Form representing the contact potential and forces. More...

#include <ContactForm.hpp>

Inheritance diagram for polyfem::solver::ContactForm:

Collaboration diagram for polyfem::solver::ContactForm:

Public Member Functions
	ContactForm (const ipc::CollisionMesh &collision_mesh, const double dhat, const double avg_mass, 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)
	Construct a new Contact Form object.

virtual	~ContactForm ()=default

virtual std::string	name () const override

virtual void	init (const Eigen::VectorXd &x) override
	Initialize the form.

virtual void	update_quantities (const double t, const Eigen::VectorXd &x) override
	Update time-dependent fields.

virtual double	max_step_size (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const override
	Determine the maximum step size allowable between the current and next solution.

virtual void	line_search_begin (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) override
	Initialize variables used during the line search.

void	line_search_end () override
	Clear variables used during the line search.

virtual void	solution_changed (const Eigen::VectorXd &new_x) override
	Update cached fields upon a change in the solution.

virtual bool	is_step_collision_free (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const override
	Checks if the step is collision free.

virtual void	update_barrier_stiffness (const Eigen::VectorXd &x, const Eigen::MatrixXd &grad_energy)=0
	Update the barrier stiffness based on the current elasticity energy.

Eigen::MatrixXd	compute_displaced_surface (const Eigen::VectorXd &x) const
	Compute the displaced positions of the surface nodes.

double	barrier_stiffness () const
	Get the current barrier stiffness.

void	set_barrier_stiffness (const double barrier_stiffness)
	Get the current barrier stiffness.

bool	use_adaptive_barrier_stiffness () const
	Get use_adaptive_barrier_stiffness.

virtual bool	use_convergent_formulation () const
	Get use_convergent_formulation.

bool	enable_shape_derivatives () const

double	weight () const override
	Get the form's multiplicative constant weight.

double	dhat () const

std::shared_ptr< ipc::BroadPhase >	get_broad_phase () const

Public Member Functions inherited from polyfem::solver::Form
virtual	~Form ()

virtual void	finish ()

virtual double	value (const Eigen::VectorXd &x) const
	Compute the value of the form multiplied with the weigth.

Eigen::VectorXd	value_per_element (const Eigen::VectorXd &x) const
	Compute the value of the form multiplied with the weigth.

virtual void	first_derivative (const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const
	Compute the first derivative of the value wrt x multiplied with the weigth.

void	second_derivative (const Eigen::VectorXd &x, StiffnessMatrix &hessian) const
	Compute the second derivative of the value wrt x multiplied with the weigth.

virtual bool	is_step_valid (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) const
	Determine if a step from solution x0 to solution x1 is allowed.

virtual void	post_step (const polysolve::nonlinear::PostStepData &data)
	Update fields after a step in the optimization.

virtual void	init_lagging (const Eigen::VectorXd &x)
	Initialize lagged fields TODO: more than one step.

virtual void	update_lagging (const Eigen::VectorXd &x, const int iter_num)
	Update lagged fields.

virtual int	max_lagging_iterations () const
	Get the maximum number of lagging iteration allowable.

virtual bool	uses_lagging () const
	Does this form require lagging?

void	set_project_to_psd (bool val)
	Set project to psd.

bool	is_project_to_psd () const
	Get if the form's second derivative is projected to psd.

void	enable ()
	Enable the form.

void	disable ()
	Disable the form.

void	set_enabled (const bool enabled)
	Set if the form is enabled.

bool	enabled () const
	Determine if the form is enabled.

void	set_weight (const double weight)
	Set the form's multiplicative constant weight.

void	set_output_dir (const std::string &output_dir)

virtual void	set_scale (const double scale)
	sets the scale for the form

Public Attributes
bool	save_ccd_debug_meshes = false
	If true, output debug files.

Protected Member Functions
virtual void	update_collision_set (const Eigen::MatrixXd &displaced_surface)=0
	Update the cached candidate set for the current solution.

virtual double	barrier_support_size () const

Protected Member Functions inherited from polyfem::solver::Form
std::string	resolve_output_path (const std::string &path) const

virtual double	value_unweighted (const Eigen::VectorXd &x) const =0
	Compute the value of the form.

virtual Eigen::VectorXd	value_per_element_unweighted (const Eigen::VectorXd &x) const
	Compute the value of the form multiplied per element.

virtual void	first_derivative_unweighted (const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const =0
	Compute the first derivative of the value wrt x.

virtual void	second_derivative_unweighted (const Eigen::VectorXd &x, StiffnessMatrix &hessian) const =0
	Compute the second derivative of the value wrt x.

Protected Attributes
const ipc::CollisionMesh &	collision_mesh_
	Collision mesh.

const double	dhat_
	Barrier activation distance.

const double	dmin_ = 0
	Minimum distance between elements.

const bool	use_adaptive_barrier_stiffness_
	If true, use an adaptive barrier stiffness.

double	barrier_stiffness_
	Barrier stiffness.

double	max_barrier_stiffness_
	Maximum barrier stiffness to use when using adaptive barrier stiffness.

const double	avg_mass_
	Average mass of the mesh (used for adaptive barrier stiffness)

const bool	is_time_dependent_
	Is the simulation time dependent?

const bool	enable_shape_derivatives_
	Enable shape derivatives computation.

const ipc::BroadPhaseMethod	broad_phase_method_
	Broad phase method to use for distance and CCD evaluations.

const std::shared_ptr< ipc::BroadPhase >	broad_phase_

const ipc::TightInclusionCCD	tight_inclusion_ccd_
	Continuous collision detection specification object.

double	prev_distance_
	Previous minimum distance between all elements.

bool	use_cached_candidates_ = false
	If true, use the cached candidate set for the current solution.

ipc::Candidates	candidates_
	Cached candidate set for the current solution.

Protected Attributes inherited from polyfem::solver::Form
bool	project_to_psd_ = false
	If true, the form's second derivative is projected to be positive semidefinite.

double	weight_ = 1
	weight of the form (e.g., AL penalty weight or Δt²)

bool	enabled_ = true
	If true, the form is enabled.

std::string	output_dir_

Detailed Description

Form representing the contact potential and forces.

Definition at line 35 of file ContactForm.hpp.

Constructor & Destructor Documentation

◆ ContactForm()

polyfem::solver::ContactForm::ContactForm	(	const ipc::CollisionMesh &	collision_mesh,
		const double	dhat,
		const double	avg_mass,
		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
	)

Construct a new Contact Form object.

Parameters

collision_mesh	Reference to the collision mesh
dhat	Barrier activation distance
avg_mass	Average mass of the mesh
use_adaptive_barrier_stiffness	If true, use an adaptive barrier stiffness
is_time_dependent	Is the simulation time dependent?
broad_phase_method	Broad phase method to use for distance and CCD evaluations
ccd_tolerance	Continuous collision detection tolerance
ccd_max_iterations	Continuous collision detection maximum iterations

Definition at line 20 of file ContactForm.cpp.

References dhat_, and prev_distance_.

◆ ~ContactForm()

virtual polyfem::solver::ContactForm::~ContactForm ( )

virtualdefault

Member Function Documentation

◆ barrier_stiffness()

double polyfem::solver::ContactForm::barrier_stiffness ( ) const

inline

Get the current barrier stiffness.

Definition at line 100 of file ContactForm.hpp.

References barrier_stiffness_.

Referenced by polyfem::solver::BarrierContactForm::force_shape_derivative(), polyfem::solver::SmoothContactForm::force_shape_derivative(), polyfem::solver::BarrierContactForm::post_step(), polyfem::solver::SmoothContactForm::post_step(), set_barrier_stiffness(), polyfem::solver::BarrierContactForm::update_barrier_stiffness(), and polyfem::solver::FrictionForm::update_lagging().

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◆ barrier_support_size()

virtual double polyfem::solver::ContactForm::barrier_support_size ( ) const

inlineprotectedvirtual

Reimplemented in polyfem::solver::SmoothContactForm.

Definition at line 124 of file ContactForm.hpp.

References dhat_.

Referenced by line_search_begin().

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◆ compute_displaced_surface()

Eigen::MatrixXd polyfem::solver::ContactForm::compute_displaced_surface ( const Eigen::VectorXd & x ) const

Compute the displaced positions of the surface nodes.

Definition at line 55 of file ContactForm.cpp.

References collision_mesh_, polyfem::utils::unflatten(), and x.

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◆ dhat()

double polyfem::solver::ContactForm::dhat ( ) const

inline

Definition at line 115 of file ContactForm.hpp.

References dhat_.

Referenced by polyfem::solver::BarrierContactForm::post_step(), and polyfem::solver::SmoothContactForm::post_step().

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◆ enable_shape_derivatives()

bool polyfem::solver::ContactForm::enable_shape_derivatives ( ) const

inline

Definition at line 108 of file ContactForm.hpp.

References enable_shape_derivatives_.

Referenced by polyfem::solver::BarrierContactForm::BarrierContactForm().

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◆ get_broad_phase()

std::shared_ptr< ipc::BroadPhase > polyfem::solver::ContactForm::get_broad_phase ( ) const

inline

Definition at line 117 of file ContactForm.hpp.

References broad_phase_.

◆ init()

void polyfem::solver::ContactForm::init ( const Eigen::VectorXd & x )

overridevirtual

Initialize the form.

Parameters

x	Current solution

Reimplemented from polyfem::solver::Form.

Reimplemented in polyfem::solver::PeriodicContactForm.

Definition at line 45 of file ContactForm.cpp.

References compute_displaced_surface(), update_collision_set(), and x.

Referenced by polyfem::solver::PeriodicContactForm::init().

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◆ is_step_collision_free()

bool polyfem::solver::ContactForm::is_step_collision_free	(	const Eigen::VectorXd &	x0,
		const Eigen::VectorXd &	x1
	)		const

overridevirtual

Checks if the step is collision free.

Returns: True if the step is collision free else false

Reimplemented from polyfem::solver::Form.

Reimplemented in polyfem::solver::PeriodicContactForm.

Definition at line 130 of file ContactForm.cpp.

References broad_phase_, candidates_, collision_mesh_, compute_displaced_surface(), dmin_, polyfem::utils::is_valid(), tight_inclusion_ccd_, and use_cached_candidates_.

Referenced by polyfem::solver::PeriodicContactForm::is_step_collision_free().

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◆ line_search_begin()

void polyfem::solver::ContactForm::line_search_begin	(	const Eigen::VectorXd &	x0,
		const Eigen::VectorXd &	x1
	)

overridevirtual

Initialize variables used during the line search.

Parameters

x0	Current solution
x1	Next solution

Reimplemented from polyfem::solver::Form.

Reimplemented in polyfem::solver::PeriodicContactForm.

Definition at line 112 of file ContactForm.cpp.

References barrier_support_size(), broad_phase_, candidates_, collision_mesh_, compute_displaced_surface(), and use_cached_candidates_.

Referenced by polyfem::solver::PeriodicContactForm::line_search_begin().

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◆ line_search_end()

void polyfem::solver::ContactForm::line_search_end ( )

overridevirtual

Clear variables used during the line search.

Reimplemented from polyfem::solver::Form.

Definition at line 124 of file ContactForm.cpp.

References candidates_, and use_cached_candidates_.

◆ max_step_size()

double polyfem::solver::ContactForm::max_step_size	(	const Eigen::VectorXd &	x0,
		const Eigen::VectorXd &	x1
	)		const

overridevirtual

Determine the maximum step size allowable between the current and next solution.

Parameters

x0	Current solution (step size = 0)
x1	Next solution (step size = 1)

Returns: Maximum allowable step size

Reimplemented from polyfem::solver::Form.

Reimplemented in polyfem::solver::PeriodicContactForm.

Definition at line 65 of file ContactForm.cpp.

References broad_phase_, broad_phase_method_, candidates_, collision_mesh_, compute_displaced_surface(), dmin_, polyfem::F, polyfem::log_and_throw_error(), polyfem::logger(), polyfem::solver::Form::resolve_output_path(), save_ccd_debug_meshes, tight_inclusion_ccd_, use_cached_candidates_, polyfem::mesh::V0, and polyfem::mesh::V1.

Referenced by polyfem::solver::PeriodicContactForm::max_step_size().

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◆ name()

virtual std::string polyfem::solver::ContactForm::name ( ) const

inlineoverridevirtual

Implements polyfem::solver::Form.

Reimplemented in polyfem::solver::BarrierContactForm, and polyfem::solver::SmoothContactForm.

Definition at line 58 of file ContactForm.hpp.

◆ set_barrier_stiffness()

void polyfem::solver::ContactForm::set_barrier_stiffness ( const double barrier_stiffness )

inline

Get the current barrier stiffness.

Definition at line 102 of file ContactForm.hpp.

References barrier_stiffness(), and barrier_stiffness_.

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◆ solution_changed()

void polyfem::solver::ContactForm::solution_changed ( const Eigen::VectorXd & new_x )

overridevirtual

Update cached fields upon a change in the solution.

Parameters

new_x New solution

Reimplemented from polyfem::solver::Form.

Reimplemented in polyfem::solver::PeriodicContactForm.

Definition at line 60 of file ContactForm.cpp.

References compute_displaced_surface(), and update_collision_set().

Referenced by polyfem::solver::PeriodicContactForm::solution_changed().

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◆ update_barrier_stiffness()

virtual void polyfem::solver::ContactForm::update_barrier_stiffness	(	const Eigen::VectorXd &	x,
		const Eigen::MatrixXd &	grad_energy
	)

pure virtual

Update the barrier stiffness based on the current elasticity energy.

Parameters

x	Current solution

Implemented in polyfem::solver::BarrierContactForm, polyfem::solver::PeriodicContactForm, and polyfem::solver::SmoothContactForm.

◆ update_collision_set()

virtual void polyfem::solver::ContactForm::update_collision_set ( const Eigen::MatrixXd & displaced_surface )

protectedpure virtual

Update the cached candidate set for the current solution.

Parameters

displaced_surface Vertex positions displaced by the current solution

Implemented in polyfem::solver::BarrierContactForm, and polyfem::solver::SmoothContactForm.

Referenced by init(), solution_changed(), and update_quantities().

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◆ update_quantities()

void polyfem::solver::ContactForm::update_quantities	(	const double	t,
		const Eigen::VectorXd &	x
	)

overridevirtual

Update time-dependent fields.

Parameters

t	Current time
x	Current solution at time t

Reimplemented from polyfem::solver::Form.

Reimplemented in polyfem::solver::PeriodicContactForm.

Definition at line 50 of file ContactForm.cpp.

References compute_displaced_surface(), update_collision_set(), and x.

Referenced by polyfem::solver::PeriodicContactForm::update_quantities().

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◆ use_adaptive_barrier_stiffness()

bool polyfem::solver::ContactForm::use_adaptive_barrier_stiffness ( ) const

inline

Get use_adaptive_barrier_stiffness.

Definition at line 104 of file ContactForm.hpp.

References use_adaptive_barrier_stiffness_.

Referenced by polyfem::solver::SmoothContactForm::SmoothContactForm(), polyfem::solver::BarrierContactForm::update_barrier_stiffness(), and polyfem::solver::SmoothContactForm::update_barrier_stiffness().

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◆ use_convergent_formulation()

virtual bool polyfem::solver::ContactForm::use_convergent_formulation ( ) const

inlinevirtual

Get use_convergent_formulation.

Reimplemented in polyfem::solver::BarrierContactForm.

Definition at line 106 of file ContactForm.hpp.

◆ weight()

double polyfem::solver::ContactForm::weight ( ) const

inlineoverridevirtual

Get the form's multiplicative constant weight.

Reimplemented from polyfem::solver::Form.

Definition at line 110 of file ContactForm.hpp.

References barrier_stiffness_, and polyfem::solver::Form::weight_.

Referenced by polyfem::solver::PeriodicContactForm::force_periodic_shape_derivative().

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Member Data Documentation

◆ avg_mass_

const double polyfem::solver::ContactForm::avg_mass_

protected

Average mass of the mesh (used for adaptive barrier stiffness)

Definition at line 143 of file ContactForm.hpp.

Referenced by polyfem::solver::BarrierContactForm::update_barrier_stiffness().

◆ barrier_stiffness_

double polyfem::solver::ContactForm::barrier_stiffness_

protected

Barrier stiffness.

Definition at line 138 of file ContactForm.hpp.

Referenced by barrier_stiffness(), polyfem::solver::BarrierContactForm::post_step(), polyfem::solver::SmoothContactForm::post_step(), set_barrier_stiffness(), polyfem::solver::BarrierContactForm::update_barrier_stiffness(), and weight().

◆ broad_phase_

const std::shared_ptr<ipc::BroadPhase> polyfem::solver::ContactForm::broad_phase_

protected

Definition at line 153 of file ContactForm.hpp.

Referenced by get_broad_phase(), is_step_collision_free(), line_search_begin(), max_step_size(), polyfem::solver::SmoothContactForm::SmoothContactForm(), polyfem::solver::BarrierContactForm::update_barrier_stiffness(), polyfem::solver::BarrierContactForm::update_collision_set(), and polyfem::solver::SmoothContactForm::update_collision_set().

◆ broad_phase_method_

const ipc::BroadPhaseMethod polyfem::solver::ContactForm::broad_phase_method_

protected

Broad phase method to use for distance and CCD evaluations.

Definition at line 152 of file ContactForm.hpp.

Referenced by max_step_size().

◆ candidates_

ipc::Candidates polyfem::solver::ContactForm::candidates_

protected

Cached candidate set for the current solution.

Definition at line 163 of file ContactForm.hpp.

Referenced by is_step_collision_free(), line_search_begin(), line_search_end(), max_step_size(), polyfem::solver::BarrierContactForm::update_collision_set(), and polyfem::solver::SmoothContactForm::update_collision_set().

◆ collision_mesh_

const ipc::CollisionMesh& polyfem::solver::ContactForm::collision_mesh_

protected

Collision mesh.

Definition at line 127 of file ContactForm.hpp.

◆ dhat_

const double polyfem::solver::ContactForm::dhat_

protected

Barrier activation distance.

Definition at line 130 of file ContactForm.hpp.

Referenced by barrier_support_size(), polyfem::solver::SmoothContactForm::barrier_support_size(), ContactForm(), dhat(), polyfem::solver::BarrierContactForm::update_barrier_stiffness(), and polyfem::solver::BarrierContactForm::update_collision_set().

◆ dmin_

const double polyfem::solver::ContactForm::dmin_ = 0

protected

Minimum distance between elements.

Definition at line 133 of file ContactForm.hpp.

Referenced by is_step_collision_free(), max_step_size(), polyfem::solver::BarrierContactForm::update_barrier_stiffness(), and polyfem::solver::BarrierContactForm::update_collision_set().

◆ enable_shape_derivatives_

const bool polyfem::solver::ContactForm::enable_shape_derivatives_

protected

Enable shape derivatives computation.

Definition at line 149 of file ContactForm.hpp.

Referenced by enable_shape_derivatives().

◆ is_time_dependent_

const bool polyfem::solver::ContactForm::is_time_dependent_

protected

Is the simulation time dependent?

Definition at line 146 of file ContactForm.hpp.

Referenced by polyfem::solver::BarrierContactForm::post_step(), and polyfem::solver::SmoothContactForm::post_step().

◆ max_barrier_stiffness_

double polyfem::solver::ContactForm::max_barrier_stiffness_

protected

Maximum barrier stiffness to use when using adaptive barrier stiffness.

Definition at line 140 of file ContactForm.hpp.

Referenced by polyfem::solver::BarrierContactForm::post_step(), polyfem::solver::SmoothContactForm::post_step(), and polyfem::solver::BarrierContactForm::update_barrier_stiffness().

◆ prev_distance_

double polyfem::solver::ContactForm::prev_distance_

protected

Previous minimum distance between all elements.

Definition at line 158 of file ContactForm.hpp.

Referenced by ContactForm(), polyfem::solver::BarrierContactForm::post_step(), and polyfem::solver::SmoothContactForm::post_step().

◆ save_ccd_debug_meshes

bool polyfem::solver::ContactForm::save_ccd_debug_meshes = false

If true, output debug files.

Definition at line 113 of file ContactForm.hpp.

Referenced by max_step_size().

◆ tight_inclusion_ccd_

const ipc::TightInclusionCCD polyfem::solver::ContactForm::tight_inclusion_ccd_

protected

Continuous collision detection specification object.

Definition at line 155 of file ContactForm.hpp.

Referenced by is_step_collision_free(), and max_step_size().

◆ use_adaptive_barrier_stiffness_

const bool polyfem::solver::ContactForm::use_adaptive_barrier_stiffness_

protected

If true, use an adaptive barrier stiffness.

Definition at line 136 of file ContactForm.hpp.

Referenced by polyfem::solver::BarrierContactForm::post_step(), polyfem::solver::SmoothContactForm::post_step(), and use_adaptive_barrier_stiffness().

◆ use_cached_candidates_

bool polyfem::solver::ContactForm::use_cached_candidates_ = false

protected

If true, use the cached candidate set for the current solution.

Definition at line 161 of file ContactForm.hpp.

Referenced by is_step_collision_free(), line_search_begin(), line_search_end(), max_step_size(), polyfem::solver::BarrierContactForm::update_collision_set(), and polyfem::solver::SmoothContactForm::update_collision_set().

The documentation for this class was generated from the following files:

src/polyfem/solver/forms/ContactForm.hpp
src/polyfem/solver/forms/ContactForm.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ContactForm()

◆ ~ContactForm()

Member Function Documentation

◆ barrier_stiffness()

◆ barrier_support_size()

◆ compute_displaced_surface()

◆ dhat()

◆ enable_shape_derivatives()

◆ get_broad_phase()

◆ init()

◆ is_step_collision_free()

◆ line_search_begin()

◆ line_search_end()

◆ max_step_size()

◆ name()

◆ set_barrier_stiffness()

◆ solution_changed()

◆ update_barrier_stiffness()

◆ update_collision_set()

◆ update_quantities()

◆ use_adaptive_barrier_stiffness()

◆ use_convergent_formulation()

◆ weight()

Member Data Documentation

◆ avg_mass_

◆ barrier_stiffness_

◆ broad_phase_

◆ broad_phase_method_

◆ candidates_

◆ collision_mesh_

◆ dhat_

◆ dmin_

◆ enable_shape_derivatives_

◆ is_time_dependent_

◆ max_barrier_stiffness_

◆ prev_distance_

◆ save_ccd_debug_meshes

◆ tight_inclusion_ccd_

◆ use_adaptive_barrier_stiffness_

◆ use_cached_candidates_