SmoothContactForceDerivative.cpp

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#include "SmoothContactForceDerivative.hpp"
 
#include <Eigen/Core>
#include <polyfem/solver/forms/SmoothContactForm.hpp>
#include <polyfem/utils/Types.hpp>
#include <ipc/smooth_contact/smooth_collisions.hpp>
#include <ipc/potentials/potential.hpp>
 
namespace polyfem::solver
{
    void SmoothContactForceDerivative::force_shape_derivative(
        const SmoothContactForm &form,
        const ipc::SmoothCollisions &collision_set,
        const Eigen::MatrixXd &solution,
        const Eigen::VectorXd &adjoint_sol,
        Eigen::VectorXd &term)
    {
        StiffnessMatrix hessian = form.barrier_potential_.hessian(collision_set, form.collision_mesh_, form.compute_displaced_surface(solution), ipc::PSDProjectionMethod::NONE);
        term = form.barrier_stiffness() * form.collision_mesh_.to_full_dof(hessian) * adjoint_sol;
    }
} // namespace polyfem::solver