ShapeVariableToSimulation.cpp

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#include <polyfem/optimization/var2sims/ShapeVariableToSimulation.hpp>
 
#include <polyfem/utils/Logger.hpp>
#include <polyfem/optimization/AdjointTools.hpp>
#include <polyfem/optimization/VarFormDiff.hpp>
#include <polyfem/optimization/var2sims/ParameterType.hpp>
#include <polyfem/optimization/var2sims/ActiveSelectionUtils.hpp>
 
#include <Eigen/Core>
 
#include <string>
#include <cassert>
 
namespace polyfem::solver
{
 
    ShapeVariableToSimulation::ShapeVariableToSimulation(VarFormPtrs varforms,
                                                         DiffCachePtrs diff_caches,
                                                         CompositeParametrization parametrizations,
                                                         Eigen::VectorXi active_dimensions,
                                                         Eigen::VectorXi active_geom_nodes)
        : dim_(varforms[0]->get_mesh().dimension()),
          vertex_num_(varforms[0]->get_mesh().n_vertices()),
          varforms_(std::move(varforms)),
          diff_caches_(std::move(diff_caches)),
          parametrization_(std::move(parametrizations)),
          active_dimensions_(std::move(active_dimensions)),
          active_geom_nodes_(std::move(active_geom_nodes))
    {
        assert(!varforms_.empty());
        assert(varforms_.size() == diff_caches_.size());
 
        // Validates active selections.
        std::string reason;
        if (!is_active_dims_valid(active_dimensions_, varforms_, reason))
        {
            log_and_throw_adjoint_error("Fail to construct shape variable to simulation. Reason: {}", reason);
        }
        if (!is_active_geom_nodes_valid(active_geom_nodes_, varforms_, reason))
        {
            log_and_throw_adjoint_error("Fail to construct shape variable to simulation. Reason: {}", reason);
        }
 
        // Expand implicit all active selection.
        if (active_dimensions_.size() == 0)
        {
            active_dimensions_ = Eigen::VectorXi::LinSpaced(dim_, 0, dim_ - 1);
        }
        if (active_geom_nodes_.size() == 0)
        {
            active_geom_nodes_ = Eigen::VectorXi::LinSpaced(vertex_num_, 0, vertex_num_ - 1);
        }
    }
 
    std::string ShapeVariableToSimulation::name() const
    {
        return "shape";
    }
 
    ParameterType ShapeVariableToSimulation::parameter_type() const
    {
        return ParameterType::Shape;
    }
 
    bool ShapeVariableToSimulation::affects_varform(const varform::DifferentiableVarForm &target) const
    {
        for (auto &varform : varforms_)
        {
            if (varform.get() == &target)
            {
                return true;
            }
        }
        return false;
    }
 
    void ShapeVariableToSimulation::update(const Eigen::VectorXd &x)
    {
        Eigen::VectorXd y = parametrization_.eval(x);
        assert(y.size() == para_out_dof());
 
        int active_dim_num = active_dimensions_.size();
        for (auto &varform : varforms_)
        {
            Eigen::MatrixXd vertices;
            varform->get_vertices(vertices);
            for (int ni = 0; ni < active_geom_nodes_.size(); ++ni)
            {
                int node_id = active_geom_nodes_(ni);
                for (int di = 0; di < active_dimensions_.size(); ++di)
                {
                    int d = active_dimensions_(di);
                    vertices(node_id, d) = y(ni * active_dim_num + di);
                }
            }
            varform->set_vertex_positions(vertices);
        }
    }
 
    void ShapeVariableToSimulation::update_state_variables(const Eigen::VectorXd &x, Eigen::VectorXd &state_variables) const
    {
        assert(state_variables.size() == dim_ * vertex_num_);
 
        Eigen::VectorXd y = parametrization_.eval(x);
        assert(y.size() == para_out_dof());
 
        int active_dim_num = active_dimensions_.size();
        for (int ni = 0; ni < active_geom_nodes_.size(); ++ni)
        {
            int vertex_id = active_geom_nodes_(ni);
            for (int di = 0; di < active_dimensions_.size(); ++di)
            {
                int d = active_dimensions_(di);
                state_variables(vertex_id * dim_ + d) = y(ni * active_dim_num + di);
            }
        }
    }
 
    Eigen::VectorXd ShapeVariableToSimulation::compute_adjoint_term(const Eigen::VectorXd &x) const
    {
        Eigen::VectorXd term, cur_term;
        for (int i = 0; i < varforms_.size(); ++i)
        {
            auto &varform = varforms_[i];
            auto &diff_cache = diff_caches_[i];
 
            if (varform->get_problem().is_time_dependent())
            {
                Eigen::MatrixXd adjoint_p = get_adjoint_mat(*varform, *diff_cache, 0);
                Eigen::MatrixXd adjoint_nu = get_adjoint_mat(*varform, *diff_cache, 1);
                AdjointTools::dJ_shape_transient_adjoint_term(*varform, *diff_cache, adjoint_nu, adjoint_p, cur_term);
            }
            else if (varform->is_homogenization())
            {
                Eigen::MatrixXd adjoint_p = get_adjoint_mat(*varform, *diff_cache, 0);
                AdjointTools::dJ_shape_homogenization_adjoint_term(*varform,
                                                                   *diff_cache,
                                                                   diff_cache->u(0),
                                                                   adjoint_p,
                                                                   cur_term);
            }
            else
            {
                Eigen::MatrixXd adjoint_p = get_adjoint_mat(*varform, *diff_cache, 0);
                AdjointTools::dJ_shape_static_adjoint_term(*varform,
                                                           *diff_cache,
                                                           diff_cache->u(0),
                                                           adjoint_p,
                                                           cur_term);
            }
 
            if (term.size() != cur_term.size())
            {
                term = cur_term;
            }
            else
            {
                term += cur_term;
            }
        }
 
        assert(term.size() == vertex_num_ * dim_);
 
        Eigen::VectorXd active_term(para_out_dof());
        int active_dim_num = active_dimensions_.size();
        for (int i = 0; i < active_geom_nodes_.size(); ++i)
        {
            int vertex_id = active_geom_nodes_(i);
            for (int di = 0; di < active_dimensions_.size(); ++di)
            {
                int d = active_dimensions_(di);
                active_term(i * active_dim_num + di) = term(vertex_id * dim_ + d);
            }
        }
 
        assert(active_term.size() == para_out_dof());
        return parametrization_.apply_jacobian(active_term, x);
    }
 
    int ShapeVariableToSimulation::inverse_dof() const
    {
        return parametrization_.inverse_size(para_out_dof());
    }
 
    Eigen::VectorXd ShapeVariableToSimulation::inverse_eval() const
    {
        Eigen::VectorXd x = Eigen::VectorXd::Zero(para_out_dof());
        int active_dim_num = active_dimensions_.size();
        for (int i = 0; i < active_geom_nodes_.size(); ++i)
        {
            Eigen::VectorXd p = varforms_[0]->get_mesh().point(active_geom_nodes_(i));
            for (int di = 0; di < active_dimensions_.size(); ++di)
            {
                int d = active_dimensions_(di);
                x(i * active_dim_num + di) = p(d);
            }
        }
 
        return parametrization_.inverse_eval(x);
    }
 
    Eigen::VectorXd ShapeVariableToSimulation::apply_parametrization_jacobian(const Eigen::VectorXd &term, const Eigen::VectorXd &x) const
    {
        // Forms expect term to be full dof before any selection.
        assert(term.size() == vertex_num_ * dim_);
 
        Eigen::VectorXd active_term(para_out_dof());
        int active_dim_num = active_dimensions_.size();
        for (int i = 0; i < active_geom_nodes_.size(); ++i)
        {
            int vertex_id = active_geom_nodes_(i);
            for (int di = 0; di < active_dimensions_.size(); ++di)
            {
                int d = active_dimensions_(di);
                active_term(i * active_dim_num + di) = term(vertex_id * dim_ + d);
            }
        }
        return parametrization_.apply_jacobian(active_term, x);
    }
 
    int ShapeVariableToSimulation::para_out_dof() const
    {
        return active_dimensions_.size() * active_geom_nodes_.size();
    }
 
} // namespace polyfem::solver