#include <SurfaceTractionForms.hpp>

Inheritance diagram for polyfem::solver::ProxyContactForceForm:

Collaboration diagram for polyfem::solver::ProxyContactForceForm:

Public Member Functions
	ProxyContactForceForm (const VariableToSimulationGroup &variable_to_simulations, const State &state, const double dhat, const bool quadratic_potential, const json &args)

	~ProxyContactForceForm ()=default

double	value_unweighted_step (const int time_step, const Eigen::VectorXd &x) const override

Eigen::VectorXd	compute_adjoint_rhs_step (const int time_step, const Eigen::VectorXd &x, const State &state) const override

void	compute_partial_gradient_step (const int time_step, const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const override

void	solution_changed_step (const int time_step, const Eigen::VectorXd &x) override

Public Member Functions inherited from polyfem::solver::StaticForm
virtual	~StaticForm ()=default

virtual std::string	name () const override

Eigen::MatrixXd	compute_adjoint_rhs (const Eigen::VectorXd &x, const State &state) const final override

void	compute_partial_gradient (const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const final override

double	value_unweighted (const Eigen::VectorXd &x) const final override
	Compute the value of the form.

virtual Eigen::VectorXd	compute_adjoint_rhs_step_prev (const int time_step, const Eigen::VectorXd &x, const State &state) const

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

virtual bool	depends_on_step_prev () const final

	AdjointForm (const VariableToSimulationGroup &variable_to_simulations)

Public Member Functions inherited from polyfem::solver::AdjointForm
	AdjointForm (const VariableToSimulationGroup &variable_to_simulations)

virtual	~AdjointForm ()

void	enable_energy_print (const std::string &print_energy_keyword)

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

const VariableToSimulationGroup &	get_variable_to_simulations () const

virtual Eigen::MatrixXd	compute_reduced_adjoint_rhs (const Eigen::VectorXd &x, const State &state) const

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

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

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

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

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

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

virtual void	finish ()

Eigen::VectorXd	value_per_element (const Eigen::VectorXd &x) const
	Compute the value of the form 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	line_search_begin (const Eigen::VectorXd &x0, const Eigen::VectorXd &x1)
	Initialize variables used during the line search.

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

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

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

Protected Member Functions
void	build_collision_mesh ()

void	build_forward_collision_mesh ()

const ipc::NormalCollisions &	get_or_compute_collision_set (const int time_step, const Eigen::MatrixXd &displaced_surface) const

Protected Member Functions inherited from polyfem::solver::AdjointForm
virtual void	first_derivative_unweighted (const Eigen::VectorXd &x, Eigen::VectorXd &gradv) const final override
	Compute the first derivative of the value wrt x.

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

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

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

Protected Attributes
const State &	state_

std::set< int >	boundary_ids_

std::map< int, std::set< int > >	boundary_ids_to_dof_

Eigen::MatrixXi	can_collide_cache_

Eigen::MatrixXd	node_positions_

Eigen::VectorXi	collision_set_indicator_

std::vector< std::shared_ptr< ipc::NormalCollisions > >	collision_sets_

ipc::CollisionMesh	collision_mesh_

const double	dhat_

const double	dmin_ = 0

ipc::BroadPhaseMethod	broad_phase_method_

Eigen::VectorXd	curr_x_

ipc::BarrierPotential	barrier_potential_

Protected Attributes inherited from polyfem::solver::StaticForm
bool	depends_on_step_prev_ = false

Protected Attributes inherited from polyfem::solver::AdjointForm
const VariableToSimulationGroup	variable_to_simulations_

PrintStage	print_energy_ = PrintStage::Inactive

std::string	print_energy_keyword_

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_

Additional Inherited Members
Protected Types inherited from polyfem::solver::AdjointForm
enum class	PrintStage { Inactive , AlreadyPrinted , ToPrint }

Detailed Description

Definition at line 61 of file SurfaceTractionForms.hpp.

Constructor & Destructor Documentation

◆ ProxyContactForceForm()

polyfem::solver::ProxyContactForceForm::ProxyContactForceForm	(	const VariableToSimulationGroup &	variable_to_simulations,
		const State &	state,
		const double	dhat,
		const bool	quadratic_potential,
		const json &	args
	)

Definition at line 788 of file SurfaceTractionForms.cpp.

References polyfem::State::args, barrier_potential_, boundary_ids_, broad_phase_method_, build_collision_mesh(), collision_set_indicator_, collision_sets_, and polyfem::State::problem.

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◆ ~ProxyContactForceForm()

polyfem::solver::ProxyContactForceForm::~ProxyContactForceForm ( )

default

Member Function Documentation

◆ build_collision_mesh()

void polyfem::solver::ProxyContactForceForm::build_collision_mesh ( )

protected

Definition at line 833 of file SurfaceTractionForms.cpp.

References polyfem::State::bases, polyfem::assembler::ElementAssemblyValues::basis_values, boundary_ids_, boundary_ids_to_dof_, polyfem::utils::BoundarySampler::boundary_quadrature(), can_collide_cache_, collision_mesh_, polyfem::assembler::ElementAssemblyValues::compute(), polyfem::io::OutGeometryData::extract_boundary_mesh(), polyfem::State::geom_bases(), polyfem::assembler::AssemblyValues::global, polyfem::basis::ElementBases::local_nodes_for_primitive(), polyfem::log_and_throw_adjoint_error(), polyfem::State::mesh, polyfem::State::n_bases, polyfem::State::n_boundary_samples(), node_positions_, state_, polyfem::State::total_local_boundary, and vals.

Referenced by ProxyContactForceForm(), and solution_changed_step().

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◆ build_forward_collision_mesh()

void polyfem::solver::ProxyContactForceForm::build_forward_collision_mesh ( )

protected

◆ compute_adjoint_rhs_step()

Eigen::VectorXd polyfem::solver::ProxyContactForceForm::compute_adjoint_rhs_step	(	const int	time_step,
		const Eigen::VectorXd &	x,
		const State &	state
	)		const

overridevirtual

Implements polyfem::solver::StaticForm.

Definition at line 986 of file SurfaceTractionForms.cpp.

References barrier_potential_, collision_mesh_, polyfem::solver::SolveData::contact_form, polyfem::State::diff_cached, get_or_compute_collision_set(), polyfem::State::solve_data, state_, polyfem::solver::SolveData::time_integrator, polyfem::solver::DiffCache::u(), polyfem::utils::unflatten(), and polyfem::solver::Form::weight().

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◆ compute_partial_gradient_step()

void polyfem::solver::ProxyContactForceForm::compute_partial_gradient_step	(	const int	time_step,
		const Eigen::VectorXd &	x,
		Eigen::VectorXd &	gradv
	)		const

overridevirtual

Implements polyfem::solver::StaticForm.

Definition at line 1022 of file SurfaceTractionForms.cpp.

References polyfem::solver::VariableToSimulationGroup::apply_parametrization_jacobian(), barrier_potential_, polyfem::State::basis_nodes_to_gbasis_nodes, collision_mesh_, polyfem::solver::SolveData::contact_form, polyfem::State::diff_cached, get_or_compute_collision_set(), polyfem::solver::AdjointTools::map_node_to_primitive_order(), polyfem::solver::Shape, polyfem::State::solve_data, state_, polyfem::solver::SolveData::time_integrator, polyfem::solver::DiffCache::u(), polyfem::utils::unflatten(), polyfem::solver::AdjointForm::variable_to_simulations_, polyfem::solver::Form::weight(), and x.

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◆ get_or_compute_collision_set()

const ipc::NormalCollisions & polyfem::solver::ProxyContactForceForm::get_or_compute_collision_set	(	const int	time_step,
		const Eigen::MatrixXd &	displaced_surface
	)		const