PeriodicContactForm.cpp

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#include "PeriodicContactForm.hpp"
 
#include <polyfem/utils/Types.hpp>
#include <polysolve/nonlinear/PostStepData.hpp>
 
#include <Eigen/Core>
#include <Eigen/SparseCore>
 
#include <cassert>
#include <vector>
 
namespace polyfem::solver
{
    PeriodicContactForm::PeriodicContactForm(const ipc::CollisionMesh &periodic_collision_mesh,
                                             const Eigen::VectorXi &tiled_to_single,
                                             const double dhat,
                                             const double avg_mass,
                                             const bool use_area_weighting,
                                             const bool use_improved_max_operator,
                                             const bool use_physical_barrier,
                                             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) : BarrierContactForm(periodic_collision_mesh, dhat, avg_mass, use_area_weighting, use_improved_max_operator, use_physical_barrier, use_adaptive_barrier_stiffness, is_time_dependent, enable_shape_derivatives, broad_phase_method, ccd_tolerance, ccd_max_iterations), tiled_to_single_(tiled_to_single), n_single_dof_(tiled_to_single_.maxCoeff() + 1)
    {
        assert(tiled_to_single_.size() == collision_mesh_.full_num_vertices());
 
        update_projection();
 
        // const Eigen::MatrixXd displaced = collision_mesh_.displace_vertices(
        //     Eigen::MatrixXd::Zero(collision_mesh_.full_num_vertices(), collision_mesh_.dim()));
 
        // io::OBJWriter::write(
        //     "tiled-rest.obj", displaced,
        //     collision_mesh_.edges(), collision_mesh_.faces());
    }
 
    void PeriodicContactForm::update_projection() const
    {
        const int dim = collision_mesh_.dim();
        const auto &boundary_vertices = collision_mesh_.rest_positions();
 
        std::vector<Eigen::Triplet<double>> entries;
        for (int i = 0; i < collision_mesh_.num_vertices(); i++)
        {
            const int i_full = collision_mesh_.to_full_vertex_id(i);
            for (int d = 0; d < dim; d++)
                entries.emplace_back(tiled_to_single_(i_full) * dim + d, i_full * dim + d, 1);
 
            for (int p = 0; p < dim; p++)
                for (int q = 0; q < dim; q++)
                    entries.emplace_back(n_single_dof_ * dim + p * dim + q, i_full * dim + p, boundary_vertices(i, q));
        }
 
        proj.resize(n_single_dof_ * dim + dim * dim, tiled_to_single_.size() * dim);
        proj.setZero();
        proj.setFromTriplets(entries.begin(), entries.end());
    }
 
    Eigen::VectorXd PeriodicContactForm::single_to_tiled(const Eigen::VectorXd &x) const
    {
        const int dim = collision_mesh_.dim();
        const auto &boundary_vertices = collision_mesh_.rest_positions();
        assert(x.size() == n_single_dof_ * dim + dim * dim);
 
        Eigen::VectorXd tiled_x;
        tiled_x.setZero(tiled_to_single_.size() * dim);
        for (int i = 0; i < collision_mesh_.num_vertices(); i++)
        {
            const int i_full = collision_mesh_.to_full_vertex_id(i);
            for (int d = 0; d < dim; d++)
                tiled_x(i_full * dim + d) += x(tiled_to_single_(i_full) * dim + d);
 
            for (int p = 0; p < dim; p++)
                for (int q = 0; q < dim; q++)
                    tiled_x(i_full * dim + p) += x(n_single_dof_ * dim + p * dim + q) * boundary_vertices(i, q);
        }
 
        return tiled_x;
    }
    Eigen::VectorXd PeriodicContactForm::tiled_to_single_grad(const Eigen::VectorXd &grad) const
    {
        const int dim = collision_mesh_.dim();
        const auto &boundary_vertices = collision_mesh_.rest_positions();
        assert(grad.size() == tiled_to_single_.size() * dim);
 
        Eigen::VectorXd reduced_grad;
        reduced_grad.setZero(n_single_dof_ * dim + dim * dim);
        for (int i = 0; i < collision_mesh_.num_vertices(); i++)
        {
            const int i_full = collision_mesh_.to_full_vertex_id(i);
            for (int d = 0; d < dim; d++)
                reduced_grad(tiled_to_single_(i_full) * dim + d) += grad(i_full * dim + d);
 
            for (int p = 0; p < dim; p++)
                for (int q = 0; q < dim; q++)
                    reduced_grad(n_single_dof_ * dim + p * dim + q) += boundary_vertices(i, q) * grad(i_full * dim + p);
        }
 
        return reduced_grad;
    }
 
    void PeriodicContactForm::init(const Eigen::VectorXd &x)
    {
        BarrierContactForm::init(single_to_tiled(x));
    }
 
    double PeriodicContactForm::value_unweighted(const Eigen::VectorXd &x) const
    {
        return BarrierContactForm::value_unweighted(single_to_tiled(x));
    }
 
    void PeriodicContactForm::first_derivative_unweighted(const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const
    {
        BarrierContactForm::first_derivative_unweighted(single_to_tiled(x), gradv);
        gradv = tiled_to_single_grad(gradv);
    }
 
    void PeriodicContactForm::second_derivative_unweighted(const Eigen::VectorXd &x, StiffnessMatrix &hessian) const
    {
        StiffnessMatrix hessian_full;
        BarrierContactForm::second_derivative_unweighted(single_to_tiled(x), hessian_full);
 
        update_projection();
        hessian = proj * hessian_full * proj.transpose();
 
        // const Eigen::MatrixXd displaced = collision_mesh_.displace_vertices(utils::unflatten(single_to_tiled(x), collision_mesh_.dim()));
 
        // io::OBJWriter::write(
        //     "tiled.obj", displaced,
        //     collision_mesh_.edges(), collision_mesh_.faces());
    }
 
    void PeriodicContactForm::update_quantities(const double t, const Eigen::VectorXd &x)
    {
        BarrierContactForm::update_quantities(t, single_to_tiled(x));
    }
 
    double PeriodicContactForm::max_step_size(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
    {
        return BarrierContactForm::max_step_size(single_to_tiled(x0), single_to_tiled(x1));
    }
 
    void PeriodicContactForm::line_search_begin(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1)
    {
        BarrierContactForm::line_search_begin(single_to_tiled(x0), single_to_tiled(x1));
    }
 
    void PeriodicContactForm::solution_changed(const Eigen::VectorXd &new_x)
    {
        BarrierContactForm::solution_changed(single_to_tiled(new_x));
    }
 
    void PeriodicContactForm::post_step(const polysolve::nonlinear::PostStepData &data)
    {
        BarrierContactForm::post_step(
            polysolve::nonlinear::PostStepData(
                data.iter_num, data.solver_info, single_to_tiled(data.x), single_to_tiled(data.grad)));
    }
 
    bool PeriodicContactForm::is_step_collision_free(const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
    {
        return BarrierContactForm::is_step_collision_free(single_to_tiled(x0), single_to_tiled(x1));
    }
 
    void PeriodicContactForm::update_barrier_stiffness(const Eigen::VectorXd &x, const Eigen::MatrixXd &grad_energy)
    {
        BarrierContactForm::update_barrier_stiffness(single_to_tiled(x), single_to_tiled(grad_energy));
    }
} // namespace polyfem::solver