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

#include <NormalAdhesionForm.hpp>

Inheritance diagram for polyfem::solver::NormalAdhesionForm:

Collaboration diagram for polyfem::solver::NormalAdhesionForm:

Public Member Functions
	NormalAdhesionForm (const ipc::CollisionMesh &collision_mesh, const double dhat_p, const double dhat_a, const double Y, 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 NormalAdhesion Form object.

virtual	~NormalAdhesionForm ()=default

std::string	name () const override

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

virtual void	force_shape_derivative (const ipc::NormalCollisions &collision_set, const Eigen::MatrixXd &solution, const Eigen::VectorXd &adjoint_sol, Eigen::VectorXd &term)

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

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.

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

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

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

bool	enable_shape_derivatives () const

double	dhat_a () const

double	dhat_p () const

double	Y () const

const ipc::NormalCollisions &	collision_set () const

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

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.

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

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

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

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 double	value_unweighted (const Eigen::VectorXd &x) const override
	Compute the normal adhesion potential value.

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

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

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

void	update_collision_set (const Eigen::MatrixXd &displaced_surface)
	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

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

const double	dhat_p_
	Maximum adhesion strength distance.

const double	dhat_a_
	Adhesion activation distance.

const double	Y_
	Adhesion strength.

const double	dmin_ = 0
	Minimum distance between elements.

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 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::NormalCollisions	collision_set_
	Cached constraint set for the current solution.

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

const ipc::NormalAdhesionPotential	normal_adhesion_potential_

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 18 of file NormalAdhesionForm.hpp.

Constructor & Destructor Documentation

◆ NormalAdhesionForm()

polyfem::solver::NormalAdhesionForm::NormalAdhesionForm	(	const ipc::CollisionMesh &	collision_mesh,
		const double	dhat_p,
		const double	dhat_a,
		const double	Y,
		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 NormalAdhesion Form object.

Parameters

collision_mesh	Reference to the collision mesh
dhat_p	Distance of largest adhesion force
dhat_a	Adhesion activation distance
Y	Adhesion strength
is_time_dependent	Is the simulation time dependent?
enable_shape_derivatives	Enable shape derivatives
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 NormalAdhesionForm.cpp.

References collision_set_, dhat_a(), dhat_p(), enable_shape_derivatives(), and prev_distance_.

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◆ ~NormalAdhesionForm()

virtual polyfem::solver::NormalAdhesionForm::~NormalAdhesionForm ( )

virtualdefault

Member Function Documentation

◆ collision_set()

const ipc::NormalCollisions & polyfem::solver::NormalAdhesionForm::collision_set ( ) const

inline

Definition at line 105 of file NormalAdhesionForm.hpp.

References collision_set_.

Referenced by force_shape_derivative().

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◆ compute_displaced_surface()

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

Compute the displaced positions of the surface nodes.

Definition at line 67 of file NormalAdhesionForm.cpp.

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

Referenced by polyfem::solver::TangentialAdhesionForm::compute_displaced_surface(), first_derivative_unweighted(), force_shape_derivative(), init(), line_search_begin(), post_step(), second_derivative_unweighted(), solution_changed(), update_quantities(), value_per_element_unweighted(), and value_unweighted().

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◆ dhat_a()

double polyfem::solver::NormalAdhesionForm::dhat_a ( ) const

inline

Definition at line 102 of file NormalAdhesionForm.hpp.

References dhat_a_.

Referenced by NormalAdhesionForm(), and polyfem::solver::TangentialAdhesionForm::update_lagging().

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◆ dhat_p()

double polyfem::solver::NormalAdhesionForm::dhat_p ( ) const

inline

Definition at line 103 of file NormalAdhesionForm.hpp.

References dhat_p_.

Referenced by NormalAdhesionForm().

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◆ enable_shape_derivatives()

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

inline

Definition at line 97 of file NormalAdhesionForm.hpp.

References enable_shape_derivatives_.

Referenced by NormalAdhesionForm().

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◆ first_derivative_unweighted()

void polyfem::solver::NormalAdhesionForm::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 143 of file NormalAdhesionForm.cpp.

References collision_mesh_, collision_set_, compute_displaced_surface(), normal_adhesion_potential_, and x.

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◆ force_shape_derivative()

void polyfem::solver::NormalAdhesionForm::force_shape_derivative	(	const ipc::NormalCollisions &	collision_set,
		const Eigen::MatrixXd &	solution,
		const Eigen::VectorXd &	adjoint_sol,
		Eigen::VectorXd &	term
	)

virtual

Definition at line 52 of file NormalAdhesionForm.cpp.

References collision_mesh_, collision_set(), compute_displaced_surface(), and normal_adhesion_potential_.

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◆ init()

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

overridevirtual

Initialize the form.

Parameters

x	Current solution

Reimplemented from polyfem::solver::Form.

Definition at line 47 of file NormalAdhesionForm.cpp.

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

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◆ line_search_begin()

void polyfem::solver::NormalAdhesionForm::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.

Definition at line 170 of file NormalAdhesionForm.cpp.

References broad_phase_method_, candidates_, collision_mesh_, compute_displaced_surface(), dhat_a_, and use_cached_candidates_.

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◆ line_search_end()

void polyfem::solver::NormalAdhesionForm::line_search_end ( )

overridevirtual

Clear variables used during the line search.

Reimplemented from polyfem::solver::Form.

Definition at line 182 of file NormalAdhesionForm.cpp.

References candidates_, and use_cached_candidates_.

◆ name()

std::string polyfem::solver::NormalAdhesionForm::name ( ) const

inlineoverridevirtual

Implements polyfem::solver::Form.

Definition at line 42 of file NormalAdhesionForm.hpp.

◆ normal_adhesion_potential()

const ipc::NormalAdhesionPotential & polyfem::solver::NormalAdhesionForm::normal_adhesion_potential ( ) const

inline

Definition at line 106 of file NormalAdhesionForm.hpp.

References normal_adhesion_potential_.

Referenced by polyfem::solver::TangentialAdhesionForm::force_shape_derivative(), and polyfem::solver::TangentialAdhesionForm::update_lagging().

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◆ post_step()

void polyfem::solver::NormalAdhesionForm::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 188 of file NormalAdhesionForm.cpp.

References collision_mesh_, collision_set_, compute_displaced_surface(), and prev_distance_.

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◆ second_derivative_unweighted()

void polyfem::solver::NormalAdhesionForm::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 149 of file NormalAdhesionForm.cpp.

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

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◆ solution_changed()

void polyfem::solver::NormalAdhesionForm::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.

Definition at line 165 of file NormalAdhesionForm.cpp.

References compute_displaced_surface(), and update_collision_set().

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◆ update_collision_set()

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

protected

Update the cached candidate set for the current solution.

Parameters

displaced_surface Vertex positions displaced by the current solution

Definition at line 72 of file NormalAdhesionForm.cpp.

References broad_phase_method_, candidates_, collision_mesh_, collision_set_, dhat_a_, dmin_, and use_cached_candidates_.

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

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◆ update_quantities()

void polyfem::solver::NormalAdhesionForm::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.

Definition at line 62 of file NormalAdhesionForm.cpp.

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

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◆ value_per_element_unweighted()

Eigen::VectorXd polyfem::solver::NormalAdhesionForm::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 93 of file NormalAdhesionForm.cpp.

References collision_mesh_, collision_set_, compute_displaced_surface(), polyfem::F, polyfem::utils::maybe_parallel_for(), V, and x.

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◆ value_unweighted()

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

overrideprotectedvirtual

Compute the normal adhesion potential value.

Parameters

x	Current solution

Returns: Value of the normal adhesion potential

Implements polyfem::solver::Form.

Definition at line 88 of file NormalAdhesionForm.cpp.

References collision_mesh_, collision_set_, compute_displaced_surface(), normal_adhesion_potential_, and x.

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◆ Y()

double polyfem::solver::NormalAdhesionForm::Y ( ) const

inline

Definition at line 104 of file NormalAdhesionForm.hpp.

References Y_.

Member Data Documentation

◆ broad_phase_method_

const ipc::BroadPhaseMethod polyfem::solver::NormalAdhesionForm::broad_phase_method_

protected

Broad phase method to use for distance and CCD evaluations.

Definition at line 135 of file NormalAdhesionForm.hpp.

Referenced by line_search_begin(), and update_collision_set().

◆ candidates_

ipc::Candidates polyfem::solver::NormalAdhesionForm::candidates_

protected

Cached candidate set for the current solution.

Definition at line 147 of file NormalAdhesionForm.hpp.

Referenced by line_search_begin(), line_search_end(), and update_collision_set().

◆ collision_mesh_

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

protected

Collision mesh.

Definition at line 114 of file NormalAdhesionForm.hpp.

Referenced by compute_displaced_surface(), first_derivative_unweighted(), force_shape_derivative(), line_search_begin(), post_step(), second_derivative_unweighted(), update_collision_set(), value_per_element_unweighted(), and value_unweighted().

◆ collision_set_

ipc::NormalCollisions polyfem::solver::NormalAdhesionForm::collision_set_

protected

Cached constraint set for the current solution.

Definition at line 145 of file NormalAdhesionForm.hpp.

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

◆ dhat_a_

const double polyfem::solver::NormalAdhesionForm::dhat_a_

protected

Adhesion activation distance.

Definition at line 120 of file NormalAdhesionForm.hpp.

Referenced by dhat_a(), line_search_begin(), and update_collision_set().

◆ dhat_p_

const double polyfem::solver::NormalAdhesionForm::dhat_p_

protected

Maximum adhesion strength distance.

Definition at line 117 of file NormalAdhesionForm.hpp.

Referenced by dhat_p().

◆ dmin_

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

protected

Minimum distance between elements.

Definition at line 126 of file NormalAdhesionForm.hpp.

Referenced by update_collision_set().

◆ enable_shape_derivatives_

const bool polyfem::solver::NormalAdhesionForm::enable_shape_derivatives_

protected

Enable shape derivatives computation.

Definition at line 132 of file NormalAdhesionForm.hpp.

Referenced by enable_shape_derivatives().

◆ is_time_dependent_

const bool polyfem::solver::NormalAdhesionForm::is_time_dependent_

protected

Is the simulation time dependent?

Definition at line 129 of file NormalAdhesionForm.hpp.

◆ normal_adhesion_potential_

const ipc::NormalAdhesionPotential polyfem::solver::NormalAdhesionForm::normal_adhesion_potential_

protected

Definition at line 149 of file NormalAdhesionForm.hpp.

Referenced by first_derivative_unweighted(), force_shape_derivative(), normal_adhesion_potential(), second_derivative_unweighted(), and value_unweighted().

◆ prev_distance_

double polyfem::solver::NormalAdhesionForm::prev_distance_

protected

Previous minimum distance between all elements.

Definition at line 140 of file NormalAdhesionForm.hpp.

Referenced by NormalAdhesionForm(), and post_step().

◆ save_ccd_debug_meshes

bool polyfem::solver::NormalAdhesionForm::save_ccd_debug_meshes = false

If true, output debug files.

Definition at line 100 of file NormalAdhesionForm.hpp.

◆ tight_inclusion_ccd_

const ipc::TightInclusionCCD polyfem::solver::NormalAdhesionForm::tight_inclusion_ccd_

protected

Continuous collision detection specification object.

Definition at line 137 of file NormalAdhesionForm.hpp.

◆ use_cached_candidates_

bool polyfem::solver::NormalAdhesionForm::use_cached_candidates_ = false

protected

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

Definition at line 143 of file NormalAdhesionForm.hpp.

Referenced by line_search_begin(), line_search_end(), and update_collision_set().

◆ Y_

const double polyfem::solver::NormalAdhesionForm::Y_

protected

Adhesion strength.

Definition at line 123 of file NormalAdhesionForm.hpp.

Referenced by Y().

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

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NormalAdhesionForm()

◆ ~NormalAdhesionForm()

Member Function Documentation

◆ collision_set()

◆ compute_displaced_surface()

◆ dhat_a()

◆ dhat_p()

◆ enable_shape_derivatives()

◆ first_derivative_unweighted()

◆ force_shape_derivative()

◆ init()

◆ line_search_begin()

◆ line_search_end()

◆ name()

◆ normal_adhesion_potential()

◆ post_step()

◆ second_derivative_unweighted()

◆ solution_changed()

◆ update_collision_set()

◆ update_quantities()

◆ value_per_element_unweighted()

◆ value_unweighted()

◆ Y()

Member Data Documentation

◆ broad_phase_method_

◆ candidates_

◆ collision_mesh_

◆ collision_set_

◆ dhat_a_

◆ dhat_p_

◆ dmin_

◆ enable_shape_derivatives_

◆ is_time_dependent_

◆ normal_adhesion_potential_

◆ prev_distance_

◆ save_ccd_debug_meshes

◆ tight_inclusion_ccd_

◆ use_cached_candidates_

◆ Y_