#include <ESPContactForm.hpp>

Inheritance diagram for polyfem::solver::ESPContactForm:

Collaboration diagram for polyfem::solver::ESPContactForm:

Public Member Functions
	ESPContactForm (const ipc::CollisionMesh &collision_mesh, const double dhat, const double avg_mass, const json esp_params, const bool skip_obstacles, std::shared_ptr< ipc::Barrier > barrier, const bool use_adaptive_dhat, 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, const double dhat_epsilon_scale)

virtual std::string	name () const override

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

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

const ipc::ESPParameters &	get_params () const

const ipc::ESPCollisions &	collision_set () const

const ipc::ESPPotential &	barrier_potential () const

Public Member Functions inherited from 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, const double dhat_epsilon_scale)
	Construct a new Contact Form object.

virtual	~ContactForm ()=default

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.

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)
	Set the current barrier stiffness.

bool	use_adaptive_barrier_stiffness () const
	Get use_adaptive_barrier_stiffness.

double	dhat_epsilon_scale () const
	Get the dhat_epsilon_scale passed to ipc::update_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	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?

virtual 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

Protected Member Functions
double	value_unweighted (const Eigen::VectorXd &x) const override
	Compute the contact barrier potential value.

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

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

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

double	barrier_support_size () const override

void	update_collision_set (const Eigen::MatrixXd &displaced_surface) override
	Update the cached candidate set for the current solution.

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

Private Attributes
ipc::ESPParameters	params

ipc::ESPCollisions	collision_set_
	Cached constraint set for the current solution.

ipc::ESPPotential	barrier_potential_
	Contact potential.

Eigen::MatrixXd	cached_displaced_surface

Additional Inherited Members
Public Attributes inherited from polyfem::solver::ContactForm
bool	save_ccd_debug_meshes = false
	If true, output debug files.

Protected Attributes inherited from polyfem::solver::ContactForm
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	dhat_epsilon_scale_
	dhat_epsilon_scale used by ipc::update_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

Definition at line 11 of file ESPContactForm.hpp.

Constructor & Destructor Documentation

◆ ESPContactForm()

polyfem::solver::ESPContactForm::ESPContactForm	(	const ipc::CollisionMesh &	collision_mesh,
		const double	dhat,
		const double	avg_mass,
		const json	esp_params,
		const bool	skip_obstacles,
		std::shared_ptr< ipc::Barrier >	barrier,
		const bool	use_adaptive_dhat,
		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,
		const double	dhat_epsilon_scale
	)

Definition at line 85 of file ESPContactForm.cpp.

References polyfem::log_and_throw_error().

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Member Function Documentation

◆ barrier_potential()

const ipc::ESPPotential & polyfem::solver::ESPContactForm::barrier_potential ( ) const

inline

Definition at line 42 of file ESPContactForm.hpp.

References barrier_potential_.

◆ barrier_support_size()

double polyfem::solver::ESPContactForm::barrier_support_size ( ) const

inlineoverrideprotectedvirtual

Reimplemented from polyfem::solver::ContactForm.

Definition at line 65 of file ESPContactForm.hpp.

References polyfem::solver::ContactForm::dhat_.

◆ collision_set()

const ipc::ESPCollisions & polyfem::solver::ESPContactForm::collision_set ( ) const

inline

Definition at line 40 of file ESPContactForm.hpp.

References collision_set_.

◆ first_derivative_unweighted()

void polyfem::solver::ESPContactForm::first_derivative_unweighted	(	const Eigen::VectorXd &	x,
		Eigen::VectorXd &	gradv
	)		const

overrideprotectedvirtual

Compute the first derivative of the value wrt x.

Parameters

[in]	x	Current solution
[out]	gradv	Output gradient of the value wrt x

Implements polyfem::solver::Form.

Definition at line 139 of file ESPContactForm.cpp.

References barrier_potential_, cached_displaced_surface, polyfem::solver::ContactForm::collision_mesh_, collision_set_, polyfem::solver::ContactForm::compute_displaced_surface(), and x.

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◆ get_params()

const ipc::ESPParameters & polyfem::solver::ESPContactForm::get_params ( ) const

inline

Definition at line 38 of file ESPContactForm.hpp.

References params.

◆ name()

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

inlineoverridevirtual

Reimplemented from polyfem::solver::ContactForm.

Definition at line 29 of file ESPContactForm.hpp.

◆ post_step()

void polyfem::solver::ESPContactForm::post_step ( const polysolve::nonlinear::PostStepData & data )

overridevirtual

Update fields after a step in the optimization.

Parameters

iter_num	Optimization iteration number
x	Current solution

Reimplemented from polyfem::solver::Form.

Definition at line 158 of file ESPContactForm.cpp.

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◆ second_derivative_unweighted()

void polyfem::solver::ESPContactForm::second_derivative_unweighted	(	const Eigen::VectorXd &	x,
		StiffnessMatrix &	hessian
	)		const

overrideprotectedvirtual

Compute the second derivative of the value wrt x.

Parameters

x	Current solution
hessian	Output Hessian of the value wrt x

Implements polyfem::solver::Form.

Definition at line 151 of file ESPContactForm.cpp.

References barrier_potential_, polyfem::solver::ContactForm::collision_mesh_, collision_set_, polyfem::solver::ContactForm::compute_displaced_surface(), POLYFEM_SCOPED_TIMER, polyfem::solver::Form::project_to_psd_, and x.

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◆ update_barrier_stiffness()

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

overridevirtual

Update the barrier stiffness based on the current elasticity energy.

Parameters

x	Current solution

Implements polyfem::solver::ContactForm.

Definition at line 105 of file ESPContactForm.cpp.

References polyfem::log_and_throw_error(), and polyfem::solver::ContactForm::use_adaptive_barrier_stiffness().

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◆ update_collision_set()

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

overrideprotectedvirtual

Update the cached candidate set for the current solution.

Parameters

displaced_surface Vertex positions displaced by the current solution

Implements polyfem::solver::ContactForm.

Definition at line 113 of file ESPContactForm.cpp.

References polyfem::solver::ContactForm::broad_phase_, cached_displaced_surface, polyfem::solver::ContactForm::collision_mesh_, collision_set_, and params.

Referenced by post_step().

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◆ value_per_element_unweighted()

Eigen::VectorXd polyfem::solver::ESPContactForm::value_per_element_unweighted ( const Eigen::VectorXd & x ) const

overrideprotectedvirtual

Compute the value of the form multiplied per element.

Parameters

x	Current solution

Returns: Computed value

Reimplemented from polyfem::solver::Form.

Definition at line 134 of file ESPContactForm.cpp.

References polyfem::log_and_throw_error().

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◆ value_unweighted()

double polyfem::solver::ESPContactForm::value_unweighted ( const Eigen::VectorXd & x ) const

overrideprotectedvirtual

Compute the contact barrier potential value.

Parameters

x	Current solution

Returns: Value of the contact barrier potential

Implements polyfem::solver::Form.

Definition at line 124 of file ESPContactForm.cpp.

References barrier_potential_, cached_displaced_surface, polyfem::solver::ContactForm::collision_mesh_, collision_set_, polyfem::solver::ContactForm::compute_displaced_surface(), and x.

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Member Data Documentation

◆ barrier_potential_

ipc::ESPPotential polyfem::solver::ESPContactForm::barrier_potential_

private

Contact potential.

Definition at line 76 of file ESPContactForm.hpp.

Referenced by barrier_potential(), first_derivative_unweighted(), second_derivative_unweighted(), and value_unweighted().

◆ cached_displaced_surface

Eigen::MatrixXd polyfem::solver::ESPContactForm::cached_displaced_surface

private

Definition at line 78 of file ESPContactForm.hpp.

Referenced by first_derivative_unweighted(), update_collision_set(), and value_unweighted().

◆ collision_set_

ipc::ESPCollisions polyfem::solver::ESPContactForm::collision_set_

private

Cached constraint set for the current solution.

Definition at line 73 of file ESPContactForm.hpp.

Referenced by collision_set(), first_derivative_unweighted(), post_step(), second_derivative_unweighted(), update_collision_set(), and value_unweighted().

◆ params

ipc::ESPParameters polyfem::solver::ESPContactForm::params

private

Definition at line 70 of file ESPContactForm.hpp.

Referenced by get_params(), and update_collision_set().

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

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ESPContactForm()

Member Function Documentation

◆ barrier_potential()

◆ barrier_support_size()

◆ collision_set()

◆ first_derivative_unweighted()

◆ get_params()

◆ name()

◆ post_step()

◆ second_derivative_unweighted()

◆ update_barrier_stiffness()

◆ update_collision_set()

◆ value_per_element_unweighted()

◆ value_unweighted()

Member Data Documentation

◆ barrier_potential_

◆ cached_displaced_surface

◆ collision_set_

◆ params