges, collision_triangles, displacement_map_entries);
        }
 
        std::vector<bool> is_orientable_vertex(collision_vertices.rows(), true);
 
        // n_bases already contains the obstacle vertices
        const int num_fe_nodes = n_bases - obstacle.n_vertices();
        const int num_fe_collision_vertices = collision_vertices.rows();
        assert(collision_edges.size() == 0 || collision_edges.maxCoeff() < num_fe_collision_vertices);
        assert(collision_triangles.size() == 0 || collision_triangles.maxCoeff() < num_fe_collision_vertices);
 
        // Append the obstacles to the collision mesh
        if (obstacle.n_vertices() > 0)
        {
            utils::append_rows(collision_vertices, obstacle.v());
            utils::append_rows(collision_codim_vids, obstacle.codim_v().array() + num_fe_collision_vertices);
            utils::append_rows(collision_edges, obstacle.e().array() + num_fe_collision_vertices);
            utils::append_rows(collision_triangles, obstacle.f().array() + num_fe_collision_vertices);
 
            for (int i = 0; i < obstacle.n_vertices(); i++)
            {
                is_orientable_vertex.push_back(false);
            }
 
            if (!displacement_map_entries.empty())
            {
                displacement_map_entries.reserve(displacement_map_entries.size() + obstacle.n_vertices());
                for (int i = 0; i < obstacle.n_vertices(); i++)
                {
                    displacement_map_entries.emplace_back(num_fe_collision_vertices + i, num_fe_nodes + i, 1.0);
                }
            }
        }
 
        std::vector<bool> is_on_surface = ipc::CollisionMesh::construct_is_on_surface(
            collision_vertices.rows(), collision_edges);
        for (const int vid : collision_codim_vids)
        {
            is_on_surface[vid] = true;
        }
 
        Eigen::SparseMatrix<double> displacement_map;
        if (!displacement_map_entries.empty())
        {
            displacement_map.resize(collision_vertices.rows(), n_bases);
            displacement_map.setFromTriplets(displacement_map_entries.begin(), displacement_map_entries.end());
        }
 
        collision_mesh = ipc::CollisionMesh(
            is_on_surface, is_orientable_vertex, collision_vertices, collision_edges, collision_triangles,
            displacement_map);
 
        collision_mesh.can_collide = [&collision_mesh, num_fe_collision_vertices](size_t vi, size_t vj) {
            // obstacles do not collide with other obstacles
            return collision_mesh.to_full_vertex_id(vi) < num_fe_collision_vertices
                   || collision_mesh.to_full_vertex_id(vj) < num_fe_collision_vertices;
        };
 
        collision_mesh.init_area_jacobians();
    }
 
    std::shared_ptr<assembler::PressureAssembler> NonlinearElasticVarForm::build_pressure_assembler() const
    {
        const int size = problem->is_scalar() ? 1 : mesh_->dimension();
 
        return std::make_shared<assembler::PressureAssembler>(
            *primary_assembler_, *mesh_, obstacle,
            boundary_.local_pressure_boundary,
            boundary_.local_pressure_cavity,
            boundary_.boundary_nodes,
            elastic_primitive_to_node(), elastic_node_to_primitive(),
            space_.n_bases, size, space_.basis_list(), space_.geometry_basis_list(), *problem);
    }
 
    void NonlinearElasticStaticVarForm::solve_problem(Eigen::MatrixXd &sol)
    {
        stats.spectrum.setZero();
 
        igl::Timer timer;
        timer.start();
        logger().info("Solving {}", primary_assembler_->name());
 
        {
            POLYFEM_SCOPED_TIMER("Setup RHS");
 
            // FIXME
            //  read_initial_x_from_file(
            //  resolve_input_path(args["input"]["data"]["state"]), "u",
            //  args["input"]["data"]["reorder"], in_node_to_node,
            //  mesh->dimension(), solution);
 
            if (sol.size() <= 0)
                initial_elastic_solution(sol);
 
            if (sol.cols() > 1) // ignore previous solutions
                sol.conservativeResize(Eigen::NoChange, 1);
        }
        init_solve(sol, 1.0);
 
        solve_tensor_nonlinear(0, sol, true);
 
        const std::string state_path = resolve_output_path(args["output"]["data"]["state"]);
        if (!state_path.empty())
            io::write_matrix(state_path, "u", sol);
 
        timer.stop();
        timings.solving_time = timer.getElapsedTime();
        logger().info(" took {}s", timings.solving_time);
    }
 
    void NonlinearElasticTransientVarForm::solve_problem(Eigen::MatrixXd &sol)
    {
        const bool save_stats = args["output"]["stats"];
        stats.spectrum.setZero();
 
        igl::Timer timer;
        timer.start();
        logger().info("Solving {}", primary_assembler_->name());
 
        {
            POLYFEM_SCOPED_TIMER("Setup RHS");
 
            // FIXME
            //  read_initial_x_from_file(
            //  resolve_input_path(args["input"]["data"]["state"]), "u",
            //  args["input"]["data"]["reorder"], in_node_to_node,
            //  mesh->dimension(), solution);
 
            if (sol.size() <= 0)
                initial_elastic_solution(sol);
 
            if (sol.cols() > 1) // ignore previous solutions
                sol.conservativeResize(Eigen::NoChange, 1);
        }
        init_solve(sol, t0 + dt);
 
        // Write the total energy to a CSV file
        int save_i = 0;
 
        std::unique_ptr<io::EnergyCSVWriter> energy_csv = nullptr;
        std::unique_ptr<io::RuntimeStatsCSVWriter> stats_csv = nullptr;
 
        if (save_stats)
        {
            logger().debug("Saving nl stats to {} and {}", resolve_output_path("energy.csv"), resolve_output_path("stats.csv"));
            energy_csv = std::make_unique<io::EnergyCSVWriter>(resolve_output_path("energy.csv"), solve_data);
            const io::OutputSpace space = output_space();
            stats_csv = std::make_unique<io::RuntimeStatsCSVWriter>(
                resolve_output_path("stats.csv"),
                space_.n_bases,
                space.mesh ? space.mesh->n_elements() : 0,
                t0, dt);
        }
 
        // Save the initial solution
        if (energy_csv)
            energy_csv->write(save_i, sol);
        save_timestep(t0, 0, t0, dt, sol);
 
        save_i++;
 
        for (int t = 1; t <= time_steps; ++t)
        {
            double forward_solve_time = 0, remeshing_time = 0, global_relaxation_time = 0;
 
            {
                POLYFEM_SCOPED_TIMER(forward_solve_time);
                solve_tensor_nonlinear(t, sol, true);
            }
 
            // Always save the solution for consistency
            if (energy_csv)
                energy_csv->write(save_i, sol);
            save_timestep(t0 + dt * t, t, t0, dt, sol);
            save_i++;
 
            {
                POLYFEM_SCOPED_TIMER("Update quantities");
 
                solve_data.time_integrator->update_quantities(sol);
 
                solve_data.nl_problem->update_quantities(t0 + (t + 1) * dt, sol);
 
                solve_data.update_dt();
                solve_data.update_barrier_stiffness(sol);
            }
 
            logger().info("{}/{}  t={}", t, time_steps, t0 + dt * t);
            notify_time_step(t, time_steps, t0, dt);
 
            save_elastic_step_state(t0, dt, t, solve_data.time_integrator.get());
            if (stats_csv)
                stats_csv->write(t, forward_solve_time, remeshing_time, global_relaxation_time);
        }
 
        timer.stop();
        timings.solving_time = timer.getElapsedTime();
        logger().info(" took {}s", timings.solving_time);
    }
 
    void NonlinearElasticVarForm::init_forms(const json &args, const int dim, Eigen::MatrixXd &sol, const double t)
    {
        damping_assembler = std::make_shared<assembler::ViscousDamping>();
        set_materials(*damping_assembler, mesh_->dimension());
 
        elasticity_pressure_assembler = build_pressure_assembler();
 
        // for backward solve
        damping_prev_assembler = std::make_shared<assembler::ViscousDampingPrev>();
        set_materials(*damping_prev_assembler, mesh_->dimension());
 
        const ElementInversionCheck check_inversion = args["solver"]["advanced"]["check_inversion"];
 
        // NOTE: some stuff are legacy and hardcoded to be off
        forms = solve_data.init_forms(
            // General
            units,
            dim, t, space_.space_in_node_to_node,
            // Elastic form
            space_.n_bases, *space_.bases, space_.geometry_basis_list(), *primary_assembler_, ass_vals_cache_, mass_ass_vals_cache_, args["solver"]["advanced"]["jacobian_threshold"], check_inversion,
            args["solver"]["advanced"]["conservative_max_iter"],
            // Body form
            0, boundary_.boundary_nodes, boundary_.local_boundary,
            boundary_.local_neumann_boundary,
            elastic_boundary_samples(), rhs_, sol, mass_assembler_->density(),
            // Pressure form
            boundary_.local_pressure_boundary, boundary_.local_pressure_cavity, elasticity_pressure_assembler,
            // Inertia form
            args.value("/time/quasistatic"_json_pointer, true), mass_,
            damping_assembler->is_valid() ? damping_assembler : nullptr,
            // Lagged regularization form
            args["solver"]["advanced"]["lagged_regularization_weight"],
            args["solver"]["advanced"]["lagged_regularization_iterations"],
            // Augmented lagrangian form
            obstacle.ndof(), args["constraints"]["hard"], args["constraints"]["soft"],
            // Contact form
            args["contact"]["enabled"], collision_mesh, args["contact"]["dhat"],
            avg_mass_, args["contact"]["use_convergent_formulation"] ? bool(args["contact"]["use_area_weighting"]) : false,
            args["contact"]["use_convergent_formulation"] ? bool(args["contact"]["use_improved_max_operator"]) : false,
            args["contact"]["use_convergent_formulation"] ? bool(args["contact"]["use_physical_barrier"]) : false,
            args["solver"]["contact"]["barrier_stiffness"],
            args["solver"]["contact"]["initial_barrier_stiffness"],
            args["solver"]["contact"]["CCD"]["broad_phase"],
            args["solver"]["contact"]["CCD"]["tolerance"],
            args["solver"]["contact"]["CCD"]["max_iterations"],
            false,
            // Smooth Contact Form
            args["contact"]["use_gcp_formulation"],
            args["contact"]["alpha_t"],
            args["contact"]["alpha_n"],
            args["contact"]["use_adaptive_dhat"],
            args["contact"]["min_distance_ratio"],
            // Normal Adhesion Form
            args["contact"]["adhesion"]["adhesion_enabled"],
            args["contact"]["adhesion"]["dhat_p"],
            args["contact"]["adhesion"]["dhat_a"],
            args["contact"]["adhesion"]["adhesion_strength"],
            // Tangential Adhesion Form
            args["contact"]["adhesion"]["tangential_adhesion_coefficient"],
            args["contact"]["adhesion"]["epsa"],
            args["solver"]["contact"]["tangential_adhesion_iterations"],
            // Homogenization
            assembler::MacroStrainValue(),
            // Periodic contact
            false, Eigen::VectorXi(), nullptr,
            // Friction form
            args["contact"]["friction_coefficient"],
            args["contact"]["epsv"],
            args["solver"]["contact"]["friction_iterations"],
            // Rayleigh damping form
            args["solver"]["rayleigh_damping"]);
 
        for (const auto &form : forms)
            form->set_output_dir(output_path);
 
        if (solve_data.contact_form != nullptr)
            solve_data.contact_form->save_ccd_debug_meshes = args["output"]["advanced"]["save_ccd_debug_meshes"];
    }
 
    void NonlinearElasticVarForm::init_solve(Eigen::MatrixXd &sol, const double t)
    {
        assert(sol.cols() == 1);
        assert(!problem->is_scalar()); // tensor
 
        // FIXME
        //  if (optimization_enabled != solver::CacheLevel::None)
        //  {
        //      if (initial_sol_update.size() == ndof())
        //          sol = initial_sol_update;
        //      else
        //          initial_sol_update = sol;
        //  }
 
        // --------------------------------------------------------------------
        // Check for initial intersections
        if (args["contact"]["enabled"])
        {
            POLYFEM_SCOPED_TIMER("Check for initial intersections");
 
            const Eigen::MatrixXd displaced = collision_mesh.displace_vertices(
                utils::unflatten(sol, mesh_->dimension()));
 
            if (ipc::has_intersections(collision_mesh, displaced, ipc::create_broad_phase(args["solver"]["contact"]["CCD"]["broad_phase"]).get()))
            {
                io::OBJWriter::write(
                    resolve_output_path("intersection.obj"), displaced,
                    collision_mesh.edges(), collision_mesh.faces());
                log_and_throw_error("Unable to solve, initial solution has intersections!");
            }
        }
 
        // --------------------------------------------------------------------
 
        if (problem->is_time_dependent())
        {
            POLYFEM_SCOPED_TIMER("Initialize time integrator");
            solve_data.time_integrator = ImplicitTimeIntegrator::construct_time_integrator(args["time"]["integrator"]);
 
            Eigen::MatrixXd solution, velocity, acceleration;
            initial_elastic_solution(solution); // Reload this because we need all previous solutions
            solution.col(0) = sol;              // Make sure the current solution is the same as `sol`
            assert(solution.rows() == sol.size());
            initial_velocity(velocity);
            assert(velocity.rows() == sol.size());
            initial_acceleration(acceleration);
            assert(acceleration.rows() == sol.size());
 
            solve_data.time_integrator->init(solution, velocity, acceleration, dt);
            assert(solve_data.time_integrator != nullptr);
        }
        else
        {
            solve_data.time_integrator = nullptr;
        }
 
        // --------------------------------------------------------------------
        // Initialize forms
 
        // --------------------------------------------------------------------
        // Initialize nonlinear problems
 
        init_forms(args, mesh_->dimension(), sol, t);
 
        double characteristic_length = 0;
        if (args["solver"]["advanced"]["characteristic_length"] > 0)
        {
            characteristic_length = args["solver"]["advanced"]["characteristic_length"];
        }
        else
        {
            RowVectorNd min, max;
            mesh_->bounding_box(min, max);
            characteristic_length = (max - min).norm();
        }
 
        double characteristic_force_density = 0;
        if (args["solver"]["advanced"]["characteristic_force_density"] <= 0)
        {
            logger().warn("No user-specified force density was provided, defaulting to 10000.");
            characteristic_force_density = 10000;
        }
        else
        {
            characteristic_force_density = args["solver"]["advanced"]["characteristic_force_density"];
        }
 
        if (pure_mass_.size() == 0)
            pure_mass_assembler_->assemble(mesh_->is_volume(), space_.n_bases, space_.basis_list(), space_.geometry_basis_list(), pure_mass_ass_vals_cache_, 0, pure_mass_, true);
 
        const int ndof = space_.n_bases * mesh_->dimension();
        solve_data.nl_problem = std::make_shared<solver::NLProblem>(
            ndof, nullptr, t, forms, solve_data.al_form,
            polysolve::linear::Solver::create(args["solver"]["linear"], logger()),
            characteristic_length, characteristic_force_density, pure_mass_, mesh_->dimension());
        solve_data.nl_problem->init(sol);
        solve_data.nl_problem->update_quantities(t, sol);
        // --------------------------------------------------------------------
 
        stats.solver_info = json::array();
    }
 
    void NonlinearElasticVarForm::solve_tensor_nonlinear(int step, Eigen::MatrixXd &sol, const bool init_lagging)
    {
        assert(solve_data.nl_problem != nullptr);
        solver::NLProblem &nl_problem = *(solve_data.nl_problem);
 
        assert(sol.size() == rhs_.size());
 
        if (nl_problem.uses_lagging())
        {
            if (init_lagging)
            {
                POLYFEM_SCOPED_TIMER("Initializing lagging");
                nl_problem.init_lagging(sol);
            }
            logger().info("Lagging iteration 1:");
        }
 
        save_subsolve(0, step, sol);
 
        std::shared_ptr<polysolve::nonlinear::Solver> nl_solver =
            polysolve::nonlinear::Solver::create(args["solver"]["augmented_lagrangian"]["nonlinear"], args["solver"]["linear"], units.characteristic_length(), logger());
 
        ALSolver al_solver(
            solve_data.al_form,
            args["solver"]["augmented_lagrangian"]["initial_weight"],
            args["solver"]["augmented_lagrangian"]["scaling"],
            args["solver"]["augmented_lagrangian"]["max_weight"],
            args["solver"]["augmented_lagrangian"]["eta"],
            [&](const Eigen::VectorXd &x) {
                this->solve_data.update_barrier_stiffness(sol);
            });
 
        al_solver.post_subsolve = [&](const double al_weight) {
            stats.solver_info.push_back(
                {{"type", al_weight > 0 ? "al" : "rc"},
                 {"t", step},
                 {"info", nl_solver->info()}});
            if (al_weight > 0)
                stats.solver_info.back()["weight"] = al_weight;
            save_subsolve(stats.solver_info.size(), step, sol);
        };
 
        Eigen::MatrixXd prev_sol = sol;
        al_solver.solve_al(nl_problem, sol,
                           args["solver"]["augmented_lagrangian"]["nonlinear"], args["solver"]["linear"], units.characteristic_length());
 
        al_solver.solve_reduced(nl_problem, sol,
                                args["solver"]["nonlinear"], args["solver"]["linear"], units.characteristic_length());
 
        if (args["space"]["advanced"]["count_flipped_els_continuous"])
        {
            const auto invalidList = utils::count_invalid(mesh_->dimension(), space_.basis_list(), space_.geometry_basis_list(), sol);
            logger().debug("Flipped elements (cnt {}) : {}", invalidList.size(), invalidList);
        }
 
        const double lagging_tol = args["solver"]["contact"].value("friction_convergence_tol", 1e-2) * units.characteristic_length();
 
        bool lagging_converged = !nl_problem.uses_lagging();
        for (int lag_i = 1; !lagging_converged; lag_i++)
        {
            Eigen::VectorXd tmp_sol = nl_problem.full_to_reduced(sol);
 
            nl_problem.update_lagging(tmp_sol, lag_i);
 
            Eigen::VectorXd grad;
            nl_problem.gradient(tmp_sol, grad);
            const double delta_x_norm = (prev_sol - sol).lpNorm<Eigen::Infinity>();
            logger().debug("Lagging convergence grad_norm={:g} tol={:g} (||Δx||={:g})", grad.norm(), lagging_tol, delta_x_norm);
            if (grad.norm() <= lagging_tol)
            {
                logger().info(
                    "Lagging converged in {:d} iteration(s) (grad_norm={:g} tol={:g})",
                    lag_i, grad.norm(), lagging_tol);
                lagging_converged = true;
                break;
            }
 
            if (delta_x_norm <= 1e-12)
            {
                logger().warn(
                    "Lagging produced tiny update between iterations {:d} and {:d} (grad_norm={:g} grad_tol={:g} ||Δx||={:g} Δx_tol={:g}); stopping early",
                    lag_i - 1, lag_i, grad.norm(), lagging_tol, delta_x_norm, 1e-6);
                lagging_converged = false;
                break;
            }
 
            if (lag_i >= nl_problem.max_lagging_iterations())
            {
                logger().warn(
                    "Lagging failed to converge with {:d} iteration(s) (grad_norm={:g} tol={:g})",
                    lag_i, grad.norm(), lagging_tol);
                lagging_converged = false;
                break;
            }
 
            logger().info("Lagging iteration {:d}:", lag_i + 1);
            nl_problem.init(sol);
            solve_data.update_barrier_stiffness(sol);
            nl_problem.normalize_forms();
            nl_solver->minimize(nl_problem, tmp_sol);
            nl_problem.finish();
            prev_sol = sol;
            sol = nl_problem.reduced_to_full(tmp_sol);
 
            stats.solver_info.push_back(
                {{"type", "rc"},
                 {"t", step},
                 {"lag_i", lag_i},
                 {"info", nl_solver->info()}});
            save_subsolve(stats.solver_info.size(), step, sol);
        }
    }
 
} // namespace polyfem::varform