Form representing the contact potential and forces on a periodic mesh This form has a different input format of [fluctuation, affine], only can be used in NLHomoProblem. More...

#include <PeriodicContactForm.hpp>

Inheritance diagram for polyfem::solver::PeriodicContactForm:

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Collaboration diagram for polyfem::solver::PeriodicContactForm:

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Public Member Functions
	PeriodicContactForm (const ipc::CollisionMesh &periodic_collision_mesh, const Eigen::VectorXi &tiled_to_single, const double dhat, const double avg_mass, const bool use_convergent_formulation, 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.

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

void	force_periodic_shape_derivative (const State &state, const PeriodicMeshToMesh &periodic_mesh_map, const Eigen::VectorXd &periodic_mesh_representation, const ipc::Collisions &contact_set, const Eigen::VectorXd &solution, const Eigen::VectorXd &adjoint_sol, Eigen::VectorXd &term)

Eigen::VectorXd	single_to_tiled (const Eigen::VectorXd &x) const

Eigen::VectorXd	tiled_to_single_grad (const Eigen::VectorXd &grad) const

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

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.

void	line_search_begin (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1) override
	Initialize 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.

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

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

Public Member Functions inherited from polyfem::solver::ContactForm
	ContactForm (const ipc::CollisionMesh &collision_mesh, const double dhat, const double avg_mass, const bool use_convergent_formulation, 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

std::string	name () const override

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

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

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.

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

const ipc::Collisions &	collision_set () const

const ipc::BarrierPotential &	barrier_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 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)

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

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.

Protected Member Functions inherited from polyfem::solver::ContactForm
Eigen::VectorXd	value_per_element_unweighted (const Eigen::VectorXd &x) const override
	Compute the value of the form multiplied per element.

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

Private Member Functions
void	update_projection () const

Private Attributes
const Eigen::VectorXi	tiled_to_single_

const int	n_single_dof_

StiffnessMatrix	proj

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	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 double	ccd_tolerance_
	Continuous collision detection tolerance.

const int	ccd_max_iterations_
	Continuous collision detection maximum iterations.

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

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

const ipc::BarrierPotential	barrier_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 on a periodic mesh This form has a different input format of [fluctuation, affine], only can be used in NLHomoProblem.

Definition at line 18 of file PeriodicContactForm.hpp.

Constructor & Destructor Documentation

◆ PeriodicContactForm()

polyfem::solver::PeriodicContactForm::PeriodicContactForm	(	const ipc::CollisionMesh &	periodic_collision_mesh,
		const Eigen::VectorXi &	tiled_to_single,
		const double	dhat,
		const double	avg_mass,
		const bool	use_convergent_formulation,
		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

periodic_collision_mesh	3x3 tiling of a periodic mesh
tiled_to_single	Index mapping from the tiled mesh to the original periodic mesh

Definition at line 12 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::collision_mesh_, tiled_to_single_, and update_projection().

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Member Function Documentation

◆ first_derivative_unweighted()

void polyfem::solver::PeriodicContactForm::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

Reimplemented from polyfem::solver::ContactForm.

Definition at line 111 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::first_derivative_unweighted(), single_to_tiled(), tiled_to_single_grad(), and x.

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◆ force_periodic_shape_derivative()

void polyfem::solver::PeriodicContactForm::force_periodic_shape_derivative	(	const State &	state,
		const PeriodicMeshToMesh &	periodic_mesh_map,
		const Eigen::VectorXd &	periodic_mesh_representation,
		const ipc::Collisions &	contact_set,
		const Eigen::VectorXd &	solution,
		const Eigen::VectorXd &	adjoint_sol,
		Eigen::VectorXd &	term
	)

Definition at line 169 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::barrier_potential_, polyfem::State::basis_nodes_to_gbasis_nodes, polyfem::solver::ContactForm::collision_mesh_, polyfem::solver::ContactForm::compute_displaced_surface(), polyfem::utils::flatten(), polyfem::solver::PeriodicMeshToMesh::full_to_periodic(), polyfem::State::n_geom_bases, n_single_dof_, polyfem::State::primitive_to_node(), proj, polyfem::solver::ContactForm::second_derivative_unweighted(), single_to_tiled(), polyfem::utils::unflatten(), and polyfem::solver::ContactForm::weight().

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◆ init()

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

overridevirtual

Initialize the form.

Parameters

x	Current solution

Reimplemented from polyfem::solver::ContactForm.

Definition at line 101 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::init(), single_to_tiled(), and x.

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◆ is_step_collision_free()

bool polyfem::solver::PeriodicContactForm::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::ContactForm.

Definition at line 159 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::is_step_collision_free(), and single_to_tiled().

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◆ line_search_begin()

void polyfem::solver::PeriodicContactForm::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::ContactForm.

Definition at line 142 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::line_search_begin(), and single_to_tiled().

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◆ max_step_size()

double polyfem::solver::PeriodicContactForm::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::ContactForm.

Definition at line 137 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::max_step_size(), and single_to_tiled().

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◆ post_step()

void polyfem::solver::PeriodicContactForm::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::ContactForm.

Definition at line 152 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::post_step(), and single_to_tiled().

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◆ second_derivative_unweighted()

void polyfem::solver::PeriodicContactForm::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

Reimplemented from polyfem::solver::ContactForm.

Definition at line 117 of file PeriodicContactForm.cpp.

References proj, polyfem::solver::ContactForm::second_derivative_unweighted(), single_to_tiled(), update_projection(), and x.

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◆ single_to_tiled()

Eigen::VectorXd polyfem::solver::PeriodicContactForm::single_to_tiled ( const Eigen::VectorXd & x ) const

Definition at line 58 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::collision_mesh_, n_single_dof_, tiled_to_single_, and x.

Referenced by first_derivative_unweighted(), force_periodic_shape_derivative(), init(), is_step_collision_free(), line_search_begin(), max_step_size(), post_step(), second_derivative_unweighted(), solution_changed(), update_barrier_stiffness(), update_quantities(), and value_unweighted().

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◆ solution_changed()

void polyfem::solver::PeriodicContactForm::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::ContactForm.

Definition at line 147 of file PeriodicContactForm.cpp.

References single_to_tiled(), and polyfem::solver::ContactForm::solution_changed().

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◆ tiled_to_single_grad()

Eigen::VectorXd polyfem::solver::PeriodicContactForm::tiled_to_single_grad ( const Eigen::VectorXd & grad ) const

Definition at line 79 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::collision_mesh_, n_single_dof_, and tiled_to_single_.

Referenced by first_derivative_unweighted().

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◆ update_barrier_stiffness()

void polyfem::solver::PeriodicContactForm::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

Reimplemented from polyfem::solver::ContactForm.

Definition at line 164 of file PeriodicContactForm.cpp.

References single_to_tiled(), polyfem::solver::ContactForm::update_barrier_stiffness(), and x.

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◆ update_projection()

void polyfem::solver::PeriodicContactForm::update_projection ( ) const

private

Definition at line 36 of file PeriodicContactForm.cpp.

References polyfem::solver::ContactForm::collision_mesh_, entries, n_single_dof_, proj, and tiled_to_single_.

Referenced by PeriodicContactForm(), and second_derivative_unweighted().

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◆ update_quantities()

void polyfem::solver::PeriodicContactForm::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::ContactForm.

Definition at line 132 of file PeriodicContactForm.cpp.

References single_to_tiled(), polyfem::solver::ContactForm::update_quantities(), and x.

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◆ value_unweighted()

double polyfem::solver::PeriodicContactForm::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

Reimplemented from polyfem::solver::ContactForm.

Definition at line 106 of file PeriodicContactForm.cpp.

References single_to_tiled(), polyfem::solver::ContactForm::value_unweighted(), and x.

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Member Data Documentation

◆ n_single_dof_

const int polyfem::solver::PeriodicContactForm::n_single_dof_

private

Definition at line 97 of file PeriodicContactForm.hpp.

Referenced by force_periodic_shape_derivative(), single_to_tiled(), tiled_to_single_grad(), and update_projection().

◆ proj

StiffnessMatrix polyfem::solver::PeriodicContactForm::proj

mutableprivate

Definition at line 98 of file PeriodicContactForm.hpp.

Referenced by force_periodic_shape_derivative(), second_derivative_unweighted(), and update_projection().

◆ tiled_to_single_

const Eigen::VectorXi polyfem::solver::PeriodicContactForm::tiled_to_single_

private

Definition at line 96 of file PeriodicContactForm.hpp.

Referenced by PeriodicContactForm(), single_to_tiled(), tiled_to_single_grad(), and update_projection().

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

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PeriodicContactForm()

Member Function Documentation

◆ first_derivative_unweighted()

◆ force_periodic_shape_derivative()

◆ init()

◆ is_step_collision_free()

◆ line_search_begin()

◆ max_step_size()

◆ post_step()

◆ second_derivative_unweighted()

◆ single_to_tiled()

◆ solution_changed()

◆ tiled_to_single_grad()

◆ update_barrier_stiffness()

◆ update_projection()

◆ update_quantities()

◆ value_unweighted()

Member Data Documentation

◆ n_single_dof_

◆ proj

◆ tiled_to_single_