Obstacle.cpp

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#include <polyfem/mesh/Obstacle.hpp>
 
#include <polyfem/mesh/MeshUtils.hpp>
#include <polyfem/utils/JSONUtils.hpp>
#include <polyfem/utils/StringUtils.hpp>
#include <polyfem/utils/Logger.hpp>
 
#include <igl/edges.h>
#include <ipc/utils/eigen_ext.hpp>
 
namespace polyfem
{
    using namespace utils;
 
    namespace mesh
    {
        Obstacle::Obstacle()
        {
            clear();
        }
 
        void Obstacle::clear()
        {
            dim_ = 0;
            v_.resize(0, 0);
            f_.resize(0, 0);
            e_.resize(0, 0);
 
            in_f_.resize(0, 0);
            in_e_.resize(0, 0);
            in_v_.resize(0);
 
            displacements_.clear();
 
            endings_.clear();
 
            planes_.clear();
        }
 
        void Obstacle::append_mesh(
            const Eigen::MatrixXd &vertices,
            const Eigen::VectorXi &codim_vertices,
            const Eigen::MatrixXi &codim_edges,
            const Eigen::MatrixXi &faces)
        {
            if (vertices.size() == 0)
                return;
 
            if (dim_ == 0)
                dim_ = vertices.cols();
            assert(dim_ == vertices.cols());
 
            if (codim_vertices.size())
            {
                codim_v_.conservativeResize(codim_v_.size() + codim_vertices.size());
                codim_v_.tail(codim_vertices.size()) = codim_vertices.array() + v_.rows();
 
                in_v_.conservativeResize(in_v_.size() + codim_vertices.size());
                in_v_.tail(codim_vertices.size()) = codim_vertices.array() + v_.rows();
            }
 
            if (codim_edges.size())
            {
                e_.conservativeResize(e_.rows() + codim_edges.rows(), 2);
                e_.bottomRows(codim_edges.rows()) = codim_edges.array() + v_.rows();
 
                in_e_.conservativeResize(in_e_.rows() + codim_edges.rows(), 2);
                in_e_.bottomRows(codim_edges.rows()) = codim_edges.array() + v_.rows();
            }
 
            if (faces.size() && faces.cols() == 3)
            {
                f_.conservativeResize(f_.rows() + faces.rows(), 3);
                f_.bottomRows(faces.rows()) = faces.array() + v_.rows();
 
                in_f_.conservativeResize(in_f_.rows() + faces.rows(), 3);
                in_f_.bottomRows(faces.rows()) = faces.array() + v_.rows();
 
                Eigen::MatrixXi edges;
                igl::edges(faces, edges);
 
                e_.conservativeResize(e_.rows() + edges.rows(), 2);
                e_.bottomRows(edges.rows()) = edges.array() + v_.rows();
            }
            else if (faces.size())
            {
                log_and_throw_error("Obstacle supports only segments and triangles!");
            }
 
            v_.conservativeResize(v_.rows() + vertices.rows(), dim_);
            v_.bottomRows(vertices.rows()) = vertices;
 
            endings_.push_back(v_.rows());
        }
 
        void Obstacle::append_mesh(
            const Eigen::MatrixXd &vertices,
            const Eigen::VectorXi &codim_vertices,
            const Eigen::MatrixXi &codim_edges,
            const Eigen::MatrixXi &faces,
            const json &displacement,
            const std::string &root_path)
        {
            append_mesh(vertices, codim_vertices, codim_edges, faces);
 
            displacements_.emplace_back();
            for (size_t d = 0; d < dim_; ++d)
            {
                assert(displacement["value"].is_array());
                displacements_.back().value[d].init(displacement["value"][d], root_path);
            }
 
            if (displacement.contains("interpolation"))
            {
                if (displacement["interpolation"].is_array())
                {
                    for (int ii = 0; ii < displacement["interpolation"].size(); ++ii)
                        displacements_.back().interpolation.emplace_back(Interpolation::build(displacement["interpolation"][ii]));
                }
                else
                    displacements_.back().interpolation.emplace_back(Interpolation::build(displacement["interpolation"]));
            }
        }
 
        void Obstacle::append_mesh_sequence(
            const std::vector<Eigen::MatrixXd> &vertices,
            const Eigen::VectorXi &codim_vertices,
            const Eigen::MatrixXi &codim_edges,
            const Eigen::MatrixXi &faces,
            const int fps)
        {
            if (vertices.size() == 0 || vertices[0].size() == 0)
                return;
 
            append_mesh(vertices[0], codim_vertices, codim_edges, faces);
 
            std::array<std::vector<Eigen::MatrixXd>, 3> displacements_xyz;
            for (size_t i = 0; i < vertices.size(); ++i)
            {
                Eigen::MatrixXd displacement = vertices[i] - vertices[0];
                for (size_t d = 0; d < dim_; ++d)
                    displacements_xyz[d].push_back(displacement.col(d));
            }
 
            displacements_.emplace_back();
            for (size_t d = 0; d < dim_; ++d)
            {
                const std::vector<Eigen::MatrixXd> displacements = displacements_xyz[d];
                displacements_.back().value[d].init(
                    [displacements, fps](double x, double y, double z, double t, int index) -> double {
                        const double frame = t * fps;
                        const double interp = frame - floor(frame);
                        const int frame0 = (int)floor(frame);
                        const int frame1 = (int)ceil(frame);
                        if (frame1 >= displacements.size())
                            return displacements.back()(index);
                        const double u0 = displacements[frame0](index);
                        const double u1 = displacements[frame1](index);
                        return (u1 - u0) * interp + u0;
                    });
            }
        }
 
        void Obstacle::append_plane(const VectorNd &origin, const VectorNd &normal)
        {
            if (dim_ == 0)
                dim_ = origin.size();
            assert(normal.size() >= dim_);
            assert(origin.size() >= dim_);
            planes_.emplace_back(origin.head(dim_), normal.head(dim_).normalized());
        }
 
        void Obstacle::change_displacement(const int oid, const Eigen::RowVector3d &val, const std::string &interp)
        {
            change_displacement(oid, val, interp.empty() ? std::make_shared<NoInterpolation>() : Interpolation::build(interp));
        }
        void Obstacle::change_displacement(const int oid, const std::function<Eigen::MatrixXd(double x, double y, double z, double t)> &func, const std::string &interp)
        {
            change_displacement(oid, func, interp.empty() ? std::make_shared<NoInterpolation>() : Interpolation::build(interp));
        }
        void Obstacle::change_displacement(const int oid, const json &val, const std::string &interp)
        {
            change_displacement(oid, val, "", interp);
        }
        void Obstacle::change_displacement(const int oid, const json &val, const std::string &root_path, const std::string &interp)
        {
            change_displacement(oid, val, interp.empty() ? std::make_shared<NoInterpolation>() : Interpolation::build(interp), root_path);
        }
 
        void Obstacle::change_displacement(const int oid, const Eigen::RowVector3d &val, const std::shared_ptr<Interpolation> &interp)
        {
            for (size_t k = 0; k < val.size(); ++k)
                displacements_[oid].value[k].init(val[k]);
 
            displacements_[oid].interpolation.clear();
            displacements_[oid].interpolation.push_back(interp);
        }
 
        void Obstacle::change_displacement(const int oid, const std::function<Eigen::MatrixXd(double x, double y, double z, double t)> &func, const std::shared_ptr<Interpolation> &interp)
        {
            for (size_t k = 0; k < displacements_.back().value.size(); ++k)
                displacements_[oid].value[k].init(func, k);
 
            displacements_[oid].interpolation.clear();
            displacements_[oid].interpolation.push_back(interp);
        }
 
        void Obstacle::change_displacement(const int oid, const json &val, const std::shared_ptr<Interpolation> &interp)
        {
            change_displacement(oid, val, interp, "");
        }
        void Obstacle::change_displacement(const int oid, const json &val, const std::shared_ptr<Interpolation> &interp, const std::string &root_path)
        {
            for (size_t k = 0; k < val.size(); ++k)
                displacements_[oid].value[k].init(val[k], root_path);
 
            displacements_[oid].interpolation.clear();
            displacements_[oid].interpolation.push_back(interp);
        }
 
        void Obstacle::update_displacement(const double t, Eigen::MatrixXd &sol) const
        {
            // NOTE: assumes obstacle displacements is stored at the bottom of sol
            const int offset = sol.rows() - v_.rows() * (sol.cols() == 1 ? dim_ : 1);
 
            int start = 0;
 
            for (int k = 0; k < endings_.size(); ++k)
            {
                const int to = endings_[k];
                const auto &disp = displacements_[k];
 
                for (int i = start; i < to; ++i)
                {
                    for (int d = 0; d < dim_; ++d)
                    {
                        const int sol_row = sol.cols() == 1 ? (offset + i * dim_ + d) : (offset + i);
                        const int sol_col = sol.cols() == 1 ? 0 : d;
                        sol(sol_row, sol_col) = disp.eval(v_.row(i), d, t, i - start);
                    }
                }
 
                start = to;
            }
            assert(endings_.empty() || (start * (sol.cols() == 1 ? dim_ : 1) + offset) == sol.rows());
        }
 
        void Obstacle::set_zero(Eigen::MatrixXd &sol) const
        {
            // NOTE: assumes obstacle displacements is stored at the bottom of sol
            sol.bottomRows(v_.rows() * (sol.cols() == 1 ? dim_ : 1)).setZero();
        }
 
        void Obstacle::set_units(const Units &units)
        {
            for (auto &d : displacements_)
            {
                d.set_unit_type(units.length());
            }
        }
 
        void Obstacle::Plane::construct_vis_mesh()
        {
            constexpr int size_x = 10;
            constexpr int size_y = 10;
 
            if (dim_ == 2)
            {
                Eigen::Vector2d tangent(normal().y(), -normal().x());
 
                vis_v_.resize(size_x + 1, 2);
                for (int x = 0; x <= size_x; ++x)
                {
                    vis_v_.row(x) = (x - size_x / 2.0) * tangent;
                }
 
                vis_e_.resize(size_x, 2);
                for (int x = 0; x < size_x; ++x)
                {
                    vis_e_.row(x) << x, x + 1;
                }
            }
            else
            {
                assert(dim_ == 3);
 
                const Eigen::Vector3d normal = this->normal();
 
                const Eigen::Vector3d cross_x = Eigen::Vector3d::UnitX().cross(normal);
                const Eigen::Vector3d cross_y = Eigen::Vector3d::UnitY().cross(normal);
 
                Eigen::Vector3d tangent_x, tangent_y;
                if (cross_x.squaredNorm() > cross_y.squaredNorm())
                {
                    tangent_x = cross_x.normalized();
                    tangent_y = normal.cross(cross_x).normalized();
                }
                else
                {
                    tangent_x = cross_y.normalized();
                    tangent_y = normal.cross(cross_y).normalized();
                }
 
                vis_v_.resize((size_x + 1) * (size_y + 1), 3);
                for (int x = 0; x <= size_x; ++x)
                {
                    for (int y = 0; y <= size_y; ++y)
                    {
                        vis_v_.row(x * size_y + y) = (x - size_x / 2.0) * tangent_x + (y - size_y / 2.0) * tangent_y;
                    }
                }
 
                vis_f_.resize(2 * size_x * size_y, 3);
                for (int x = 0; x < size_x; ++x)
                {
                    for (int y = 0; y < size_y; ++y)
                    {
                        vis_f_.row(2 * (x * size_x + y)) << x * size_x + y, x * size_x + y + 1, (x + 1) * size_x + y;
                        vis_f_.row(2 * (x * size_x + y) + 1) << x * size_x + y + 1, (x + 1) * size_x + (y + 1), (x + 1) * size_x + y;
                    }
                }
 
                igl::edges(vis_f_, vis_e_);
            }
        }
 
    } // namespace mesh
} // namespace polyfem