From 5fc2fbb39928b9c45bc206580a4abf3da7497306 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Tue, 12 Nov 2024 04:14:37 +0000 Subject: [PATCH 01/13] add the s_mu and k_mu to the tangent force --- docs/source/tutorial/frictions.rst | 159 ++++++++++++++++++ src/ipc/collision_mesh.cpp | 21 ++- src/ipc/collision_mesh.hpp | 20 ++- .../tangential/tangential_collision.hpp | 8 +- .../tangential/tangential_collisions.cpp | 58 ++++--- .../tangential/tangential_collisions.hpp | 68 ++++++-- src/ipc/potentials/tangential_potential.cpp | 17 +- .../friction/friction_data_generator.cpp | 23 +-- .../friction/friction_data_generator.hpp | 2 + tests/src/tests/friction/test_friction.cpp | 15 +- .../potential/test_friction_potential.cpp | 40 +++++ tests/src/tests/test_collision_mesh.cpp | 58 +++++++ 12 files changed, 423 insertions(+), 66 deletions(-) create mode 100644 docs/source/tutorial/frictions.rst diff --git a/docs/source/tutorial/frictions.rst b/docs/source/tutorial/frictions.rst new file mode 100644 index 000000000..70393ebbb --- /dev/null +++ b/docs/source/tutorial/frictions.rst @@ -0,0 +1,159 @@ +Multiple Friction Materials +=========================== + +This tutorial demonstrates how to set up and work with multiple friction types in the IPC Toolkit. It covers setting up a collision mesh with materials, defining tangential collisions with different friction properties, specifying blend types for friction coefficients, and calculating friction forces. + +Create a Collision Mesh with Materials +----------------------------------------- + +First, we need to create a collision mesh. The ``CollisionMesh`` data structure represents the surface geometry used for collision processing. +We will start by creating a collision mesh from a ``bunny.ply`` mesh file (you can find the mesh `here `_): + +Adding a material ID to the ``CollisionMesh`` allows us to define friction properties for different materials. +The material ID is an integer value used to identify the material of each vertex in the mesh. It is recommended to use consecutive integers starting from 1 and +-1 for vertices that do not belong to any material. + + +.. code-block:: cpp + + #include + #include + #include + #include + + Eigen::MatrixXd rest_positions; + Eigen::MatrixXi edges, faces; + igl::read_triangle_mesh("bunny.ply", rest_positions, faces); + igl::edges(faces, edges); + + // Assign material IDs to vertices + int mat_id = 1; + + ipc::CollisionMesh collision_mesh(rest_positions, edges, faces, mat_id); + +In Python: + +.. code-block:: python + + import ipctk + import meshio + + mesh = meshio.read("bunny.ply") + rest_positions = mesh.points + faces = mesh.cells_dict["triangle"] + edges = ipctk.edges(faces) + + collision_mesh = ipctk.CollisionMesh(rest_positions, edges, faces, mat_id=1) + + +Define Tangential Collisions with Multiple Friction Types and Blending +-------------------------------------------------------------------------- + +Define and build the tangential collisions for handling friction based on material properties. Specify `BlendType` to set the method for combining friction coefficients of different materials. + +Supported blend types: +- `AVG`: Average +- `MIN`: Minimum +- `MAX`: Maximum +- `PRODUCT`: Product +- `HARMONIC_MEAN`: Harmonic mean +- `GEOMETRIC_MEAN`: Geometric mean + +.. code-block:: cpp + + const double dhat = 1e-3; + const double barrier_stiffness = 1.0; + const double global_mu = 0.6; + const double global_kinetic_mu = 0.6; + const double global_static_mu = 0.6; + + ipc::NormalCollisions collisions; + collisions.build(collision_mesh, vertices, dhat); + + // Choose a blend type + ipc::TangentialCollisions::BlendType blend_type = ipc::TangentialCollisions::BlendType::AVG; + + ipc::TangentialCollisions tangential_collisions; + tangential_collisions.build( + collision_mesh, vertices, collisions, ipc::BarrierPotential(dhat), barrier_stiffness, + global_mu, global_static_mu, global_kinetic_mu, material_pair_friction, blend_type); + +In Python: + +.. code-block:: python + + dhat = 1e-3 + barrier_stiffness = 1.0 + global_mu = 0.6 + global_static_mu = 0.6 + global_kinetic_mu = 0.6 + + material_pair_friction = { + (1, 2): (0.5, 0.3), # Friction between material 1 and 2 + (2, 3): (0.4, 0.25), # Friction between material 2 and 3 + } + + collisions = ipctk.NormalCollisions() + collisions.build(collision_mesh, vertices, dhat) + + # Choose a blend type + blend_type = ipctk.TangentialCollisions.BlendType.AVG + + tangential_collisions = ipctk.TangentialCollisions() + tangential_collisions.build( + collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), + barrier_stiffness, global_mu, global_static_mu, global_kinetic_mu, material_pair_friction, blend_type) + + +Assign Material Properties for Friction +------------------------------------------ + +Define material IDs and assign friction coefficients (static and kinetic friction values) for pairs of materials. Use `MaterialPairFriction` to specify friction interactions between materials. +The friction coefficients between materials can be found here https://www.engineeringtoolbox.com/friction-coefficients-d_778.html . + +.. code-block:: cpp + + // Material IDs and corresponding friction parameters + std::map, ipc::TangentialCollisions::MaterialPairFriction> material_pair_friction; + material_pair_friction[{1, 2}] = {0.5, 0.3}; // Friction between material 1 and 2 + material_pair_friction[{2, 3}] = {0.4, 0.25}; // Friction between material 2 and 3 + +Compute the Friction Dissipative Potential +--------------------------------------------- + +Use the ``FrictionPotential`` class to calculate the friction dissipative potential. Define `eps_v` as the threshold for static friction. + +.. code-block:: cpp + + const double eps_v = 1e-3; + ipc::FrictionPotential D(eps_v); + + Eigen::MatrixXd velocity = vertices - collision_mesh.rest_positions(); + double friction_potential = D(tangential_collisions, collision_mesh, velocity); + +In Python: + +.. code-block:: python + + eps_v = 1e-3 + D = ipctk.FrictionPotential(eps_v) + + velocity = vertices - collision_mesh.rest_positions + friction_potential = D(tangential_collisions, collision_mesh, velocity) + +Compute Friction Gradients and Hessians +------------------------------------------ + +The gradient and Hessian of the friction dissipative potential can be computed to model frictional forces in iterative solvers. + +.. code-block:: cpp + + Eigen::VectorXd friction_potential_grad = D.gradient(tangential_collisions, collision_mesh, velocity); + Eigen::SparseMatrix friction_potential_hess = D.hessian(tangential_collisions, collision_mesh, velocity); + +In Python: + +.. code-block:: python + + friction_potential_grad = D.gradient(tangential_collisions, collision_mesh, velocity) + friction_potential_hess = D.hessian(tangential_collisions, collision_mesh, velocity) \ No newline at end of file diff --git a/src/ipc/collision_mesh.cpp b/src/ipc/collision_mesh.cpp index 83dd0fa6c..4da9b1ca6 100644 --- a/src/ipc/collision_mesh.cpp +++ b/src/ipc/collision_mesh.cpp @@ -12,13 +12,15 @@ CollisionMesh::CollisionMesh( const Eigen::MatrixXd& rest_positions, const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces, - const Eigen::SparseMatrix& displacement_map) + const Eigen::SparseMatrix& displacement_map, + std::optional material_id) : CollisionMesh( std::vector(rest_positions.rows(), true), rest_positions, edges, faces, - displacement_map) + displacement_map, + material_id) { } @@ -27,12 +29,23 @@ CollisionMesh::CollisionMesh( const Eigen::MatrixXd& full_rest_positions, const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces, - const Eigen::SparseMatrix& displacement_map) + const Eigen::SparseMatrix& displacement_map, + std::optional material_id) : m_full_rest_positions(full_rest_positions) , m_edges(edges) - , m_faces(faces) + , m_faces(faces), + m_material_id(material_id.value_or(-1)) { assert(include_vertex.size() == full_rest_positions.rows()); + + if (material_id) { + m_material_ids.resize(full_rest_positions.rows()); + m_material_ids.setConstant(full_rest_positions.rows(), material_id.value()); + } else { + m_material_ids.resize(full_rest_positions.rows()); + m_material_ids.setConstant(full_rest_positions.rows(), -1); + } + const bool include_all_vertices = std::all_of( include_vertex.begin(), include_vertex.end(), [](bool b) { return b; }); diff --git a/src/ipc/collision_mesh.hpp b/src/ipc/collision_mesh.hpp index f373d5e44..62a11f7d0 100644 --- a/src/ipc/collision_mesh.hpp +++ b/src/ipc/collision_mesh.hpp @@ -2,6 +2,8 @@ #include +#include + #include #include @@ -19,12 +21,14 @@ class CollisionMesh { /// @param edges The edges of the collision mesh (#E × 2). /// @param faces The faces of the collision mesh (#F × 3). /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. + /// @param mat_id The material ID of the collision mesh (optional). CollisionMesh( const Eigen::MatrixXd& rest_positions, const Eigen::MatrixXi& edges = Eigen::MatrixXi(), const Eigen::MatrixXi& faces = Eigen::MatrixXi(), const Eigen::SparseMatrix& displacement_map = - Eigen::SparseMatrix()); + Eigen::SparseMatrix(), + std::optional material_id = 0); /// @brief Construct a new Collision Mesh object from a full mesh vertices. /// @param include_vertex Vector of bools indicating whether each vertex should be included in the collision mesh. @@ -32,13 +36,15 @@ class CollisionMesh { /// @param edges The edges of the collision mesh indexed into the full mesh vertices (#E × 2). /// @param faces The faces of the collision mesh indexed into the full mesh vertices (#F × 3). /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. + /// @param mat_id The material ID of the collision mesh (optional). CollisionMesh( const std::vector& include_vertex, const Eigen::MatrixXd& full_rest_positions, const Eigen::MatrixXi& edges = Eigen::MatrixXi(), const Eigen::MatrixXi& faces = Eigen::MatrixXi(), const Eigen::SparseMatrix& displacement_map = - Eigen::SparseMatrix()); + Eigen::SparseMatrix(), + std::optional material_id = 0); /// @brief Helper function that automatically builds include_vertex using construct_is_on_surface. /// @param full_rest_positions The full vertices at rest (#FV × dim). @@ -284,6 +290,10 @@ class CollisionMesh { /// primitives can collide with all other primitives. std::function can_collide = default_can_collide; + /// @brief Get the material IDs of the vertices in the collision mesh. + /// @return A reference to the vector of material IDs. + const Eigen::VectorXi& get_material_ids() const { return m_material_ids; } + protected: // ----------------------------------------------------------------------- // Helper initialization functions @@ -363,6 +373,12 @@ class CollisionMesh { /// @brief The rows of the Jacobian of the edge areas vector. std::vector> m_edge_area_jacobian; + /// @brief The material ID of the collision mesh. + int m_material_id = -1; + + /// @brief The material IDs of the collision mesh. + Eigen::VectorXi m_material_ids; + private: /// @brief By default all primitives can collide with all other primitives. static int default_can_collide(size_t, size_t) { return true; } diff --git a/src/ipc/collisions/tangential/tangential_collision.hpp b/src/ipc/collisions/tangential/tangential_collision.hpp index ebb553682..4fd408937 100644 --- a/src/ipc/collisions/tangential/tangential_collision.hpp +++ b/src/ipc/collisions/tangential/tangential_collision.hpp @@ -85,9 +85,15 @@ class TangentialCollision : virtual public CollisionStencil { /// @brief Normal force magnitude double normal_force_magnitude; - /// @brief Ratio between normal and tangential forces (e.g., friction coefficient) + /// @brief Ratio between normal and tangential forces (e.g., global friction coefficient) double mu; + /// @brief Ratio between normal and tangential forces (e.g., static friction coefficient) + double s_mu = -1; + + /// @brief Ratio between normal and tangential forces (e.g., kinetic friction coefficient) + double k_mu = -1; + /// @brief Weight double weight = 1; diff --git a/src/ipc/collisions/tangential/tangential_collisions.cpp b/src/ipc/collisions/tangential/tangential_collisions.cpp index 959140130..83204a111 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.cpp +++ b/src/ipc/collisions/tangential/tangential_collisions.cpp @@ -3,10 +3,6 @@ #include #include -#include -#include -#include - #include // std::out_of_range namespace ipc { @@ -18,7 +14,8 @@ void TangentialCollisions::build( const BarrierPotential& barrier_potential, const double barrier_stiffness, const Eigen::VectorXd& mus, - const std::function& blend_mu) + const std::function& blend_mu, + const BlendType blend_type) { assert(mus.size() == vertices.rows()); @@ -31,31 +28,34 @@ void TangentialCollisions::build( const auto& C_ev = collisions.ev_collisions; const auto& C_ee = collisions.ee_collisions; const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - FC_vv.reserve(C_vv.size()); + vv_collisions.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { - FC_vv.emplace_back( + vv_collisions.emplace_back( c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); - const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + const auto& [v0i, v1i, _, __] = vv_collisions.back().vertex_ids(edges, faces); - FC_vv.back().mu = blend_mu(mus(v0i), mus(v1i)); + vv_collisions.back().mu = blend_mu(mus(v0i), mus(v1i), blend_type); + vv_collisions.back().s_mu = -1; + vv_collisions.back().k_mu = -1; } - FC_ev.reserve(C_ev.size()); + ev_collisions.reserve(C_ev.size()); for (const auto& c_ev : C_ev) { - FC_ev.emplace_back( + ev_collisions.emplace_back( c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); - const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + const auto& [vi, e0i, e1i, _] = ev_collisions.back().vertex_ids(edges, faces); const double edge_mu = - (mus(e1i) - mus(e0i)) * FC_ev.back().closest_point[0] + mus(e0i); - FC_ev.back().mu = blend_mu(edge_mu, mus(vi)); + (mus(e1i) - mus(e0i)) * ev_collisions.back().closest_point[0] + mus(e0i); + ev_collisions.back().mu = blend_mu(edge_mu, mus(vi), blend_type); + ev_collisions.back().s_mu = -1; + ev_collisions.back().k_mu = -1; } - FC_ee.reserve(C_ee.size()); + ee_collisions.reserve(C_ee.size()); for (const auto& c_ee : C_ee) { const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); const Eigen::Vector3d ea0 = vertices.row(ea0i); @@ -68,32 +68,36 @@ void TangentialCollisions::build( continue; } - FC_ee.emplace_back( + ee_collisions.emplace_back( c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); double ea_mu = - (mus(ea1i) - mus(ea0i)) * FC_ee.back().closest_point[0] + mus(ea0i); + (mus(ea1i) - mus(ea0i)) * ee_collisions.back().closest_point[0] + mus(ea0i); double eb_mu = - (mus(eb1i) - mus(eb0i)) * FC_ee.back().closest_point[1] + mus(eb0i); - FC_ee.back().mu = blend_mu(ea_mu, eb_mu); + (mus(eb1i) - mus(eb0i)) * ee_collisions.back().closest_point[1] + mus(eb0i); + ee_collisions.back().mu = blend_mu(ea_mu, eb_mu, blend_type); + ee_collisions.back().s_mu = -1; + ee_collisions.back().k_mu = -1; } - FC_fv.reserve(C_fv.size()); + fv_collisions.reserve(C_fv.size()); for (const auto& c_fv : C_fv) { - FC_fv.emplace_back( + fv_collisions.emplace_back( c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); - const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + const auto& [vi, f0i, f1i, f2i] = fv_collisions.back().vertex_ids(edges, faces); double face_mu = mus(f0i) - + FC_fv.back().closest_point[0] * (mus(f1i) - mus(f0i)) - + FC_fv.back().closest_point[1] * (mus(f2i) - mus(f0i)); - FC_fv.back().mu = blend_mu(face_mu, mus(vi)); + + fv_collisions.back().closest_point[0] * (mus(f1i) - mus(f0i)) + + fv_collisions.back().closest_point[1] * (mus(f2i) - mus(f0i)); + fv_collisions.back().mu = blend_mu(face_mu, mus(vi), blend_type); + fv_collisions.back().s_mu = -1; + fv_collisions.back().k_mu = -1; } } -// ============================================================================ +// The other build functions go here as previously defined size_t TangentialCollisions::size() const { diff --git a/src/ipc/collisions/tangential/tangential_collisions.hpp b/src/ipc/collisions/tangential/tangential_collisions.hpp index 9875d388d..a11e39bb9 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.hpp +++ b/src/ipc/collisions/tangential/tangential_collisions.hpp @@ -11,6 +11,8 @@ #include #include +#include +#include namespace ipc { @@ -19,6 +21,22 @@ class TangentialCollisions { /// @brief The type of the collisions. using value_type = TangentialCollision; + /// @brief Blend type enum for selecting the method of blending friction coefficients. + enum class BlendType { + AVG, + MIN, + MAX, + PRODUCT, + HARMONIC_MEAN, + GEOMETRIC_MEAN + }; + + /// @brief The friction coefficients for a pair of materials. + struct MaterialPairFriction { + double s_mu; + double k_mu; + }; + public: TangentialCollisions() = default; @@ -42,8 +60,29 @@ class TangentialCollisions { const BarrierPotential& barrier_potential, const double barrier_stiffness, const Eigen::VectorXd& mus, - const std::function& blend_mu = - default_blend_mu); + const std::function& blend_mu = default_blend_mu, + const BlendType blend_type = BlendType::AVG); + + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const BarrierPotential& barrier_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu); + + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const BarrierPotential& barrier_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu, + const std::map, MaterialPairFriction>& material_pair_friction); // ------------------------------------------------------------------------ @@ -57,21 +96,28 @@ class TangentialCollisions { void clear(); /// @brief Get a reference to collision at index i. - /// @param i The index of the collision. - /// @return A reference to the collision. TangentialCollision& operator[](const size_t i); /// @brief Get a const reference to collision at index i. - /// @param i The index of the collision. - /// @return A const reference to the collision. const TangentialCollision& operator[](const size_t i) const; - static double default_blend_mu(double mu0, double mu1) + static double default_blend_mu(double mu0, double mu1, BlendType type) { - // return mu0 * mu1; - // return std::min(mu0, mu1); - // return std::max(mu0, mu1); - return (mu0 + mu1) / 2; + switch (type) { + case BlendType::MIN: + return std::min(mu0, mu1); + case BlendType::MAX: + return std::max(mu0, mu1); + case BlendType::PRODUCT: + return mu0 * mu1; + case BlendType::HARMONIC_MEAN: + return 2 * (mu0 * mu1) / (mu0 + mu1); + case BlendType::GEOMETRIC_MEAN: + return std::sqrt(mu0 * mu1); + case BlendType::AVG: + default: + return (mu0 + mu1) / 2; + } } public: diff --git a/src/ipc/potentials/tangential_potential.cpp b/src/ipc/potentials/tangential_potential.cpp index 0a3204aa7..9d0e2b5ac 100644 --- a/src/ipc/potentials/tangential_potential.cpp +++ b/src/ipc/potentials/tangential_potential.cpp @@ -169,8 +169,12 @@ VectorMax12d TangentialPotential::gradient( // μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u ∈ ℝⁿ // (n×2)(2×1) = (n×1) + double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) + ? collision.k_mu + : (collision.s_mu != -1 ? collision.s_mu : collision.mu); + return T - * ((collision.weight * collision.mu * collision.normal_force_magnitude + * ((collision.weight * mu * collision.normal_force_magnitude * f1_over_norm_u) * u); } @@ -200,8 +204,12 @@ MatrixMax12d TangentialPotential::hessian( const double f1_over_norm_u = f1_over_x(norm_u); // Compute μ N(xᵗ) + double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) + ? collision.k_mu + : (collision.s_mu != -1 ? collision.s_mu : collision.mu); + const double scale = - collision.weight * collision.mu * collision.normal_force_magnitude; + collision.weight * mu * collision.normal_force_magnitude; MatrixMax12d hess; if (is_dynamic(norm_u)) { @@ -300,7 +308,10 @@ VectorMax12d TangentialPotential::force( // F = -μ N f₁(‖τ‖)/‖τ‖ T τ // NOTE: no_mu -> leave mu out of this function (i.e., assuming mu = 1) - return -collision.weight * (no_mu ? 1.0 : collision.mu) * N + double mu = (is_dynamic(tau.norm()) && collision.k_mu != -1) + ? collision.k_mu + : (collision.s_mu != -1 ? collision.s_mu : collision.mu); + return -collision.weight * (no_mu ? 1.0 : mu) * N * f1_over_norm_tau * T * tau; } diff --git a/tests/src/tests/friction/friction_data_generator.cpp b/tests/src/tests/friction/friction_data_generator.cpp index 132378734..2146b4cb3 100644 --- a/tests/src/tests/friction/friction_data_generator.cpp +++ b/tests/src/tests/friction/friction_data_generator.cpp @@ -1,9 +1,7 @@ #include "friction_data_generator.hpp" #include - #include - #include Eigen::VectorXd LogSpaced(int num, double start, double stop, double base) @@ -20,12 +18,14 @@ FrictionData friction_data_generator() { FrictionData data; - auto& [V0, V1, E, F, collisions, mu, epsv_times_h, dhat, barrier_stiffness] = - data; + auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = data; collisions.set_enable_shape_derivatives(true); mu = GENERATE(range(0.0, 1.0, 0.2)); + s_mu = mu; // Static friction set to mu + k_mu = 0.8 * s_mu; // Kinetic friction set to 0.8 * s_mu + #ifdef NDEBUG epsv_times_h = pow(10, GENERATE(range(-6, 0))); dhat = pow(10, GENERATE(range(-4, 0))); @@ -67,7 +67,6 @@ FrictionData friction_data_generator() V0.row(3) << 0, 0, 1; // edge b vertex 1 at t=0 V1 = V0; - // double dy = GENERATE(-1, 1, 1e-1); V1.row(0) << 0.5, d, 0; // edge a vertex 0 at t=1 V1.row(1) << 2.5, d, 0; // edge a vertex 1 at t=1 @@ -86,7 +85,6 @@ FrictionData friction_data_generator() V0.row(2) << 0, 0, 1; // edge vertex 1 at t=0 V1 = V0; - // double dy = GENERATE(-1, 1, 1e-1); V1.row(0) << 0.5, d, 0; // point at t=1 E.resize(1, 2); @@ -102,9 +100,8 @@ FrictionData friction_data_generator() V0.row(1) << 1, d, 0; // point 1 at t=0 V1 = V0; - // double dy = GENERATE(-1, 1, 1e-1); - V1.row(0) << 0.5, d, 0; // edge a vertex 0 at t=1 - V1.row(1) << -0.5, d, 0; // edge a vertex 1 at t=1 + V1.row(0) << 0.5, d, 0; // point 0 at t=1 + V1.row(1) << -0.5, d, 0; // point 1 at t=1 collisions.vv_collisions.emplace_back(0, 1); collisions.vv_collisions.back().weight_gradient.resize(V0.size()); @@ -117,7 +114,6 @@ FrictionData friction_data_generator() V0.row(2) << 1, 0; // edge vertex 1 at t=0 V1 = V0; - // double dy = GENERATE(-1, 1, 1e-1); V1.row(0) << 0.5, d; // point at t=1 E.resize(1, 2); @@ -133,13 +129,12 @@ FrictionData friction_data_generator() V0.row(1) << 1, d; // point 1 at t=0 V1 = V0; - // double dy = GENERATE(-1, 1, 1e-1); - V1.row(0) << 0.5, d; // edge a vertex 0 at t=1 - V1.row(1) << -0.5, d; // edge a vertex 1 at t=1 + V1.row(0) << 0.5, d; // point 0 at t=1 + V1.row(1) << -0.5, d; // point 1 at t=1 collisions.vv_collisions.emplace_back(0, 1); collisions.vv_collisions.back().weight_gradient.resize(V0.size()); } return data; -} \ No newline at end of file +} diff --git a/tests/src/tests/friction/friction_data_generator.hpp b/tests/src/tests/friction/friction_data_generator.hpp index 42f2e017c..1e6ede9dd 100644 --- a/tests/src/tests/friction/friction_data_generator.hpp +++ b/tests/src/tests/friction/friction_data_generator.hpp @@ -11,6 +11,8 @@ struct FrictionData { Eigen::MatrixXi F; ipc::NormalCollisions collisions; double mu; + double s_mu; + double k_mu; double epsv_times_h; double p; double barrier_stiffness; diff --git a/tests/src/tests/friction/test_friction.cpp b/tests/src/tests/friction/test_friction.cpp index ea4d019a6..96b6e8675 100644 --- a/tests/src/tests/friction/test_friction.cpp +++ b/tests/src/tests/friction/test_friction.cpp @@ -87,6 +87,8 @@ bool read_ipc_friction_data( double& barrier_stiffness, double& epsv_times_h, double& mu, + double& s_mu, + double& k_mu, double& potential, Eigen::VectorXd& grad, Eigen::SparseMatrix& hess) @@ -111,6 +113,8 @@ bool read_ipc_friction_data( barrier_stiffness = data["barrier_stiffness"]; epsv_times_h = sqrt(data["epsv_times_h_squared"].get()); mu = data["mu"]; + s_mu = data["s_mu"]; + k_mu = data["k_mu"]; // Dissipative potential value potential = data["energy"]; @@ -147,6 +151,8 @@ bool read_ipc_friction_data( tests::mmcvids_to_collisions(E, F, mmcvids, collisions); for (int i = 0; i < tangential_collisions.size(); i++) { tangential_collisions[i].mu = mu; + tangential_collisions[i].s_mu = s_mu; + tangential_collisions[i].k_mu = k_mu; } return true; @@ -159,7 +165,7 @@ TEST_CASE( Eigen::MatrixXi E, F; NormalCollisions collisions; TangentialCollisions expected_friction_collisions; - double dhat, barrier_stiffness, epsv_times_h, mu; + double dhat, barrier_stiffness, epsv_times_h, mu, s_mu, k_mu; double expected_potential; Eigen::VectorXd expected_grad; Eigen::SparseMatrix expected_hess; @@ -183,8 +189,7 @@ TEST_CASE( / fmt::format("friction_data_{:d}.json", file_number)) .string(), V_start, V_lagged, V_end, E, F, collisions, - expected_friction_collisions, dhat, barrier_stiffness, epsv_times_h, mu, - expected_potential, expected_grad, expected_hess); + expected_friction_collisions, dhat, barrier_stiffness, epsv_times_h, mu, s_mu, k_mu, expected_potential, expected_grad, expected_hess); REQUIRE(success); Eigen::MatrixXi face_edges; @@ -196,7 +201,7 @@ TEST_CASE( TangentialCollisions tangential_collisions; tangential_collisions.build( mesh, V_lagged, collisions, BarrierPotential(dhat), barrier_stiffness, - mu); + mu, s_mu, k_mu); REQUIRE(tangential_collisions.size() == collisions.size()); REQUIRE( tangential_collisions.size() == expected_friction_collisions.size()); @@ -226,6 +231,8 @@ TEST_CASE( collision.normal_force_magnitude == Catch::Approx(expected_collision.normal_force_magnitude)); CHECK(collision.mu == Catch::Approx(expected_collision.mu)); + CHECK(collision.s_mu == Catch::Approx(expected_collision.s_mu)); + CHECK(collision.k_mu == Catch::Approx(expected_collision.k_mu)); CHECK( collision.vertex_ids(E, F) == expected_collision.vertex_ids(E, F)); diff --git a/tests/src/tests/potential/test_friction_potential.cpp b/tests/src/tests/potential/test_friction_potential.cpp index 02f0fa6dc..2a4612f76 100644 --- a/tests/src/tests/potential/test_friction_potential.cpp +++ b/tests/src/tests/potential/test_friction_potential.cpp @@ -38,6 +38,46 @@ TEST_CASE("Friction gradient and hessian", "[friction][gradient][hessian]") fd::finite_gradient(fd::flatten(V1), f, fgrad); CHECK(fd::compare_gradient(grad, fgrad)); + const Eigen::MatrixXd hess = D.hessian(tangential_collisions, mesh, U); + Eigen::MatrixXd fhess; + fd::finite_hessian(fd::flatten(V1), f, fhess); + CHECK(fd::compare_hessian(hess, fhess, 1e-3)); +} + + +TEST_CASE("Friction gradient and hessian with s_mu and k_mu", "[friction][gradient][hessian][s_mu][k_mu]") +{ + FrictionData data = friction_data_generator(); + const auto& [V0, V1, E, F, collisions, mu, epsv_times_h, dhat, barrier_stiffness] = + data; + + const Eigen::MatrixXd U = V1 - V0; + + const CollisionMesh mesh(V0, E, F); + + // Define specific values for static and kinetic friction coefficients + const double s_mu = 1.0; // Static friction coefficient + const double k_mu = 0.8; // Kinetic friction coefficient + + TangentialCollisions tangential_collisions; + tangential_collisions.build( + mesh, V0, collisions, BarrierPotential(dhat), barrier_stiffness, s_mu, k_mu); + + const FrictionPotential D(epsv_times_h); + + // Compute the gradient using the custom s_mu and k_mu values + const Eigen::VectorXd grad = D.gradient(tangential_collisions, mesh, U); + + // Compute the gradient using finite differences + auto f = [&](const Eigen::VectorXd& x) { + const Eigen::MatrixXd fd_U = fd::unflatten(x, data.V1.cols()) - data.V0; + return D(tangential_collisions, mesh, fd_U); + }; + Eigen::VectorXd fgrad; + fd::finite_gradient(fd::flatten(V1), f, fgrad); + CHECK(fd::compare_gradient(grad, fgrad)); + + // Compute the Hessian using the custom s_mu and k_mu values const Eigen::MatrixXd hess = D.hessian(tangential_collisions, mesh, U); Eigen::MatrixXd fhess; fd::finite_hessian(fd::flatten(V1), f, fhess); diff --git a/tests/src/tests/test_collision_mesh.cpp b/tests/src/tests/test_collision_mesh.cpp index 870f3994f..27365d7c1 100644 --- a/tests/src/tests/test_collision_mesh.cpp +++ b/tests/src/tests/test_collision_mesh.cpp @@ -100,6 +100,64 @@ TEST_CASE("Faces to edges", "[collision_mesh][faces_to_edges]") } } +TEST_CASE("Collision mesh with material ID", "[collision_mesh]") { + Eigen::MatrixXd V(4, 2); + V << 0, 0, 1, 0, 0, 1, 1, 1; + Eigen::MatrixXi E(4, 2); + E << 0, 1, 1, 3, 3, 2, 2, 0; + + std::vector> weights; + weights.emplace_back(0, 0, 1); + weights.emplace_back(1, 1, 1); + weights.emplace_back(2, 2, 1); + weights.emplace_back(3, 1, 1); + weights.emplace_back(3, 2, 1); + + Eigen::SparseMatrix W(4, 3); + W.setFromTriplets(weights.begin(), weights.end()); + + // Test case with specified material ID + int material_id = 5; + CollisionMesh mesh(V, E, /*F=*/Eigen::MatrixXi(), W, material_id); + + // Verifying material_id is set correctly + CHECK(mesh.get_material_ids().size() == 4); + + Eigen::MatrixXd U(3, 2); + U << 0, 0, 1, 1, 0, 0; + + Eigen::MatrixXd Uc = mesh.map_displacements(U); + Eigen::MatrixXd expected_Uc(4, 2); + expected_Uc << 0, 0, 1, 1, 0, 0, 1, 1; + CHECK(Uc == expected_Uc); + + Eigen::MatrixXd Vc = mesh.displace_vertices(U); + Eigen::MatrixXd expected_Vc(4, 2); + expected_Vc << 0, 0, 2, 1, 0, 1, 2, 2; + CHECK(Vc == expected_Vc); + + Eigen::VectorXd g(8); + g << 1, 1, -1, 1, 1, -1, -1, -1; + Eigen::VectorXd gf = mesh.to_full_dof(g); + Eigen::VectorXd expected_gf(6); + expected_gf << 1, 1, -2, 0, 0, -2; + CHECK(gf == expected_gf); + + Eigen::MatrixXd H = Eigen::MatrixXd::Identity(8, 8); + Eigen::MatrixXd Hf = + mesh.to_full_dof(Eigen::SparseMatrix(H.sparseView())); + + Eigen::MatrixXd expected_Hf(6, 6); + expected_Hf << 1, 0, 0, 0, 0, 0, // + 0, 1, 0, 0, 0, 0, // + 0, 0, 2, 0, 1, 0, // + 0, 0, 0, 2, 0, 1, // + 0, 0, 1, 0, 2, 0, // + 0, 0, 0, 1, 0, 2; // + + CHECK(Hf == expected_Hf); +} + TEST_CASE("Codim points collision mesh", "[collision_mesh]") { Eigen::MatrixXd V(4, 2); From e525508ce2f5f6b5054ef003caf2efa1c3687dfd Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Thu, 14 Nov 2024 14:18:32 +0000 Subject: [PATCH 02/13] changes to add materials pair (w.i.p) --- .pre-commit-config.yaml | 12 + docs/source/tutorial/frictions.rst | 88 +++++-- src/ipc/candidates/candidates.cpp | 13 +- src/ipc/candidates/candidates.hpp | 1 + src/ipc/candidates/edge_edge.hpp | 2 + src/ipc/candidates/edge_face.hpp | 2 + src/ipc/candidates/edge_vertex.hpp | 2 + src/ipc/candidates/face_face.hpp | 2 + src/ipc/candidates/face_vertex.hpp | 2 + src/ipc/candidates/vertex_vertex.hpp | 2 + src/ipc/collision_mesh.cpp | 18 +- src/ipc/collision_mesh.hpp | 25 +- .../collisions/normal/normal_collisions.cpp | 4 +- .../normal/normal_collisions_builder.cpp | 18 +- src/ipc/collisions/tangential/edge_edge.cpp | 4 + src/ipc/collisions/tangential/edge_edge.hpp | 3 + src/ipc/collisions/tangential/edge_vertex.cpp | 4 + src/ipc/collisions/tangential/face_vertex.cpp | 4 + src/ipc/collisions/tangential/face_vertex.hpp | 1 + .../tangential/tangential_collision.hpp | 8 + .../tangential/tangential_collisions.cpp | 239 +++++++++++++++--- src/ipc/ipc.cpp | 4 +- .../friction/friction_data_generator.cpp | 4 +- .../tests/friction/test_force_jacobian.cpp | 2 +- .../potential/test_friction_potential.cpp | 12 +- 25 files changed, 381 insertions(+), 95 deletions(-) create mode 100644 .pre-commit-config.yaml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 000000000..fd9ece3f2 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,12 @@ +repos: + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v14.0.0 + hooks: + - id: clang-format + name: clang-format + description: "Use clang-format to format C/C++ code" + entry: clang-format-18 + args: + - --style=file + - --verbose + files: '\.(c|cc|cpp|h|hpp|cxx|hh|inl|ipp)$' \ No newline at end of file diff --git a/docs/source/tutorial/frictions.rst b/docs/source/tutorial/frictions.rst index 70393ebbb..3f889656f 100644 --- a/docs/source/tutorial/frictions.rst +++ b/docs/source/tutorial/frictions.rst @@ -1,7 +1,8 @@ Multiple Friction Materials =========================== -This tutorial demonstrates how to set up and work with multiple friction types in the IPC Toolkit. It covers setting up a collision mesh with materials, defining tangential collisions with different friction properties, specifying blend types for friction coefficients, and calculating friction forces. +This tutorial demonstrates how to set up and work with multiple friction types in the IPC Toolkit. It covers setting up a defining tangential collisions with different friction properties, specifying blend types for friction coefficients, and calculating friction forces. + Create a Collision Mesh with Materials ----------------------------------------- @@ -27,9 +28,9 @@ The material ID is an integer value used to identify the material of each vertex igl::edges(faces, edges); // Assign material IDs to vertices - int mat_id = 1; + std::vector mat_id(rest_positions.rows(), 1); - ipc::CollisionMesh collision_mesh(rest_positions, edges, faces, mat_id); + ipc::CollisionMesh collision_mesh(rest_positions, edges, faces, mat_ids); In Python: @@ -64,8 +65,6 @@ Supported blend types: const double dhat = 1e-3; const double barrier_stiffness = 1.0; const double global_mu = 0.6; - const double global_kinetic_mu = 0.6; - const double global_static_mu = 0.6; ipc::NormalCollisions collisions; collisions.build(collision_mesh, vertices, dhat); @@ -73,10 +72,30 @@ Supported blend types: // Choose a blend type ipc::TangentialCollisions::BlendType blend_type = ipc::TangentialCollisions::BlendType::AVG; + // blend function + double default_blend_mu(double mu0, double mu1, ipc::TangentialCollisions::BlendType::AVG type) + { + switch (type) { + case BlendType::MIN: + return std::min(mu0, mu1); + case BlendType::MAX: + return std::max(mu0, mu1); + case BlendType::PRODUCT: + return mu0 * mu1; + case BlendType::HARMONIC_MEAN: + return 2 * (mu0 * mu1) / (mu0 + mu1); + case BlendType::GEOMETRIC_MEAN: + return std::sqrt(mu0 * mu1); + case BlendType::AVG: + default: + return (mu0 + mu1) / 2; + } + } + ipc::TangentialCollisions tangential_collisions; tangential_collisions.build( collision_mesh, vertices, collisions, ipc::BarrierPotential(dhat), barrier_stiffness, - global_mu, global_static_mu, global_kinetic_mu, material_pair_friction, blend_type); + global_mu, default_blend_mu, blend_type); In Python: @@ -85,13 +104,6 @@ In Python: dhat = 1e-3 barrier_stiffness = 1.0 global_mu = 0.6 - global_static_mu = 0.6 - global_kinetic_mu = 0.6 - - material_pair_friction = { - (1, 2): (0.5, 0.3), # Friction between material 1 and 2 - (2, 3): (0.4, 0.25), # Friction between material 2 and 3 - } collisions = ipctk.NormalCollisions() collisions.build(collision_mesh, vertices, dhat) @@ -99,10 +111,26 @@ In Python: # Choose a blend type blend_type = ipctk.TangentialCollisions.BlendType.AVG + # Choose a blend function + def default_blend_mu(mu0, mu1, blend_type): + if blend_type == ipctk.TangentialCollisions.BlendType.MIN: + return min(mu0, mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.MAX: + return max(mu0, mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.PRODUCT: + return mu0 * mu1 + elif blend_type == ipctk.TangentialCollisions.BlendType.HARMONIC_MEAN: + return 2 * (mu0 * mu1) / (mu0 + mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.GEOMETRIC_MEAN: + return np.sqrt(mu0 * mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.AVG: + return (mu0 + mu1) / 2 + + tangential_collisions = ipctk.TangentialCollisions() tangential_collisions.build( collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), - barrier_stiffness, global_mu, global_static_mu, global_kinetic_mu, material_pair_friction, blend_type) + barrier_stiffness, global_mu, default_blend_mu, blend_type) Assign Material Properties for Friction @@ -113,11 +141,41 @@ The friction coefficients between materials can be found here https://www.engine .. code-block:: cpp + global_mu = 0.6; + global_static_mu = 0.5; + global_dynamic_mu = 0.3; + material_pair_friction[{1, 2}] = {0.5, 0.3}; // Friction between material 1 and 2 + material_pair_friction[{2, 3}] = {0.4, 0.25}; // Friction between material 2 and 3 + + // Material IDs and corresponding friction parameters - std::map, ipc::TangentialCollisions::MaterialPairFriction> material_pair_friction; + std::map, ipc::TangentialCollision::MaterialPairFriction> material_pair_friction; material_pair_friction[{1, 2}] = {0.5, 0.3}; // Friction between material 1 and 2 material_pair_friction[{2, 3}] = {0.4, 0.25}; // Friction between material 2 and 3 + + tangential_collisions = ipctk.TangentialCollisions() + tangential_collisions.build( + collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), + barrier_stiffness, global_mu, global_static_mu, global_dynamic_mu, material_pair_friction) + + +.. code-block:: python + + global_mu = 0.6 + global_static_mu = 0.5 + global_dynamic_mu = 0.3 + material_pair_friction = { + (1, 2): (0.5, 0.3), # Friction between material 1 and 2 + (2, 3): (0.4, 0.25) # Friction between material 2 and 3 + } + + tangential_collisions = ipctk.TangentialCollisions() + tangential_collisions.build( + collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), + barrier_stiffness, global_mu, global_static_mu, global_dynamic_mu, material_pair_friction) + + Compute the Friction Dissipative Potential --------------------------------------------- diff --git a/src/ipc/candidates/candidates.cpp b/src/ipc/candidates/candidates.cpp index 5a0f9cd8b..845d1dff6 100644 --- a/src/ipc/candidates/candidates.cpp +++ b/src/ipc/candidates/candidates.cpp @@ -55,7 +55,7 @@ void Candidates::build( Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); broad_phase->detect_vertex_vertex_candidates(vv_candidates); - for (auto& [vi, vj] : vv_candidates) { + for (auto& [vi, vj, mat_pair] : vv_candidates) { vi = mesh.codim_vertices()[vi]; vj = mesh.codim_vertices()[vj]; } @@ -94,12 +94,13 @@ void Candidates::build( broad_phase->build(V, CE, Eigen::MatrixXi(), inflation_radius); broad_phase->detect_edge_vertex_candidates(ev_candidates); - for (auto& [ei, vi] : ev_candidates) { + for (auto& [ei, vi, mat_pair] : ev_candidates) { assert(vi < mesh.codim_vertices().size()); ei = mesh.codim_edges()[ei]; // Map back to mesh.edges vi = mesh.codim_vertices()[vi]; // Map back to vertices } } + } void Candidates::build( @@ -129,7 +130,7 @@ void Candidates::build( Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); broad_phase->detect_vertex_vertex_candidates(vv_candidates); - for (auto& [vi, vj] : vv_candidates) { + for (auto& [vi, vj, mat_pair] : vv_candidates) { vi = mesh.codim_vertices()[vi]; vj = mesh.codim_vertices()[vj]; } @@ -174,12 +175,12 @@ void Candidates::build( broad_phase->build(V_t0, V_t1, CE, Eigen::MatrixXi(), inflation_radius); broad_phase->detect_edge_vertex_candidates(ev_candidates); - for (auto& [ei, vi] : ev_candidates) { + for (auto& [ei, vi, mat_pair] : ev_candidates) { assert(vi < mesh.codim_vertices().size()); ei = mesh.codim_edges()[ei]; // Map back to mesh.edges vi = mesh.codim_vertices()[vi]; // Map back to vertices } - } + } } bool Candidates::is_step_collision_free( @@ -405,3 +406,5 @@ bool Candidates::save_obj( } } // namespace ipc + + diff --git a/src/ipc/candidates/candidates.hpp b/src/ipc/candidates/candidates.hpp index 41088cad6..4b2b923e2 100644 --- a/src/ipc/candidates/candidates.hpp +++ b/src/ipc/candidates/candidates.hpp @@ -10,6 +10,7 @@ #include + namespace ipc { class Candidates { diff --git a/src/ipc/candidates/edge_edge.hpp b/src/ipc/candidates/edge_edge.hpp index 30fea302e..d6ccbbc62 100644 --- a/src/ipc/candidates/edge_edge.hpp +++ b/src/ipc/candidates/edge_edge.hpp @@ -70,6 +70,8 @@ class EdgeEdgeCandidate : public ContinuousCollisionCandidate { long edge0_id; /// @brief ID of the second edge. long edge1_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; }; } // namespace ipc diff --git a/src/ipc/candidates/edge_face.hpp b/src/ipc/candidates/edge_face.hpp index 02ce7a81e..de257f436 100644 --- a/src/ipc/candidates/edge_face.hpp +++ b/src/ipc/candidates/edge_face.hpp @@ -26,6 +26,8 @@ class EdgeFaceCandidate { long edge_id; /// @brief ID of the face long face_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; }; } // namespace ipc diff --git a/src/ipc/candidates/edge_vertex.hpp b/src/ipc/candidates/edge_vertex.hpp index 0115ab034..71f94a03c 100644 --- a/src/ipc/candidates/edge_vertex.hpp +++ b/src/ipc/candidates/edge_vertex.hpp @@ -67,6 +67,8 @@ class EdgeVertexCandidate : public ContinuousCollisionCandidate { long edge_id; /// @brief ID of the vertex long vertex_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; }; } // namespace ipc diff --git a/src/ipc/candidates/face_face.hpp b/src/ipc/candidates/face_face.hpp index 531070919..0fdae3171 100644 --- a/src/ipc/candidates/face_face.hpp +++ b/src/ipc/candidates/face_face.hpp @@ -28,6 +28,8 @@ class FaceFaceCandidate { long face0_id; /// @brief ID of the second face. long face1_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; }; } // namespace ipc diff --git a/src/ipc/candidates/face_vertex.hpp b/src/ipc/candidates/face_vertex.hpp index 1b4dbaab8..f4d5ccd98 100644 --- a/src/ipc/candidates/face_vertex.hpp +++ b/src/ipc/candidates/face_vertex.hpp @@ -70,6 +70,8 @@ class FaceVertexCandidate : public ContinuousCollisionCandidate { long face_id; /// @brief ID of the vertex long vertex_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; }; } // namespace ipc diff --git a/src/ipc/candidates/vertex_vertex.hpp b/src/ipc/candidates/vertex_vertex.hpp index 767baa94e..1460a6113 100644 --- a/src/ipc/candidates/vertex_vertex.hpp +++ b/src/ipc/candidates/vertex_vertex.hpp @@ -68,6 +68,8 @@ class VertexVertexCandidate : public ContinuousCollisionCandidate { long vertex0_id; /// @brief ID of the second vertex long vertex1_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; }; } // namespace ipc diff --git a/src/ipc/collision_mesh.cpp b/src/ipc/collision_mesh.cpp index 4da9b1ca6..1e75576e2 100644 --- a/src/ipc/collision_mesh.cpp +++ b/src/ipc/collision_mesh.cpp @@ -13,14 +13,14 @@ CollisionMesh::CollisionMesh( const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces, const Eigen::SparseMatrix& displacement_map, - std::optional material_id) + const std::vector& mat_ids) : CollisionMesh( std::vector(rest_positions.rows(), true), rest_positions, edges, faces, displacement_map, - material_id) + mat_ids) { } @@ -30,21 +30,15 @@ CollisionMesh::CollisionMesh( const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces, const Eigen::SparseMatrix& displacement_map, - std::optional material_id) + const std::vector& mat_ids) : m_full_rest_positions(full_rest_positions) , m_edges(edges) , m_faces(faces), - m_material_id(material_id.value_or(-1)) + m_mat_ids(mat_ids.empty() ? std::vector(faces.rows(), 0) : mat_ids) { - assert(include_vertex.size() == full_rest_positions.rows()); - if (material_id) { - m_material_ids.resize(full_rest_positions.rows()); - m_material_ids.setConstant(full_rest_positions.rows(), material_id.value()); - } else { - m_material_ids.resize(full_rest_positions.rows()); - m_material_ids.setConstant(full_rest_positions.rows(), -1); - } + assert(include_vertex.size() == full_rest_positions.rows()); + assert(mat_ids.empty() || mat_ids.size() == faces.rows()); const bool include_all_vertices = std::all_of( include_vertex.begin(), include_vertex.end(), [](bool b) { return b; }); diff --git a/src/ipc/collision_mesh.hpp b/src/ipc/collision_mesh.hpp index 62a11f7d0..5f780f1bd 100644 --- a/src/ipc/collision_mesh.hpp +++ b/src/ipc/collision_mesh.hpp @@ -28,7 +28,7 @@ class CollisionMesh { const Eigen::MatrixXi& faces = Eigen::MatrixXi(), const Eigen::SparseMatrix& displacement_map = Eigen::SparseMatrix(), - std::optional material_id = 0); + const std::vector& material_ids = {}); /// @brief Construct a new Collision Mesh object from a full mesh vertices. /// @param include_vertex Vector of bools indicating whether each vertex should be included in the collision mesh. @@ -44,7 +44,7 @@ class CollisionMesh { const Eigen::MatrixXi& faces = Eigen::MatrixXi(), const Eigen::SparseMatrix& displacement_map = Eigen::SparseMatrix(), - std::optional material_id = 0); + const std::vector& material_ids = {}); /// @brief Helper function that automatically builds include_vertex using construct_is_on_surface. /// @param full_rest_positions The full vertices at rest (#FV × dim). @@ -290,9 +290,19 @@ class CollisionMesh { /// primitives can collide with all other primitives. std::function can_collide = default_can_collide; - /// @brief Get the material IDs of the vertices in the collision mesh. + /// @brief Get the material ID of the mesh. /// @return A reference to the vector of material IDs. - const Eigen::VectorXi& get_material_ids() const { return m_material_ids; } + const std::vector& mat_ids() const { return m_mat_ids; } + + /// @brief Get the material ID associated with a specific face or component. + /// @param index Index of the face or component. + /// @return Material ID for the specified component. + int mat_id(size_t index) const { + if (index < m_mat_ids.size()) { + return m_mat_ids[index]; + } + throw std::out_of_range("Material ID index out of range!"); + } protected: // ----------------------------------------------------------------------- @@ -373,11 +383,8 @@ class CollisionMesh { /// @brief The rows of the Jacobian of the edge areas vector. std::vector> m_edge_area_jacobian; - /// @brief The material ID of the collision mesh. - int m_material_id = -1; - - /// @brief The material IDs of the collision mesh. - Eigen::VectorXi m_material_ids; + /// @brief The material ID of the mesh. + std::vector m_mat_ids; private: /// @brief By default all primitives can collide with all other primitives. diff --git a/src/ipc/collisions/normal/normal_collisions.cpp b/src/ipc/collisions/normal/normal_collisions.cpp index 50f765ed8..23f3ae3ef 100644 --- a/src/ipc/collisions/normal/normal_collisions.cpp +++ b/src/ipc/collisions/normal/normal_collisions.cpp @@ -34,7 +34,7 @@ namespace { const std::function& is_active) { std::vector vv_candidates; - for (const auto& [ei, vi] : candidates) { + for (const auto& [ei, vi, mat_pair] : candidates) { for (int j = 0; j < elements.cols(); j++) { const int vj = elements(ei, j); if (is_active(point_point_distance( @@ -80,7 +80,7 @@ namespace { const std::function& is_active) { std::vector ev_candidates; - for (const auto& [fi, vi] : fv_candidates) { + for (const auto& [fi, vi, mat_pair] : fv_candidates) { for (int j = 0; j < 3; j++) { const int ei = mesh.faces_to_edges()(fi, j); const int vj = mesh.edges()(ei, 0); diff --git a/src/ipc/collisions/normal/normal_collisions_builder.cpp b/src/ipc/collisions/normal/normal_collisions_builder.cpp index af19c508d..81c19a797 100644 --- a/src/ipc/collisions/normal/normal_collisions_builder.cpp +++ b/src/ipc/collisions/normal/normal_collisions_builder.cpp @@ -27,7 +27,7 @@ void NormalCollisionsBuilder::add_vertex_vertex_collisions( const size_t end_i) { for (size_t i = start_i; i < end_i; i++) { - const auto& [vi, vj] = candidates[i]; + const auto& [vi, vj, mat_pair] = candidates[i]; const double distance = point_point_distance(vertices.row(vi), vertices.row(vj)); @@ -66,7 +66,7 @@ void NormalCollisionsBuilder::add_edge_vertex_collisions( const size_t end_i) { for (size_t i = start_i; i < end_i; i++) { - const auto& [ei, vi] = candidates[i]; + const auto& [ei, vi, mat_pair] = candidates[i]; const auto [v, e0, e1, _] = candidates[i].vertices(vertices, mesh.edges(), mesh.faces()); const PointEdgeDistanceType dtype = point_edge_distance_type(v, e0, e1); @@ -98,7 +98,7 @@ void NormalCollisionsBuilder::add_edge_vertex_collision( const double weight, const Eigen::SparseVector& weight_gradient) { - const auto& [ei, vi] = candidate; + const auto& [ei, vi, mat_pair] = candidate; switch (dtype) { case PointEdgeDistanceType::P_E0: @@ -131,7 +131,7 @@ void NormalCollisionsBuilder::add_edge_edge_collisions( const size_t end_i) { for (size_t i = start_i; i < end_i; i++) { - const auto& [eai, ebi] = candidates[i]; + const auto& [eai, ebi, mat_pair] = candidates[i]; const auto [ea0i, ea1i, eb0i, eb1i] = candidates[i].vertex_ids(mesh.edges(), mesh.faces()); @@ -232,7 +232,7 @@ void NormalCollisionsBuilder::add_face_vertex_collisions( const size_t end_i) { for (size_t i = start_i; i < end_i; i++) { - const auto& [fi, vi] = candidates[i]; + const auto& [fi, vi, mat_pair] = candidates[i]; const long f0i = mesh.faces()(fi, 0), f1i = mesh.faces()(fi, 1), f2i = mesh.faces()(fi, 2); @@ -328,7 +328,7 @@ void NormalCollisionsBuilder::add_edge_vertex_negative_vertex_vertex_collisions( }; for (size_t i = start_i; i < end_i; i++) { - const auto& [vi, vj] = candidates[i]; + const auto& [vi, vj, mat_pair] = candidates[i]; assert(vi != vj); double weight = 0; @@ -371,7 +371,7 @@ void NormalCollisionsBuilder::add_face_vertex_positive_vertex_vertex_collisions( }; for (size_t i = start_i; i < end_i; i++) { - const auto& [vi, vj] = candidates[i]; + const auto& [vi, vj, mat_pair] = candidates[i]; assert(vi != vj); double weight = 0; @@ -397,7 +397,7 @@ void NormalCollisionsBuilder::add_face_vertex_negative_edge_vertex_collisions( const size_t end_i) { for (size_t i = start_i; i < end_i; i++) { - const auto& [ei, vi] = candidates[i]; + const auto& [ei, vi, mat_pair] = candidates[i]; assert(vi != mesh.edges()(ei, 0) && vi != mesh.edges()(ei, 1)); const auto& incident_vertices = mesh.edge_vertex_adjacencies()[ei]; @@ -437,7 +437,7 @@ void NormalCollisionsBuilder::add_edge_edge_negative_edge_vertex_collisions( // Notation: (ea, p) ∈ C, ea = (ea0, ea1) ∈ E, p ∈ eb = (p, q) ∈ E for (size_t i = start_i; i < end_i; i++) { - const auto& [ea, p] = candidates[i]; + const auto& [ea, p, mat_pair] = candidates[i]; const int ea0 = mesh.edges()(ea, 0), ea1 = mesh.edges()(ea, 1); assert(p != ea0 && p != ea1); diff --git a/src/ipc/collisions/tangential/edge_edge.cpp b/src/ipc/collisions/tangential/edge_edge.cpp index 4029ff217..672867a22 100644 --- a/src/ipc/collisions/tangential/edge_edge.cpp +++ b/src/ipc/collisions/tangential/edge_edge.cpp @@ -95,4 +95,8 @@ EdgeEdgeTangentialCollision::relative_velocity_matrix_jacobian( return edge_edge_relative_velocity_matrix_jacobian(dim(), _closest_point); } +std::pair EdgeEdgeTangentialCollision::material_pair_ids() const override { + return this->m_pair_ids; +} + } // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_edge.hpp b/src/ipc/collisions/tangential/edge_edge.hpp index 476838178..c69b60e55 100644 --- a/src/ipc/collisions/tangential/edge_edge.hpp +++ b/src/ipc/collisions/tangential/edge_edge.hpp @@ -48,6 +48,9 @@ class EdgeEdgeTangentialCollision : public EdgeEdgeCandidate, MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const override; + + std::pair material_pair_ids() const override; + }; } // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_vertex.cpp b/src/ipc/collisions/tangential/edge_vertex.cpp index 9d4c61589..0e887795e 100644 --- a/src/ipc/collisions/tangential/edge_vertex.cpp +++ b/src/ipc/collisions/tangential/edge_vertex.cpp @@ -99,4 +99,8 @@ EdgeVertexTangentialCollision::relative_velocity_matrix_jacobian( dim(), _closest_point[0]); } +std::pair EdgeVertexTangentialCollision::material_pair_ids() const override { + return this->m_pair_ids; +} + } // namespace ipc diff --git a/src/ipc/collisions/tangential/face_vertex.cpp b/src/ipc/collisions/tangential/face_vertex.cpp index 5e6548ec0..629c3d5ef 100644 --- a/src/ipc/collisions/tangential/face_vertex.cpp +++ b/src/ipc/collisions/tangential/face_vertex.cpp @@ -96,4 +96,8 @@ FaceVertexTangentialCollision::relative_velocity_matrix_jacobian( dim(), _closest_point); } +std::pair FaceVertexTangentialCollision::material_pair_ids() const override { + return this->m_pair_ids; +} + } // namespace ipc diff --git a/src/ipc/collisions/tangential/face_vertex.hpp b/src/ipc/collisions/tangential/face_vertex.hpp index c0791e2b4..12eaaeca3 100644 --- a/src/ipc/collisions/tangential/face_vertex.hpp +++ b/src/ipc/collisions/tangential/face_vertex.hpp @@ -42,6 +42,7 @@ class FaceVertexTangentialCollision : public FaceVertexCandidate, MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const override; + }; } // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collision.hpp b/src/ipc/collisions/tangential/tangential_collision.hpp index 4fd408937..2b52a032a 100644 --- a/src/ipc/collisions/tangential/tangential_collision.hpp +++ b/src/ipc/collisions/tangential/tangential_collision.hpp @@ -81,7 +81,12 @@ class TangentialCollision : virtual public CollisionStencil { virtual MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const = 0; + /// @brief Get the material pair IDs of the collision. + /// @return Material pair IDs of the collision. + virtual std::pair material_pair_ids() const = 0; + public: + /// @brief Normal force magnitude double normal_force_magnitude; @@ -97,6 +102,9 @@ class TangentialCollision : virtual public CollisionStencil { /// @brief Weight double weight = 1; + /// @brief Material pair IDs + std::pair m_pair_ids = {-1, -1}; + /// @brief Gradient of weight with respect to all DOF Eigen::SparseVector weight_gradient; diff --git a/src/ipc/collisions/tangential/tangential_collisions.cpp b/src/ipc/collisions/tangential/tangential_collisions.cpp index 83204a111..639d5ade6 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.cpp +++ b/src/ipc/collisions/tangential/tangential_collisions.cpp @@ -3,6 +3,10 @@ #include #include +#include +#include +#include + #include // std::out_of_range namespace ipc { @@ -16,6 +20,7 @@ void TangentialCollisions::build( const Eigen::VectorXd& mus, const std::function& blend_mu, const BlendType blend_type) + { assert(mus.size() == vertices.rows()); @@ -28,34 +33,35 @@ void TangentialCollisions::build( const auto& C_ev = collisions.ev_collisions; const auto& C_ee = collisions.ee_collisions; const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - vv_collisions.reserve(C_vv.size()); + FC_vv.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { - vv_collisions.emplace_back( + FC_vv.emplace_back( c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); - const auto& [v0i, v1i, _, __] = vv_collisions.back().vertex_ids(edges, faces); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); - vv_collisions.back().mu = blend_mu(mus(v0i), mus(v1i), blend_type); - vv_collisions.back().s_mu = -1; - vv_collisions.back().k_mu = -1; + FC_vv.back().mu = blend_mu(mus(v0i), mus(v1i), blend_type); + FC_vv.back().s_mu = -1; + FC_vv.back().k_mu = -1; } - ev_collisions.reserve(C_ev.size()); + FC_ev.reserve(C_ev.size()); for (const auto& c_ev : C_ev) { - ev_collisions.emplace_back( + FC_ev.emplace_back( c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); - const auto& [vi, e0i, e1i, _] = ev_collisions.back().vertex_ids(edges, faces); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); const double edge_mu = - (mus(e1i) - mus(e0i)) * ev_collisions.back().closest_point[0] + mus(e0i); - ev_collisions.back().mu = blend_mu(edge_mu, mus(vi), blend_type); - ev_collisions.back().s_mu = -1; - ev_collisions.back().k_mu = -1; + (mus(e1i) - mus(e0i)) * FC_ev.back().closest_point[0] + mus(e0i); + FC_ev.back().mu = blend_mu(edge_mu, mus(vi), blend_type); + FC_ev.back().s_mu = -1; + FC_ev.back().k_mu = -1; } - ee_collisions.reserve(C_ee.size()); + FC_ee.reserve(C_ee.size()); for (const auto& c_ee : C_ee) { const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); const Eigen::Vector3d ea0 = vertices.row(ea0i); @@ -68,36 +74,211 @@ void TangentialCollisions::build( continue; } - ee_collisions.emplace_back( + FC_ee.emplace_back( c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); double ea_mu = - (mus(ea1i) - mus(ea0i)) * ee_collisions.back().closest_point[0] + mus(ea0i); + (mus(ea1i) - mus(ea0i)) * FC_ee.back().closest_point[0] + mus(ea0i); double eb_mu = - (mus(eb1i) - mus(eb0i)) * ee_collisions.back().closest_point[1] + mus(eb0i); - ee_collisions.back().mu = blend_mu(ea_mu, eb_mu, blend_type); - ee_collisions.back().s_mu = -1; - ee_collisions.back().k_mu = -1; + (mus(eb1i) - mus(eb0i)) * FC_ee.back().closest_point[1] + mus(eb0i); + FC_ee.back().mu = blend_mu(ea_mu, eb_mu, blend_type); + FC_ee.back().s_mu = -1; + FC_ee.back().k_mu = -1; } - fv_collisions.reserve(C_fv.size()); + FC_fv.reserve(C_fv.size()); for (const auto& c_fv : C_fv) { - fv_collisions.emplace_back( + FC_fv.emplace_back( c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, barrier_stiffness); - const auto& [vi, f0i, f1i, f2i] = fv_collisions.back().vertex_ids(edges, faces); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); double face_mu = mus(f0i) - + fv_collisions.back().closest_point[0] * (mus(f1i) - mus(f0i)) - + fv_collisions.back().closest_point[1] * (mus(f2i) - mus(f0i)); - fv_collisions.back().mu = blend_mu(face_mu, mus(vi), blend_type); - fv_collisions.back().s_mu = -1; - fv_collisions.back().k_mu = -1; + + FC_fv.back().closest_point[0] * (mus(f1i) - mus(f0i)) + + FC_fv.back().closest_point[1] * (mus(f2i) - mus(f0i)); + FC_fv.back().mu = blend_mu(face_mu, mus(vi), blend_type); + FC_fv.back().s_mu = -1; + FC_fv.back().k_mu = -1; + } +} + + +void TangentialCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const BarrierPotential& barrier_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu) +{ + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + clear(); + + auto setFrictionParams = [](auto& collision, double g_mu, double g_s_mu, double g_k_mu) { + collision.mu = g_mu; + collision.s_mu = g_s_mu; + collision.k_mu = g_k_mu; + }; + + const auto& C_vv = collisions.vv_collisions; + const auto& C_ev = collisions.ev_collisions; + const auto& C_ee = collisions.ee_collisions; + const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + FC_vv.reserve(C_vv.size()); + for (const auto& c_vv : C_vv) { + FC_vv.emplace_back( + c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); + } + + FC_ev.reserve(C_ev.size()); + for (const auto& c_ev : C_ev) { + FC_ev.emplace_back( + c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); + } + + FC_ee.reserve(C_ee.size()); + for (const auto& c_ee : C_ee) { + const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); + const Eigen::Vector3d ea0 = vertices.row(ea0i); + const Eigen::Vector3d ea1 = vertices.row(ea1i); + const Eigen::Vector3d eb0 = vertices.row(eb0i); + const Eigen::Vector3d eb1 = vertices.row(eb1i); + + // Skip EE collisions that are close to parallel + if (edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1) < c_ee.eps_x) { + continue; + } + + FC_ee.emplace_back( + c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + + setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); + } + + FC_fv.reserve(C_fv.size()); + for (const auto& c_fv : C_fv) { + FC_fv.emplace_back( + c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + + setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); + } +} + +void TangentialCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const BarrierPotential& barrier_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu, + const std::map, MaterialPairFriction>& material_pair_friction) +{ + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + const std::vector& mat_ids = mesh.mat_ids(); + clear(); + + auto getMaterialFriction = [&](int mat_id1, int mat_id2) -> const MaterialPairFriction* { + auto pair_key = std::make_pair(std::min(mat_id1, mat_id2), std::max(mat_id1, mat_id2)); + return material_pair_friction.count(pair_key) ? &material_pair_friction.at(pair_key) : nullptr; + }; + + auto setFrictionParams = [](auto& collision, double mu, double s_mu, double k_mu) { + collision.mu = mu; + collision.s_mu = s_mu; + collision.k_mu = k_mu; + }; + + const auto& C_vv = collisions.vv_collisions; + const auto& C_ev = collisions.ev_collisions; + const auto& C_ee = collisions.ee_collisions; + const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + FC_vv.reserve(C_vv.size()); + for (const auto& c_vv : C_vv) { + FC_vv.emplace_back( + c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[v0i], mat_ids[v1i]); + if (friction) { + setFrictionParams(FC_vv.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); + } + } + + FC_ev.reserve(C_ev.size()); + for (const auto& c_ev : C_ev) { + FC_ev.emplace_back( + c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[e0i]); + if (friction) { + setFrictionParams(FC_ev.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); + } + } + + FC_ee.reserve(C_ee.size()); + for (const auto& c_ee : C_ee) { + const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); + + if (edge_edge_cross_squarednorm(vertices.row(ea0i), vertices.row(ea1i), vertices.row(eb0i), vertices.row(eb1i)) < c_ee.eps_x) { + continue; + } + + FC_ee.emplace_back( + c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[ea0i], mat_ids[eb0i]); + if (friction) { + setFrictionParams(FC_ee.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); + } + } + + FC_fv.reserve(C_fv.size()); + for (const auto& c_fv : C_fv) { + FC_fv.emplace_back( + c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[f0i]); + if (friction) { + setFrictionParams(FC_fv.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); + } } } -// The other build functions go here as previously defined +// ============================================================================ size_t TangentialCollisions::size() const { diff --git a/src/ipc/ipc.cpp b/src/ipc/ipc.cpp index a5a40df38..f0c4d553b 100644 --- a/src/ipc/ipc.cpp +++ b/src/ipc/ipc.cpp @@ -111,7 +111,7 @@ bool has_intersections( // narrow-phase using igl igl::predicates::exactinit(); - for (const auto& [ea_id, eb_id] : ee_candidates) { + for (const auto& [ea_id, eb_id, mat_pair] : ee_candidates) { if (igl::predicates::segment_segment_intersect( vertices.row(mesh.edges()(ea_id, 0)).head<2>(), vertices.row(mesh.edges()(ea_id, 1)).head<2>(), @@ -128,7 +128,7 @@ bool has_intersections( broad_phase->detect_edge_face_candidates(ef_candidates); broad_phase->clear(); - for (const auto& [e_id, f_id] : ef_candidates) { + for (const auto& [e_id, f_id, mat_pair] : ef_candidates) { if (is_edge_intersecting_triangle( vertices.row(mesh.edges()(e_id, 0)), vertices.row(mesh.edges()(e_id, 1)), diff --git a/tests/src/tests/friction/friction_data_generator.cpp b/tests/src/tests/friction/friction_data_generator.cpp index 2146b4cb3..da4a52822 100644 --- a/tests/src/tests/friction/friction_data_generator.cpp +++ b/tests/src/tests/friction/friction_data_generator.cpp @@ -23,8 +23,8 @@ FrictionData friction_data_generator() collisions.set_enable_shape_derivatives(true); mu = GENERATE(range(0.0, 1.0, 0.2)); - s_mu = mu; // Static friction set to mu - k_mu = 0.8 * s_mu; // Kinetic friction set to 0.8 * s_mu + s_mu = GENERATE(range(0.0, 1.0, 0.2)); + k_mu = GENERATE(range(0.0, 1.0, 0.2)); #ifdef NDEBUG epsv_times_h = pow(10, GENERATE(range(-6, 0))); diff --git a/tests/src/tests/friction/test_force_jacobian.cpp b/tests/src/tests/friction/test_force_jacobian.cpp index b0bfc67fc..ecda8a462 100644 --- a/tests/src/tests/friction/test_force_jacobian.cpp +++ b/tests/src/tests/friction/test_force_jacobian.cpp @@ -224,7 +224,7 @@ TEST_CASE("Friction force jacobian", "[friction][force-jacobian]") { const int x_case = GENERATE(0, 1); FrictionData data = friction_data_generator(); - const auto& [V0, V1, E, F, collisions, mu, epsv_times_h, dhat, barrier_stiffness] = + const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu,epsv_times_h, dhat, barrier_stiffness] = data; REQUIRE(collisions.enable_shape_derivatives()); diff --git a/tests/src/tests/potential/test_friction_potential.cpp b/tests/src/tests/potential/test_friction_potential.cpp index 2a4612f76..57b84909e 100644 --- a/tests/src/tests/potential/test_friction_potential.cpp +++ b/tests/src/tests/potential/test_friction_potential.cpp @@ -14,7 +14,7 @@ using namespace ipc; TEST_CASE("Friction gradient and hessian", "[friction][gradient][hessian]") { FrictionData data = friction_data_generator(); - const auto& [V0, V1, E, F, collisions, mu, epsv_times_h, dhat, barrier_stiffness] = + const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = data; const Eigen::MatrixXd U = V1 - V0; @@ -48,20 +48,14 @@ TEST_CASE("Friction gradient and hessian", "[friction][gradient][hessian]") TEST_CASE("Friction gradient and hessian with s_mu and k_mu", "[friction][gradient][hessian][s_mu][k_mu]") { FrictionData data = friction_data_generator(); - const auto& [V0, V1, E, F, collisions, mu, epsv_times_h, dhat, barrier_stiffness] = - data; + const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = data; const Eigen::MatrixXd U = V1 - V0; const CollisionMesh mesh(V0, E, F); - // Define specific values for static and kinetic friction coefficients - const double s_mu = 1.0; // Static friction coefficient - const double k_mu = 0.8; // Kinetic friction coefficient - TangentialCollisions tangential_collisions; - tangential_collisions.build( - mesh, V0, collisions, BarrierPotential(dhat), barrier_stiffness, s_mu, k_mu); + tangential_collisions.build(mesh, V0, collisions, BarrierPotential(dhat), barrier_stiffness, mu, s_mu, k_mu); const FrictionPotential D(epsv_times_h); From 91b5171a0e52310b5b05d8c9a244d66ab86e6195 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Mon, 18 Nov 2024 21:54:32 -0500 Subject: [PATCH 03/13] Add files via upload --- notebooks/transition.ipynb | 3025 ++++++++++++++++++++++++++++++++++++ 1 file changed, 3025 insertions(+) create mode 100644 notebooks/transition.ipynb diff --git a/notebooks/transition.ipynb b/notebooks/transition.ipynb new file mode 100644 index 000000000..d9a3612f0 --- /dev/null +++ b/notebooks/transition.ipynb @@ -0,0 +1,3025 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Smooth Transition from Static to Kinetic Friction Coefficients\n", + "we will model a smooth transition between the static (μs) and kinetic (μk) coefficients of friction using mathematical functions\n", + "\n", + "Reference to GitHub issue (commented out)\n", + "https://github.com/ipc-sim/ipc-toolkit/pull/139#issuecomment-2479998982" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "from sympy import symbols, Piecewise, Eq, Abs, integrate, simplify, expand, cos, pi, Poly, nsimplify, lambdify\n", + "import numpy as np\n", + "import plotly.graph_objects as go\n", + "import plotly\n", + "import matplotlib.pyplot as plt\n", + "from IPython.display import display" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "x = symbols('x', real=True)\n", + "eps_v = symbols(r'\\epsilon_v', positive=True) # Threshold velocity for transition\n", + "mu_s, mu_k = symbols(r'\\mu_s \\mu_k', positive=True) # Static and kinetic friction coefficients" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Friction Mollifier" + ] + }, + { + "cell_type": "code", + "execution_count": 33, + "metadata": {}, + "outputs": [], + "source": [ + "def plot(*fs, title=None, **subs):\n", + " xs = np.linspace(-1, 1, 201)\n", + " subs = {eps_v: 0.5, mu_s: 1, mu_k: 0.1} | subs\n", + "\n", + " def ys(f):\n", + " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", + " \n", + " fig = go.Figure(\n", + " [go.Scatter(x=xs, y=ys(f)) for f in fs],\n", + " layout=dict(\n", + " width=800, height=600, template=\"none\",\n", + " xaxis_title=r'$x$', title=title\n", + " )\n", + " )\n", + " fig.show()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The function 𝑓0(𝑥) approximates the absolute value function ∣x∣ but is differentiable at x=0, avoiding sharp changes in force calculations" + ] + }, + { + "cell_type": "code", + "execution_count": 34, + "metadata": {}, + "outputs": [], + "source": [ + "def f0(x):\n", + " \"\"\"Smooth friction mollifier\"\"\"\n", + " return x**2 * (1 - x / (3 * eps_v)) / eps_v + eps_v / 3\n", + "\n", + "sym_f0 = Piecewise(\n", + " (Abs(x), Abs(x) >= eps_v),\n", + " (f0(Abs(x)), Abs(x) < eps_v)\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 35, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle f_{0}(x) = \\begin{cases} \\left|{x}\\right| & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\frac{\\epsilon_{v}}{3} + \\frac{\\left|{x}\\right|^{2}}{\\epsilon_{v}} - \\frac{\\left|{x}\\right|^{3}}{3 \\epsilon_{v}^{2}} & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(f_{0}(x), Piecewise((Abs(x), \\epsilon_v <= Abs(x)), (\\epsilon_v/3 + Abs(x)**2/\\epsilon_v - Abs(x)**3/(3*\\epsilon_v**2), True)))" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "type": "scatter", + "x": [ + -1, + -0.99, + -0.98, + -0.97, + -0.96, + -0.95, + -0.94, + -0.9299999999999999, + -0.92, + -0.91, + -0.9, + -0.89, + -0.88, + -0.87, + 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+ "metadata": {}, + "outputs": [], + "source": [ + "def f1(x):\n", + " \"\"\"Derivative of f0\"\"\"\n", + " return x * (2 - x / eps_v) / eps_v" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The derivative 𝑓1(𝑥) represents the rate of change of the friction potential with respect to velocity." + ] + }, + { + "cell_type": "code", + "execution_count": 37, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle f_{1}(x) = \\begin{cases} -1 & \\text{for}\\: \\epsilon_{v} < - x \\\\\\frac{2 x}{\\epsilon_{v}} + \\frac{x^{2}}{\\epsilon_{v}^{2}} & \\text{for}\\: x \\leq 0 \\\\\\frac{2 x}{\\epsilon_{v}} - \\frac{x^{2}}{\\epsilon_{v}^{2}} & \\text{for}\\: \\epsilon_{v} \\geq x \\\\1 & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(f_{1}(x), Piecewise((-1, \\epsilon_v < -x), (2*x/\\epsilon_v + x**2/\\epsilon_v**2, x <= 0), (2*x/\\epsilon_v - x**2/\\epsilon_v**2, \\epsilon_v >= x), (1, True)))" + ] + }, + "metadata": {}, + 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"$f_1(x)$" + }, + "width": 800, + "xaxis": { + "title": { + "text": "$x$" + } + } + } + } + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "sym_f1 = Piecewise(\n", + " (-1, x < -eps_v),\n", + " (-f1(-x), x <= 0),\n", + " (f1(x), x <= eps_v),\n", + " (1, x > eps_v)\n", + ")\n", + "display(Eq(symbols(\"f_{1}(x)\"), expand(sym_f1)))\n", + "plot(sym_f1, title=r\"$f_1(x)$\")\n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Smooth Coefficient of Friction\n", + "We can use a polynomial to model a smooth transition from static to kinematic coefficient of friction." + ] + }, + { + "cell_type": "code", + "execution_count": 38, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\mu(x) = \\begin{cases} \\mu_{k} & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\mu_{s} + \\frac{3 \\mu_{k} \\left|{x}\\right|^{2}}{\\epsilon_{v}^{2}} - \\frac{3 \\mu_{s} \\left|{x}\\right|^{2}}{\\epsilon_{v}^{2}} - \\frac{2 \\mu_{k} \\left|{x}\\right|^{3}}{\\epsilon_{v}^{3}} + \\frac{2 \\mu_{s} \\left|{x}\\right|^{3}}{\\epsilon_{v}^{3}} & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(\\mu(x), Piecewise((\\mu_k, \\epsilon_v <= Abs(x)), (\\mu_s + 3*\\mu_k*Abs(x)**2/\\epsilon_v**2 - 3*\\mu_s*Abs(x)**2/\\epsilon_v**2 - 2*\\mu_k*Abs(x)**3/\\epsilon_v**3 + 2*\\mu_s*Abs(x)**3/\\epsilon_v**3, True)))" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "type": "scatter", + "x": [ + -1, + -0.99, + -0.98, + -0.97, + -0.96, + -0.95, + -0.94, + -0.9299999999999999, + -0.92, + -0.91, + -0.9, + -0.89, + -0.88, + -0.87, + -0.86, + -0.85, + -0.84, + -0.83, + -0.8200000000000001, + -0.81, + -0.8, + -0.79, + -0.78, + -0.77, + -0.76, + -0.75, + -0.74, + -0.73, + -0.72, + -0.71, + -0.7, + -0.69, + 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mu_s to mu_k using a polynomial.\"\"\"\n", + " # Polynomial-based transition\n", + " return (mu_k - mu_s) * (3 * (x / eps_v)**2 - 2 * (x / eps_v)**3) + mu_s\n", + "\n", + "sym_mu = Piecewise(\n", + " (mu_k, Abs(x) >= eps_v),\n", + " (mu(Abs(x)), Abs(x) < eps_v)\n", + ")\n", + "display(Eq(symbols(r\"\\mu(x)\"), expand(sym_mu)))\n", + "plot(sym_mu, title=r\"$\\mu(x)$\")" + ] + }, + { + "cell_type": "code", + "execution_count": 49, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\mu(x) = \\begin{cases} \\mu_{k} & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\mu_{s} + \\left(\\mu_{k} - \\mu_{s}\\right) \\left(\\frac{3 \\left|{x}\\right|^{2}}{\\epsilon_{v}^{2}} - \\frac{2 \\left|{x}\\right|^{3}}{\\epsilon_{v}^{3}}\\right) & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(\\mu(x), Piecewise((\\mu_k, \\epsilon_v <= Abs(x)), (\\mu_s + (\\mu_k - \\mu_s)*(3*Abs(x)**2/\\epsilon_v**2 - 2*Abs(x)**3/\\epsilon_v**3), True)))" + ] + }, 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mollifier of , so we can integrate this function to get a mollifier of that produces the desired force.\n", + "This product represents the friction force considering both the velocity dependence and the changing coefficient of friction." + ] + }, + { + "cell_type": "code", + "execution_count": 39, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\text{False}$" + ], + "text/plain": [ + "False" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "type": "scatter", + "x": [ + -1, + -0.99, + -0.98, + -0.97, + -0.96, + -0.95, + -0.94, + -0.9299999999999999, + -0.92, + -0.91, + -0.9, + -0.89, + -0.88, + -0.87, + -0.86, + -0.85, + -0.84, + -0.83, + -0.8200000000000001, + -0.81, + -0.8, + -0.79, + -0.78, + -0.77, + -0.76, + -0.75, + -0.74, + -0.73, + -0.72, + -0.71, + -0.7, + -0.69, + -0.6799999999999999, + 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"scatter": [ + { + "type": "scatter" + } + ] + } + }, + "title": { + "text": "$\\mu(x) f_1(x)$" + }, + "width": 800, + "xaxis": { + "title": { + "text": "$x$" + } + } + } + } + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "def mu_f1(x):\n", + " return mu(x) * f1(x)\n", + "\n", + "sym_mu_f1 = Piecewise(\n", + " (-mu_k, x < -eps_v),\n", + " (-mu_f1(-x), x <= 0),\n", + " (mu_f1(x), x <= eps_v),\n", + " (mu_k, x > eps_v)\n", + ")\n", + "display(Eq(symbols(r\"\\mu(x) f_1(x)\"), expand(sym_mu_f1)))\n", + "plot(sym_mu_f1, title=r'$\\mu(x) f_1(x)$')\n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The resulting force mollifier is a polynomail in , so we can use sympy to get the exact integral." + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "metadata": {}, + "outputs": [], + "source": [ + "mu_f0 = integrate(mu_f1(x), x)" + ] + }, + { + "cell_type": "code", + "execution_count": 41, + "metadata": {}, + "outputs": [ + { 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\\mathrm{d}x$" + }, + "width": 800, + "xaxis": { + "title": { + "text": "$x$" + } + } + } + } + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Constant of integration such that mu_f0(eps_v) = mu_k * eps_v\n", + "c = mu_k * eps_v - mu_f0.subs(x, eps_v)\n", + "mu_f0 = mu_f0 + c\n", + "mu_f0 = simplify(mu_f0)\n", + "\n", + "sym_mu_f0 = Piecewise(\n", + " (mu_k * Abs(x), Abs(x) >= eps_v),\n", + " (mu_f0.subs(x, Abs(x)), Abs(x) < eps_v)\n", + ")\n", + "display(Eq(symbols(r\"\\int \\mu(x) f_1(x) \\mathrm{d}x\"), expand(sym_mu_f0)))\n", + "plot(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')\n" + ] + }, + { + "cell_type": "code", + "execution_count": 42, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\operatorname{Poly}{\\left( \\frac{\\mu_{k} - \\mu_{s}}{3 \\epsilon_{v}^{5}} x^{6} + \\frac{- 7 \\mu_{k} + 7 \\mu_{s}}{5 \\epsilon_{v}^{4}} x^{5} + \\frac{3 \\mu_{k} - 3 \\mu_{s}}{2 \\epsilon_{v}^{3}} x^{4} - \\frac{\\mu_{s}}{3 \\epsilon_{v}^{2}} x^{3} + \\frac{\\mu_{s}}{\\epsilon_{v}} x^{2} + \\frac{17 \\epsilon_{v} \\mu_{k}}{30} - \\frac{7 \\epsilon_{v} \\mu_{s}}{30}, x, domain=\\mathbb{Z}\\left(\\epsilon_{v}, \\mu_{k}, \\mu_{s}\\right) \\right)}$" + ], + "text/plain": [ + "Poly((\\mu_k - \\mu_s)/(3*\\epsilon_v**5)*x**6 + (-7*\\mu_k + 7*\\mu_s)/(5*\\epsilon_v**4)*x**5 + (3*\\mu_k - 3*\\mu_s)/(2*\\epsilon_v**3)*x**4 - \\mu_s/(3*\\epsilon_v**2)*x**3 + \\mu_s/\\epsilon_v*x**2 + 17*\\epsilon_v*\\mu_k/30 - 7*\\epsilon_v*\\mu_s/30, x, domain='ZZ(\\epsilon_v,\\mu_k,\\mu_s)')" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "poly_mu_f0 = Poly(nsimplify(mu_f0), x)\n", + "display(poly_mu_f0)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} From de07836104e94f8963fe8ab97cebe3c45f25d09f Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Thu, 21 Nov 2024 18:15:36 +0000 Subject: [PATCH 04/13] Improve code quality and changes function names --- notebooks/mu_transition.ipynb | 87596 ++++++++++++++++ notebooks/transition.ipynb | 3025 - src/ipc/collisions/tangential/edge_edge.cpp | 2 +- src/ipc/collisions/tangential/edge_vertex.cpp | 2 +- src/ipc/collisions/tangential/edge_vertex.hpp | 2 + src/ipc/collisions/tangential/face_vertex.cpp | 2 +- src/ipc/collisions/tangential/face_vertex.hpp | 2 + .../tangential/tangential_collisions.cpp | 22 +- .../tangential/tangential_collisions.hpp | 4 +- .../collisions/tangential/vertex_vertex.cpp | 4 + .../collisions/tangential/vertex_vertex.hpp | 2 + .../friction/smooth_friction_mollifier.cpp | 63 + .../friction/smooth_friction_mollifier.hpp | 65 + src/ipc/potentials/friction_potential.cpp | 18 + src/ipc/potentials/friction_potential.hpp | 7 + .../tangential_adhesion_potential.hpp | 13 + src/ipc/potentials/tangential_potential.cpp | 52 +- src/ipc/potentials/tangential_potential.hpp | 3 + tests/src/tests/test_collision_mesh.cpp | 138 +- 19 files changed, 87889 insertions(+), 3133 deletions(-) create mode 100644 notebooks/mu_transition.ipynb delete mode 100644 notebooks/transition.ipynb diff --git a/notebooks/mu_transition.ipynb b/notebooks/mu_transition.ipynb new file mode 100644 index 000000000..3505783d2 --- /dev/null +++ b/notebooks/mu_transition.ipynb @@ -0,0 +1,87596 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Smooth Transition from Static to Kinetic Friction Coefficients\n", + "we will model a smooth transition between the static (μs) and kinetic (μk) coefficients of friction using mathematical functions\n", + "\n", + "Reference to GitHub issue (commented out)\n", + "https://github.com/ipc-sim/ipc-toolkit/pull/139#issuecomment-2479998982" + ] + }, + { + "cell_type": "code", + "execution_count": 41, + "metadata": {}, + "outputs": [], + "source": [ + "from sympy import symbols, Piecewise, Eq, Abs, integrate, simplify, expand, cos, pi, Poly, nsimplify, lambdify\n", + "import numpy as np\n", + "import plotly.graph_objects as go\n", + "import plotly\n", + "import matplotlib.pyplot as plt\n", + "from IPython.display import display" + ] + }, + { + "cell_type": "code", + "execution_count": 42, + "metadata": {}, + "outputs": [], + "source": [ + "x = symbols('x', real=True)\n", + "eps_v = symbols(r'\\epsilon_v', positive=True) # Threshold velocity for transition\n", + "mu_s, mu_k = symbols(r'\\mu_s \\mu_k', positive=True) # Static and kinetic friction coefficients" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Friction Mollifier" + ] + }, + { + "cell_type": "code", + "execution_count": 43, + "metadata": {}, + "outputs": [], + "source": [ + "def plot(*fs, title=None, **subs):\n", + " xs = np.linspace(-1, 1, 201)\n", + " subs = {eps_v: 0.5, mu_s: 1, mu_k: 0.1} | subs\n", + " def ys(f):\n", + " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", + " go.Figure(\n", + " [go.Scatter(x=xs, y=ys(f)) for f in fs],\n", + " layout=dict(\n", + " width=800, height=600, template=\"none\",\n", + " xaxis_title=r'$x$', title=title\n", + " )).show()\n" + ] + }, + { + "cell_type": "code", + "execution_count": 44, + "metadata": {}, + "outputs": [], + "source": [ + "def plot_interactive(*fs, title=None, **subs):\n", + " xs = np.linspace(-1, 1, 201)\n", + " \n", + " # Default substitution values with slider-friendly range\n", + " default_subs = {\n", + " eps_v: 0.5, # 0 to 1 range\n", + " mu_s: 1.0, # 0.1 to 2.0 range\n", + " mu_k: 0.1 # 0 to 1 range\n", + " }\n", + " \n", + " # Update default substitutions with any provided substitutions\n", + " subs = default_subs | subs\n", + "\n", + " def ys(f):\n", + " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", + " \n", + " # Create traces for each function\n", + " traces = [go.Scatter(x=xs, y=ys(f), name=f'Function {i+1}') for i, f in enumerate(fs)]\n", + " \n", + " # Create figure with sliders\n", + " fig = go.Figure(data=traces)\n", + " \n", + " # Add sliders for eps_v, mu_s, and mu_k\n", + " fig.update_layout(\n", + " sliders=[\n", + " # Epsilon v slider\n", + " dict(\n", + " active=0,\n", + " currentvalue={\"prefix\": \"ε_v: \"},\n", + " pad={\"t\": 120, \"l\": 200, \"r\": 120},\n", + " steps=[dict(\n", + " method='restyle',\n", + " args=[{'y': [\n", + " np.array([f.subs({x: xi, eps_v: step, mu_s: subs[mu_s], mu_k: subs[mu_k]}) for xi in xs], dtype=float) \n", + " for f in fs\n", + " ]}],\n", + " label=f'{step:.2f}'\n", + " ) for step in np.linspace(0.01, 1, 20)],\n", + " x=0.1, # Positioning the slider\n", + " xanchor='left',\n", + " y=0,\n", + " yanchor='top'\n", + " ),\n", + " # Static friction coefficient slider\n", + " dict(\n", + " active=0,\n", + " currentvalue={\"prefix\": \"μ_s: \"},\n", + " pad={\"t\": 120, \"l\": 200, \"r\": 120}, \n", + " steps=[dict(\n", + " method='restyle',\n", + " args=[{'y': [\n", + " np.array([f.subs({x: xi, eps_v: subs[eps_v], mu_s: step, mu_k: subs[mu_k]}) for xi in xs], dtype=float) \n", + " for f in fs\n", + " ]}],\n", + " label=f'{step:.2f}'\n", + " ) for step in np.linspace(0.1, 2.0, 20)],\n", + " x=0.1, # Positioning the slider\n", + " xanchor='left',\n", + " y=-0.1,\n", + " yanchor='top'\n", + " ),\n", + " # Kinetic friction coefficient slider\n", + " dict(\n", + " active=0,\n", + " currentvalue={\"prefix\": \"μ_k: \"},\n", + " pad={\"t\": 120, \"l\": 200, \"r\": 120},\n", + " steps=[dict(\n", + " method='restyle',\n", + " args=[{'y': [\n", + " np.array([f.subs({x: xi, eps_v: subs[eps_v], mu_s: subs[mu_s], mu_k: step}) for xi in xs], dtype=float) \n", + " for f in fs\n", + " ]}],\n", + " label=f'{step:.2f}'\n", + " ) for step in np.linspace(0.01, 1, 20)],\n", + " x=0.1, # Positioning the slider\n", + " xanchor='left',\n", + " y=-0.2,\n", + " yanchor='top'\n", + " )\n", + " ],\n", + " width=1200, \n", + " height=1200,\n", + " template=\"plotly_white\",\n", + " title=title,\n", + " xaxis_title=r'$x$'\n", + " )\n", + "\n", + " # Improve slider interaction\n", + " fig.update_layout(\n", + " updatemenus=[\n", + " dict(\n", + " type=\"buttons\",\n", + " direction=\"left\",\n", + " showactive=False,\n", + " x=0.6,\n", + " xanchor=\"left\",\n", + " y=1.20,\n", + " yanchor=\"top\",\n", + " pad={\"t\": 200},\n", + " )\n", + " ]\n", + " )\n", + "\n", + " fig.show()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The function 𝑓0(𝑥) approximates the absolute value function ∣x∣ but is differentiable at x=0, avoiding sharp changes in force calculations" + ] + }, + { + "cell_type": "code", + "execution_count": 45, + "metadata": {}, + "outputs": [], + "source": [ + "def f0(x):\n", + " \"\"\"Smooth friction mollifier\"\"\"\n", + " return x**2 * (1 - x / (3 * eps_v)) / eps_v + eps_v / 3\n", + "\n", + "sym_f0 = Piecewise(\n", + " (Abs(x), Abs(x) >= eps_v),\n", + " (f0(Abs(x)), Abs(x) < eps_v)\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 46, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle f_{0}(x) = \\begin{cases} \\left|{x}\\right| & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\frac{\\epsilon_{v}}{3} + \\frac{x^{2}}{\\epsilon_{v}} - \\frac{x^{2} \\left|{x}\\right|}{3 \\epsilon_{v}^{2}} & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(f_{0}(x), Piecewise((Abs(x), \\epsilon_v <= Abs(x)), (\\epsilon_v/3 + x**2/\\epsilon_v - x**2*Abs(x)/(3*\\epsilon_v**2), True)))" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "type": "scatter", + "x": [ + 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" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "sym_f1 = Piecewise(\n", + " (-1, x < -eps_v),\n", + " (-f1(-x), x <= 0),\n", + " (f1(x), x <= eps_v),\n", + " (1, x > eps_v)\n", + ")\n", + "display(Eq(symbols(\"f_{1}(x)\"), expand(sym_f1)))\n", + "plot(sym_f1, title=r\"$f_1(x)$\")\n", + "plot_interactive(sym_f1, title=r\"$f_1(x)$\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Smooth Coefficient of Friction\n", + "We can use a polynomial to model a smooth transition from static to kinematic coefficient of friction." + ] + }, + { + "cell_type": "code", + "execution_count": 49, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\mu(x) = \\begin{cases} \\mu_{k} & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\mu_{s} + \\frac{3 \\mu_{k} x^{2}}{\\epsilon_{v}^{2}} - \\frac{3 \\mu_{s} x^{2}}{\\epsilon_{v}^{2}} - \\frac{2 \\mu_{k} x^{2} \\left|{x}\\right|}{\\epsilon_{v}^{3}} + \\frac{2 \\mu_{s} x^{2} \\left|{x}\\right|}{\\epsilon_{v}^{3}} & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(\\mu(x), Piecewise((\\mu_k, \\epsilon_v <= Abs(x)), (\\mu_s + 3*\\mu_k*x**2/\\epsilon_v**2 - 3*\\mu_s*x**2/\\epsilon_v**2 - 2*\\mu_k*x**2*Abs(x)/\\epsilon_v**3 + 2*\\mu_s*x**2*Abs(x)/\\epsilon_v**3, True)))" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "type": "scatter", + "x": [ + -1, + -0.99, + -0.98, + -0.97, + -0.96, + -0.95, + -0.94, + -0.9299999999999999, + -0.92, + -0.91, + -0.9, + -0.89, + -0.88, + -0.87, + -0.86, + -0.85, + -0.84, + -0.83, + -0.8200000000000001, + -0.81, + -0.8, + -0.79, + -0.78, + -0.77, + -0.76, + -0.75, + -0.74, + -0.73, + -0.72, + -0.71, + -0.7, + -0.69, + -0.6799999999999999, + -0.6699999999999999, + -0.6599999999999999, + -0.6499999999999999, + -0.64, + -0.63, + -0.62, + -0.61, + 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f_1(x) \\mathrm{d}x$" + }, + "updatemenus": [ + { + "buttons": [ + { + "args": [ + { + "sliders[0].active": 0, + "sliders[1].active": 0, + "sliders[2].active": 0 + } + ], + "label": "Reset", + "method": "relayout" + } + ], + "direction": "left", + "pad": { + "t": 200 + }, + "showactive": false, + "type": "buttons", + "x": 0.6, + "xanchor": "left", + "y": 1.2, + "yanchor": "top" + } + ], + "width": 1200, + "xaxis": { + "title": { + "text": "$x$" + } + } + } + }, + "text/html": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Constant of integration such that mu_f0(eps_v) = mu_k * eps_v\n", + "c = mu_k * eps_v - mu_f0.subs(x, eps_v)\n", + "mu_f0 = mu_f0 + c\n", + "mu_f0 = simplify(mu_f0)\n", + "\n", + "sym_mu_f0 = Piecewise(\n", + " (mu_k * Abs(x), Abs(x) >= eps_v),\n", + " (mu_f0.subs(x, Abs(x)), Abs(x) < eps_v)\n", + ")\n", + "display(Eq(symbols(r\"\\int \\mu(x) f_1(x) \\mathrm{d}x\"), expand(sym_mu_f0)))\n", + "plot(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')\n", + "plot_interactive(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\operatorname{Poly}{\\left( \\frac{\\mu_{k} - \\mu_{s}}{3 \\epsilon_{v}^{5}} x^{6} + \\frac{- 7 \\mu_{k} + 7 \\mu_{s}}{5 \\epsilon_{v}^{4}} x^{5} + \\frac{3 \\mu_{k} - 3 \\mu_{s}}{2 \\epsilon_{v}^{3}} x^{4} - \\frac{\\mu_{s}}{3 \\epsilon_{v}^{2}} x^{3} + \\frac{\\mu_{s}}{\\epsilon_{v}} x^{2} + \\frac{17 \\epsilon_{v} \\mu_{k}}{30} - \\frac{7 \\epsilon_{v} \\mu_{s}}{30}, x, domain=\\mathbb{Z}\\left(\\epsilon_{v}, \\mu_{k}, \\mu_{s}\\right) \\right)}$" + ], + "text/plain": [ + "Poly((\\mu_k - \\mu_s)/(3*\\epsilon_v**5)*x**6 + (-7*\\mu_k + 7*\\mu_s)/(5*\\epsilon_v**4)*x**5 + (3*\\mu_k - 3*\\mu_s)/(2*\\epsilon_v**3)*x**4 - \\mu_s/(3*\\epsilon_v**2)*x**3 + \\mu_s/\\epsilon_v*x**2 + 17*\\epsilon_v*\\mu_k/30 - 7*\\epsilon_v*\\mu_s/30, x, domain='ZZ(\\epsilon_v,\\mu_k,\\mu_s)')" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "poly_mu_f0 = Poly(nsimplify(mu_f0), x)\n", + "display(poly_mu_f0)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "base", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.1" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/notebooks/transition.ipynb b/notebooks/transition.ipynb deleted file mode 100644 index d9a3612f0..000000000 --- a/notebooks/transition.ipynb +++ /dev/null @@ -1,3025 +0,0 @@ -{ - "cells": [ - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Smooth Transition from Static to Kinetic Friction Coefficients\n", - "we will model a smooth transition between the static (μs) and kinetic (μk) coefficients of friction using mathematical functions\n", - "\n", - "Reference to GitHub issue (commented out)\n", - "https://github.com/ipc-sim/ipc-toolkit/pull/139#issuecomment-2479998982" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "from sympy import symbols, Piecewise, Eq, Abs, integrate, simplify, expand, cos, pi, Poly, nsimplify, lambdify\n", - "import numpy as np\n", - "import plotly.graph_objects as go\n", - "import plotly\n", - "import matplotlib.pyplot as plt\n", - "from IPython.display import display" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "x = symbols('x', real=True)\n", - "eps_v = symbols(r'\\epsilon_v', positive=True) # Threshold velocity for transition\n", - "mu_s, mu_k = symbols(r'\\mu_s \\mu_k', positive=True) # Static and kinetic friction coefficients" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Friction Mollifier" - ] - }, - { - "cell_type": "code", - "execution_count": 33, - "metadata": {}, - "outputs": [], - "source": [ - "def plot(*fs, title=None, **subs):\n", - " xs = np.linspace(-1, 1, 201)\n", - " subs = {eps_v: 0.5, mu_s: 1, mu_k: 0.1} | subs\n", - "\n", - " def ys(f):\n", - " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", - " \n", - " fig = go.Figure(\n", - " [go.Scatter(x=xs, y=ys(f)) for f in fs],\n", - " layout=dict(\n", - " width=800, height=600, template=\"none\",\n", - " xaxis_title=r'$x$', title=title\n", - " )\n", - " )\n", - " fig.show()" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "The function 𝑓0(𝑥) approximates the absolute value function ∣x∣ but is differentiable at x=0, avoiding sharp changes in force calculations" - ] - }, - { - "cell_type": "code", - "execution_count": 34, - "metadata": {}, - "outputs": [], - "source": [ - "def f0(x):\n", - " \"\"\"Smooth friction mollifier\"\"\"\n", - " return x**2 * (1 - x / (3 * eps_v)) / eps_v + eps_v / 3\n", - "\n", - "sym_f0 = Piecewise(\n", - " (Abs(x), Abs(x) >= eps_v),\n", - " (f0(Abs(x)), Abs(x) < eps_v)\n", - ")" - ] - }, - { - "cell_type": "code", - "execution_count": 35, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle f_{0}(x) = \\begin{cases} \\left|{x}\\right| & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\frac{\\epsilon_{v}}{3} + \\frac{\\left|{x}\\right|^{2}}{\\epsilon_{v}} - \\frac{\\left|{x}\\right|^{3}}{3 \\epsilon_{v}^{2}} & \\text{otherwise} \\end{cases}$" - ], - "text/plain": [ - "Eq(f_{0}(x), Piecewise((Abs(x), \\epsilon_v <= Abs(x)), (\\epsilon_v/3 + Abs(x)**2/\\epsilon_v - Abs(x)**3/(3*\\epsilon_v**2), True)))" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "application/vnd.plotly.v1+json": { - "config": { - "plotlyServerURL": "https://plot.ly" - }, - "data": [ - { - "type": "scatter", - "x": [ - -1, - -0.99, - -0.98, - -0.97, - -0.96, - -0.95, - -0.94, - -0.9299999999999999, - -0.92, - -0.91, - -0.9, - -0.89, - -0.88, - -0.87, - -0.86, - -0.85, - -0.84, - -0.83, - -0.8200000000000001, - -0.81, - -0.8, - -0.79, - -0.78, - -0.77, - -0.76, - -0.75, - -0.74, - -0.73, - -0.72, - -0.71, - -0.7, - -0.69, - -0.6799999999999999, - -0.6699999999999999, - -0.6599999999999999, - -0.6499999999999999, - -0.64, - -0.63, - -0.62, - -0.61, - -0.6, - 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"cell_type": "code", - "execution_count": 37, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle f_{1}(x) = \\begin{cases} -1 & \\text{for}\\: \\epsilon_{v} < - x \\\\\\frac{2 x}{\\epsilon_{v}} + \\frac{x^{2}}{\\epsilon_{v}^{2}} & \\text{for}\\: x \\leq 0 \\\\\\frac{2 x}{\\epsilon_{v}} - \\frac{x^{2}}{\\epsilon_{v}^{2}} & \\text{for}\\: \\epsilon_{v} \\geq x \\\\1 & \\text{otherwise} \\end{cases}$" - ], - "text/plain": [ - "Eq(f_{1}(x), Piecewise((-1, \\epsilon_v < -x), (2*x/\\epsilon_v + x**2/\\epsilon_v**2, x <= 0), (2*x/\\epsilon_v - x**2/\\epsilon_v**2, \\epsilon_v >= x), (1, True)))" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "application/vnd.plotly.v1+json": { - "config": { - "plotlyServerURL": "https://plot.ly" - }, - "data": [ - { - "type": "scatter", - "x": [ - -1, - -0.99, - -0.98, - -0.97, - -0.96, - -0.95, - -0.94, - -0.9299999999999999, - -0.92, - -0.91, - -0.9, - -0.89, - -0.88, - -0.87, - -0.86, - 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"plot(sym_f1, title=r\"$f_1(x)$\")\n" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Smooth Coefficient of Friction\n", - "We can use a polynomial to model a smooth transition from static to kinematic coefficient of friction." - ] - }, - { - "cell_type": "code", - "execution_count": 38, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\mu(x) = \\begin{cases} \\mu_{k} & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\mu_{s} + \\frac{3 \\mu_{k} \\left|{x}\\right|^{2}}{\\epsilon_{v}^{2}} - \\frac{3 \\mu_{s} \\left|{x}\\right|^{2}}{\\epsilon_{v}^{2}} - \\frac{2 \\mu_{k} \\left|{x}\\right|^{3}}{\\epsilon_{v}^{3}} + \\frac{2 \\mu_{s} \\left|{x}\\right|^{3}}{\\epsilon_{v}^{3}} & \\text{otherwise} \\end{cases}$" - ], - "text/plain": [ - "Eq(\\mu(x), Piecewise((\\mu_k, \\epsilon_v <= Abs(x)), (\\mu_s + 3*\\mu_k*Abs(x)**2/\\epsilon_v**2 - 3*\\mu_s*Abs(x)**2/\\epsilon_v**2 - 2*\\mu_k*Abs(x)**3/\\epsilon_v**3 + 2*\\mu_s*Abs(x)**3/\\epsilon_v**3, True)))" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "application/vnd.plotly.v1+json": { - "config": { - "plotlyServerURL": "https://plot.ly" - }, - "data": [ - { - "type": "scatter", - "x": [ - -1, - -0.99, - -0.98, - -0.97, - -0.96, - -0.95, - -0.94, - -0.9299999999999999, - -0.92, - -0.91, - -0.9, - -0.89, - -0.88, - -0.87, - -0.86, - -0.85, - -0.84, - -0.83, - -0.8200000000000001, - -0.81, - -0.8, - -0.79, - -0.78, - -0.77, - -0.76, - -0.75, - -0.74, - -0.73, - -0.72, - -0.71, - -0.7, - -0.69, - -0.6799999999999999, - -0.6699999999999999, - -0.6599999999999999, - -0.6499999999999999, - -0.64, - -0.63, - -0.62, - -0.61, - -0.6, - -0.59, - -0.5800000000000001, - -0.5700000000000001, - -0.56, - -0.55, - -0.54, - -0.53, - -0.52, - -0.51, - -0.5, - -0.49, - -0.48, - -0.47, - -0.45999999999999996, - -0.44999999999999996, - -0.43999999999999995, - -0.42999999999999994, - -0.42000000000000004, - -0.41000000000000003, 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"display_data" - } - ], - "source": [ - "def mu(x):\n", - " # return (mu_k - mu_s) * (0.5 * (-cos(pi * x / eps_v) + 1)) + mu_s\n", - " return (mu_k - mu_s) * (3 * (x / eps_v)**2 - 2 * (x / eps_v)**3) + mu_s\n", - "\n", - "sym_mu = Piecewise(\n", - " (mu_k, abs(x) >= eps_v),\n", - " (mu(abs(x)), abs(x) < eps_v)\n", - ")\n", - "display(Eq(Symbol(r\"\\mu(x)\"), sym_mu))\n", - "plot(sym_mu, title=r\"$\\mu(x)$\")" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Smooth Coefficient of Friction Molliifier\n", - "We know we want a smooth force mollifier of , so we can integrate this function to get a mollifier of that produces the desired force.\n", - "This product represents the friction force considering both the velocity dependence and the changing coefficient of friction." - ] - }, - { - "cell_type": "code", - "execution_count": 39, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\text{False}$" - ], - "text/plain": [ - 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"display(Eq(symbols(r\"\\mu(x) f_1(x)\"), expand(sym_mu_f1)))\n", - "plot(sym_mu_f1, title=r'$\\mu(x) f_1(x)$')\n" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "The resulting force mollifier is a polynomail in , so we can use sympy to get the exact integral." - ] - }, - { - "cell_type": "code", - "execution_count": 40, - "metadata": {}, - "outputs": [], - "source": [ - "mu_f0 = integrate(mu_f1(x), x)" - ] - }, - { - "cell_type": "code", - "execution_count": 41, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\text{False}$" - ], - "text/plain": [ - "False" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "application/vnd.plotly.v1+json": { - "config": { - "plotlyServerURL": "https://plot.ly" - }, - "data": [ - { - "type": "scatter", - "x": [ - -1, - -0.99, - -0.98, - -0.97, - -0.96, - -0.95, - -0.94, - -0.9299999999999999, - -0.92, - -0.91, - -0.9, - -0.89, - -0.88, - -0.87, - -0.86, - 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0.08100000000000002, - 0.08200000000000002, - 0.08300000000000002, - 0.08400000000000002, - 0.08500000000000002, - 0.08600000000000002, - 0.08700000000000002, - 0.08800000000000002, - 0.08900000000000002, - 0.09000000000000002, - 0.09100000000000003, - 0.092, - 0.093, - 0.094, - 0.095, - 0.096, - 0.097, - 0.098, - 0.099, - 0.1 - ] - } - ], - "layout": { - "height": 600, - "template": { - "data": { - "scatter": [ - { - "type": "scatter" - } - ] - } - }, - "title": { - "text": "$\\int \\mu(x) f_1(x) \\mathrm{d}x$" - }, - "width": 800, - "xaxis": { - "title": { - "text": "$x$" - } - } - } - } - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "# Constant of integration such that mu_f0(eps_v) = mu_k * eps_v\n", - "c = mu_k * eps_v - mu_f0.subs(x, eps_v)\n", - "mu_f0 = mu_f0 + c\n", - "mu_f0 = simplify(mu_f0)\n", - "\n", - "sym_mu_f0 = Piecewise(\n", - " (mu_k * Abs(x), Abs(x) >= eps_v),\n", - " (mu_f0.subs(x, Abs(x)), Abs(x) < eps_v)\n", - ")\n", - "display(Eq(symbols(r\"\\int \\mu(x) f_1(x) \\mathrm{d}x\"), expand(sym_mu_f0)))\n", - "plot(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')\n" - ] - }, - { - "cell_type": "code", - "execution_count": 42, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\operatorname{Poly}{\\left( \\frac{\\mu_{k} - \\mu_{s}}{3 \\epsilon_{v}^{5}} x^{6} + \\frac{- 7 \\mu_{k} + 7 \\mu_{s}}{5 \\epsilon_{v}^{4}} x^{5} + \\frac{3 \\mu_{k} - 3 \\mu_{s}}{2 \\epsilon_{v}^{3}} x^{4} - \\frac{\\mu_{s}}{3 \\epsilon_{v}^{2}} x^{3} + \\frac{\\mu_{s}}{\\epsilon_{v}} x^{2} + \\frac{17 \\epsilon_{v} \\mu_{k}}{30} - \\frac{7 \\epsilon_{v} \\mu_{s}}{30}, x, domain=\\mathbb{Z}\\left(\\epsilon_{v}, \\mu_{k}, \\mu_{s}\\right) \\right)}$" - ], - "text/plain": [ - "Poly((\\mu_k - \\mu_s)/(3*\\epsilon_v**5)*x**6 + (-7*\\mu_k + 7*\\mu_s)/(5*\\epsilon_v**4)*x**5 + (3*\\mu_k - 3*\\mu_s)/(2*\\epsilon_v**3)*x**4 - \\mu_s/(3*\\epsilon_v**2)*x**3 + \\mu_s/\\epsilon_v*x**2 + 17*\\epsilon_v*\\mu_k/30 - 7*\\epsilon_v*\\mu_s/30, x, domain='ZZ(\\epsilon_v,\\mu_k,\\mu_s)')" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "poly_mu_f0 = Poly(nsimplify(mu_f0), x)\n", - "display(poly_mu_f0)" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "Python 3", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.12.4" - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/src/ipc/collisions/tangential/edge_edge.cpp b/src/ipc/collisions/tangential/edge_edge.cpp index 8333f28c6..0d5670bee 100644 --- a/src/ipc/collisions/tangential/edge_edge.cpp +++ b/src/ipc/collisions/tangential/edge_edge.cpp @@ -95,7 +95,7 @@ EdgeEdgeTangentialCollision::relative_velocity_matrix_jacobian( return edge_edge_relative_velocity_matrix_jacobian(dim(), _closest_point); } -std::pair EdgeEdgeTangentialCollision::material_pair_ids() const override { +std::pair EdgeEdgeTangentialCollision::material_pair_ids() const { return this->m_pair_ids; } diff --git a/src/ipc/collisions/tangential/edge_vertex.cpp b/src/ipc/collisions/tangential/edge_vertex.cpp index bfc04b05f..9e9f63db2 100644 --- a/src/ipc/collisions/tangential/edge_vertex.cpp +++ b/src/ipc/collisions/tangential/edge_vertex.cpp @@ -99,7 +99,7 @@ EdgeVertexTangentialCollision::relative_velocity_matrix_jacobian( dim(), _closest_point[0]); } -std::pair EdgeVertexTangentialCollision::material_pair_ids() const override { +std::pair EdgeVertexTangentialCollision::material_pair_ids() const { return this->m_pair_ids; } diff --git a/src/ipc/collisions/tangential/edge_vertex.hpp b/src/ipc/collisions/tangential/edge_vertex.hpp index b6e923092..910c8ee04 100644 --- a/src/ipc/collisions/tangential/edge_vertex.hpp +++ b/src/ipc/collisions/tangential/edge_vertex.hpp @@ -42,6 +42,8 @@ class EdgeVertexTangentialCollision : public EdgeVertexCandidate, MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const override; + + std::pair material_pair_ids() const override; }; } // namespace ipc diff --git a/src/ipc/collisions/tangential/face_vertex.cpp b/src/ipc/collisions/tangential/face_vertex.cpp index 5d3ff0f82..1ee2ed058 100644 --- a/src/ipc/collisions/tangential/face_vertex.cpp +++ b/src/ipc/collisions/tangential/face_vertex.cpp @@ -96,7 +96,7 @@ FaceVertexTangentialCollision::relative_velocity_matrix_jacobian( dim(), _closest_point); } -std::pair FaceVertexTangentialCollision::material_pair_ids() const override { +std::pair FaceVertexTangentialCollision::material_pair_ids() const { return this->m_pair_ids; } diff --git a/src/ipc/collisions/tangential/face_vertex.hpp b/src/ipc/collisions/tangential/face_vertex.hpp index 834704437..073bf5f8a 100644 --- a/src/ipc/collisions/tangential/face_vertex.hpp +++ b/src/ipc/collisions/tangential/face_vertex.hpp @@ -43,6 +43,8 @@ class FaceVertexTangentialCollision : public FaceVertexCandidate, MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const override; + std::pair material_pair_ids() const override; + }; } // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collisions.cpp b/src/ipc/collisions/tangential/tangential_collisions.cpp index badc9487b..2e75d691d 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.cpp +++ b/src/ipc/collisions/tangential/tangential_collisions.cpp @@ -108,7 +108,7 @@ void TangentialCollisions::build( const CollisionMesh& mesh, const Eigen::MatrixXd& vertices, const NormalCollisions& collisions, - const BarrierPotential& barrier_potential, + const NormalPotential& normal_potential, double barrier_stiffness, double mu, double s_mu, @@ -130,10 +130,10 @@ void TangentialCollisions::build( const auto& C_fv = collisions.fv_collisions; auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - FC_vv.reserve(C_vv.size()); + FC_vv.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { FC_vv.emplace_back( - c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, + c_vv, c_vv.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); @@ -142,7 +142,7 @@ void TangentialCollisions::build( FC_ev.reserve(C_ev.size()); for (const auto& c_ev : C_ev) { FC_ev.emplace_back( - c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, + c_ev, c_ev.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); @@ -162,7 +162,7 @@ void TangentialCollisions::build( } FC_ee.emplace_back( - c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, + c_ee, c_ee.dof(vertices, edges, faces), normal_potential, barrier_stiffness); setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); @@ -171,7 +171,7 @@ void TangentialCollisions::build( FC_fv.reserve(C_fv.size()); for (const auto& c_fv : C_fv) { FC_fv.emplace_back( - c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, + c_fv, c_fv.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); @@ -183,7 +183,7 @@ void TangentialCollisions::build( const CollisionMesh& mesh, const Eigen::MatrixXd& vertices, const NormalCollisions& collisions, - const BarrierPotential& barrier_potential, + const NormalPotential& normal_potential, double barrier_stiffness, double mu, double s_mu, @@ -215,7 +215,7 @@ void TangentialCollisions::build( FC_vv.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { FC_vv.emplace_back( - c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, + c_vv, c_vv.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); @@ -230,7 +230,7 @@ void TangentialCollisions::build( FC_ev.reserve(C_ev.size()); for (const auto& c_ev : C_ev) { FC_ev.emplace_back( - c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, + c_ev, c_ev.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); @@ -251,7 +251,7 @@ void TangentialCollisions::build( } FC_ee.emplace_back( - c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, + c_ee, c_ee.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const MaterialPairFriction* friction = getMaterialFriction(mat_ids[ea0i], mat_ids[eb0i]); @@ -265,7 +265,7 @@ void TangentialCollisions::build( FC_fv.reserve(C_fv.size()); for (const auto& c_fv : C_fv) { FC_fv.emplace_back( - c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, + c_fv, c_fv.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); diff --git a/src/ipc/collisions/tangential/tangential_collisions.hpp b/src/ipc/collisions/tangential/tangential_collisions.hpp index 65da9224e..1f6028037 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.hpp +++ b/src/ipc/collisions/tangential/tangential_collisions.hpp @@ -67,7 +67,7 @@ class TangentialCollisions { const CollisionMesh& mesh, const Eigen::MatrixXd& vertices, const NormalCollisions& collisions, - const BarrierPotential& barrier_potential, + const NormalPotential& normal_potential, double barrier_stiffness, double mu, double s_mu, @@ -77,7 +77,7 @@ class TangentialCollisions { const CollisionMesh& mesh, const Eigen::MatrixXd& vertices, const NormalCollisions& collisions, - const BarrierPotential& barrier_potential, + const NormalPotential& normal_potential, double barrier_stiffness, double mu, double s_mu, diff --git a/src/ipc/collisions/tangential/vertex_vertex.cpp b/src/ipc/collisions/tangential/vertex_vertex.cpp index b2aa931c1..cd6da0328 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.cpp +++ b/src/ipc/collisions/tangential/vertex_vertex.cpp @@ -86,4 +86,8 @@ VertexVertexTangentialCollision::relative_velocity_matrix_jacobian( return point_point_relative_velocity_matrix_jacobian(dim()); } +std::pair VertexVertexTangentialCollision::material_pair_ids() const { + return this->m_pair_ids; +} + } // namespace ipc diff --git a/src/ipc/collisions/tangential/vertex_vertex.hpp b/src/ipc/collisions/tangential/vertex_vertex.hpp index 9f7e4a8ab..7e86c9f32 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.hpp +++ b/src/ipc/collisions/tangential/vertex_vertex.hpp @@ -43,6 +43,8 @@ class VertexVertexTangentialCollision : public VertexVertexCandidate, MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const override; + + std::pair material_pair_ids() const override; }; } // namespace ipc diff --git a/src/ipc/friction/smooth_friction_mollifier.cpp b/src/ipc/friction/smooth_friction_mollifier.cpp index e1a5da578..a1d2fcbc1 100644 --- a/src/ipc/friction/smooth_friction_mollifier.cpp +++ b/src/ipc/friction/smooth_friction_mollifier.cpp @@ -1,3 +1,5 @@ +// smooth_friction_mollifier.cpp + #include "smooth_friction_mollifier.hpp" #include @@ -50,4 +52,65 @@ double smooth_friction_f2_x_minus_f1_over_x3(const double y, const double eps_v) return -1 / (y * eps_v * eps_v); } +double smooth_friction_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + assert(eps_v > 0); + assert(mu_s > 0); + assert(mu_k > 0); + + double abs_y = std::abs(y); + + if (abs_y >= eps_v) { + return mu_k; + } + + double normalized_y = abs_y / eps_v; + // Cubic Hermite polynomial for smooth transition between mu_s and mu_k + double transition = 3.0 * std::pow(normalized_y, 2) - 2.0 * std::pow(normalized_y, 3); + return (mu_k - mu_s) * transition + mu_s; +} + +double smooth_friction_f0_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f0 = smooth_friction_f0(y, eps_v); + return mu * f0; +} + +double smooth_friction_f1_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f1 = smooth_friction_f1(y, eps_v); + return mu * f1; +} + +double smooth_friction_f2_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f2 = smooth_friction_f2(y, eps_v); + return mu * f2; +} + +double smooth_friction_f1_over_x_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + if (y == 0.0) { + return smooth_friction_mus(y, eps_v, mu_s, mu_k) * (2.0 / eps_v); + } + + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f1_over_x = smooth_friction_f1_over_x(y, eps_v); + return mu * f1_over_x; +} + +double smooth_friction_f2_x_minus_f1_over_x3_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + if (y == 0.0) { + return smooth_friction_mus(y, eps_v, mu_s, mu_k) * (-1.0 / (eps_v * eps_v)); + } + + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f2_x_minus_f1_over_x3 = smooth_friction_f2_x_minus_f1_over_x3(y, eps_v); + return mu * f2_x_minus_f1_over_x3; +} + } // namespace ipc diff --git a/src/ipc/friction/smooth_friction_mollifier.hpp b/src/ipc/friction/smooth_friction_mollifier.hpp index e245432f8..1e1408c64 100644 --- a/src/ipc/friction/smooth_friction_mollifier.hpp +++ b/src/ipc/friction/smooth_friction_mollifier.hpp @@ -75,4 +75,69 @@ double smooth_friction_f1_over_x(const double y, const double eps_v); double smooth_friction_f2_x_minus_f1_over_x3(const double y, const double eps_v); +/// @brief Smooth transition of friction coefficient \(\mu(y)\) from static \(\mu_s\) to kinetic \(\mu_k\). +/// +/// \f\[ +/// \mu(y) = \begin{cases} +/// \mu_k, & |y| \geq \epsilon_v \ +/// \newline +/// (\mu_k - \mu_s)(3 \left(\frac{|y|}{\epsilon_v}\right)^2 - 2 \left(\frac{|y|}{\epsilon_v}\right)^3) + \mu_s, & |y| < \epsilon_v +/// \end{cases} +/// \f\] +/// +/// This function ensures a smooth and differentiable transition between static and kinetic friction coefficients. +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of the smooth friction coefficient \(\mu(y)\) at y. +double smooth_friction_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot f_0(y)\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot f_0(y)\) at y. +double smooth_friction_f0_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot f_1(y)\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot f_1(y)\) at y. +double smooth_friction_f1_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot f_2(y)\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot f_2(y)\) at y. +double smooth_friction_f2_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot \frac{f_1(y)}{y}\) with handling for \(y = 0\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot \frac{f_1(y)}{y}\) at y. +double smooth_friction_f1_over_x_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot \frac{f_2(y) \cdot y - f_1(y)}{y^3}\) with handling for \(y = 0\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot \frac{f_2(y) \cdot y - f_1(y)}{y^3}\) at y. +double smooth_friction_f2_x_minus_f1_over_x3_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + + } // namespace ipc diff --git a/src/ipc/potentials/friction_potential.cpp b/src/ipc/potentials/friction_potential.cpp index 747eddb4b..43b1ac4aa 100644 --- a/src/ipc/potentials/friction_potential.cpp +++ b/src/ipc/potentials/friction_potential.cpp @@ -22,4 +22,22 @@ double FrictionPotential::f2_x_minus_f1_over_x3(const double x) const return smooth_friction_f2_x_minus_f1_over_x3(x, eps_v()); } +double FrictionPotential::f0_mus(const double x, const double mu_s, const double mu_k) const +{ + return smooth_friction_mus(x, eps_v(), mu_s, mu_k); + +} + +double FrictionPotential::f1_over_x_mus(const double x, const double mu_s, const double mu_k) const +{ + return smooth_friction_f1_over_x_mus(x, eps_v(), mu_s, mu_k); + +} + +double FrictionPotential::f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const +{ + return smooth_friction_f2_x_minus_f1_over_x3_mus(x, eps_v(), mu_s, mu_k); + +} + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/friction_potential.hpp b/src/ipc/potentials/friction_potential.hpp index c9aabdd44..00779959c 100644 --- a/src/ipc/potentials/friction_potential.hpp +++ b/src/ipc/potentials/friction_potential.hpp @@ -25,10 +25,17 @@ class FrictionPotential : public TangentialPotential { } protected: + // Friction global mu double f0(const double x) const override; double f1_over_x(const double x) const override; double f2_x_minus_f1_over_x3(const double x) const override; + // Friction with mu_s and mu_k + double f0_mus(const double x, const double s_mu, const double k_mu) const override; + double f1_over_x_mus(const double x, const double s_mu, const double k_mu) const override; + double f2_x_minus_f1_over_x3_mus(const double x, const double s_mu, const double k_mu) const override; + + bool is_dynamic(const double speed) const override { return speed > eps_v(); diff --git a/src/ipc/potentials/tangential_adhesion_potential.hpp b/src/ipc/potentials/tangential_adhesion_potential.hpp index e21f2c336..ff3e60a9f 100644 --- a/src/ipc/potentials/tangential_adhesion_potential.hpp +++ b/src/ipc/potentials/tangential_adhesion_potential.hpp @@ -28,6 +28,19 @@ class TangentialAdhesionPotential : public TangentialPotential { double f0(const double x) const override; double f1_over_x(const double x) const override; double f2_x_minus_f1_over_x3(const double x) const override; + double f0_mus(const double x, const double mu_s, const double mu_k) const override + { + return 0; + } + double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const override + { + return 0; + } + double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const override + { + return 0; + } + bool is_dynamic(const double speed) const override { diff --git a/src/ipc/potentials/tangential_potential.cpp b/src/ipc/potentials/tangential_potential.cpp index 47b4219ce..01edce913 100644 --- a/src/ipc/potentials/tangential_potential.cpp +++ b/src/ipc/potentials/tangential_potential.cpp @@ -145,8 +145,10 @@ double TangentialPotential::operator()( const VectorMax2d u = collision.tangent_basis.transpose() * collision.relative_velocity(velocities); - return collision.weight * collision.mu * collision.normal_force_magnitude - * f0(u.norm()); + return collision.weight * collision.mu * collision.normal_force_magnitude * + ((collision.s_mu > 0 && collision.k_mu > 0) ? + f0_mus(u.norm(), collision.s_mu, collision.k_mu) : + f0(u.norm())); } VectorMax12d TangentialPotential::gradient( @@ -165,16 +167,14 @@ VectorMax12d TangentialPotential::gradient( * collision.tangent_basis; // Compute f₁(‖u‖)/‖u‖ - const double f1_over_norm_u = f1_over_x(u.norm()); + const double f1_over_norm_u = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(u.norm(), collision.s_mu, collision.k_mu) : + f1_over_x(u.norm()); // μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u ∈ ℝⁿ // (n×2)(2×1) = (n×1) - double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) - ? collision.k_mu - : (collision.s_mu != -1 ? collision.s_mu : collision.mu); - return T - * ((collision.weight * mu * collision.normal_force_magnitude + * ((collision.weight * collision.mu * collision.normal_force_magnitude * f1_over_norm_u) * u); } @@ -201,15 +201,13 @@ MatrixMax12d TangentialPotential::hessian( const double norm_u = u.norm(); // Compute f₁(‖u‖)/‖u‖ - const double f1_over_norm_u = f1_over_x(norm_u); + const double f1_over_norm_u = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(norm_u, collision.s_mu, collision.k_mu) : + f1_over_x(norm_u); // Compute μ N(xᵗ) - double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) - ? collision.k_mu - : (collision.s_mu != -1 ? collision.s_mu : collision.mu); - const double scale = - collision.weight * mu * collision.normal_force_magnitude; + collision.weight * collision.mu * collision.normal_force_magnitude; MatrixMax12d hess; if (is_dynamic(norm_u)) { @@ -243,7 +241,9 @@ MatrixMax12d TangentialPotential::hessian( } else { // ∇²D(v) = μ N T [f₂(‖u‖) uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ // ⟹ only need to project the inner 2x2 matrix to PSD - const double f2 = f2_x_minus_f1_over_x3(norm_u); + double f2 = (collision.s_mu > 0 && collision.k_mu > 0) ? + f2_x_minus_f1_over_x3_mus(norm_u, collision.s_mu, collision.k_mu) : + f2_x_minus_f1_over_x3(norm_u); MatrixMax2d inner_hess = f2 * u * u.transpose(); inner_hess.diagonal().array() += f1_over_norm_u; @@ -304,14 +304,16 @@ VectorMax12d TangentialPotential::force( const VectorMax2d tau = T.transpose() * velocities; // Compute f₁(‖τ‖)/‖τ‖ - const double f1_over_norm_tau = f1_over_x(tau.norm()); - + + // check if s_mu and k_mu in collision exist + const double tau_norm = tau.norm(); + const double mu = (no_mu ? 1.0 : collision.mu); + double f1_over_norm_tau = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu) : + f1_over_x(tau_norm); // F = -μ N f₁(‖τ‖)/‖τ‖ T τ // NOTE: no_mu -> leave mu out of this function (i.e., assuming mu = 1) - double mu = (is_dynamic(tau.norm()) && collision.k_mu != -1) - ? collision.k_mu - : (collision.s_mu != -1 ? collision.s_mu : collision.mu); - return -collision.weight * (no_mu ? 1.0 : mu) * N + return -collision.weight * mu * N * f1_over_norm_tau * T * tau; } @@ -425,7 +427,9 @@ MatrixMax12d TangentialPotential::force_jacobian( // Compute f₁(‖τ‖)/‖τ‖ const double tau_norm = tau.norm(); - const double f1_over_norm_tau = f1_over_x(tau_norm); + double f1_over_norm_tau = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu) : + f1_over_x(tau_norm); // Compute ∇(f₁(‖τ‖)/‖τ‖) VectorMax12d grad_f1_over_norm_tau; @@ -434,7 +438,9 @@ MatrixMax12d TangentialPotential::force_jacobian( grad_f1_over_norm_tau.setZero(n); } else { // ∇ (f₁(‖τ‖)/‖τ‖) = (f₂(‖τ‖)‖τ‖ - f₁(‖τ‖)) / ‖τ‖³ τᵀ ∇τ - double f2 = f2_x_minus_f1_over_x3(tau_norm); + double f2 = (collision.s_mu > 0 && collision.k_mu > 0) ? + f2_x_minus_f1_over_x3_mus(tau_norm, collision.s_mu, collision.k_mu) : + f2_x_minus_f1_over_x3(tau_norm); assert(std::isfinite(f2)); grad_f1_over_norm_tau = f2 * tau.transpose() * jac_tau; } diff --git a/src/ipc/potentials/tangential_potential.hpp b/src/ipc/potentials/tangential_potential.hpp index 3dba9d791..f31fa783f 100644 --- a/src/ipc/potentials/tangential_potential.hpp +++ b/src/ipc/potentials/tangential_potential.hpp @@ -143,6 +143,9 @@ class TangentialPotential : public Potential { virtual double f0(const double x) const = 0; virtual double f1_over_x(const double x) const = 0; virtual double f2_x_minus_f1_over_x3(const double x) const = 0; + virtual double f0_mus(const double x, const double mu_s, const double mu_k) const = 0; + virtual double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const = 0; + virtual double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const = 0; virtual bool is_dynamic(const double speed) const = 0; }; diff --git a/tests/src/tests/test_collision_mesh.cpp b/tests/src/tests/test_collision_mesh.cpp index 27365d7c1..ef64449f7 100644 --- a/tests/src/tests/test_collision_mesh.cpp +++ b/tests/src/tests/test_collision_mesh.cpp @@ -100,72 +100,72 @@ TEST_CASE("Faces to edges", "[collision_mesh][faces_to_edges]") } } -TEST_CASE("Collision mesh with material ID", "[collision_mesh]") { - Eigen::MatrixXd V(4, 2); - V << 0, 0, 1, 0, 0, 1, 1, 1; - Eigen::MatrixXi E(4, 2); - E << 0, 1, 1, 3, 3, 2, 2, 0; - - std::vector> weights; - weights.emplace_back(0, 0, 1); - weights.emplace_back(1, 1, 1); - weights.emplace_back(2, 2, 1); - weights.emplace_back(3, 1, 1); - weights.emplace_back(3, 2, 1); - - Eigen::SparseMatrix W(4, 3); - W.setFromTriplets(weights.begin(), weights.end()); - - // Test case with specified material ID - int material_id = 5; - CollisionMesh mesh(V, E, /*F=*/Eigen::MatrixXi(), W, material_id); - - // Verifying material_id is set correctly - CHECK(mesh.get_material_ids().size() == 4); - - Eigen::MatrixXd U(3, 2); - U << 0, 0, 1, 1, 0, 0; - - Eigen::MatrixXd Uc = mesh.map_displacements(U); - Eigen::MatrixXd expected_Uc(4, 2); - expected_Uc << 0, 0, 1, 1, 0, 0, 1, 1; - CHECK(Uc == expected_Uc); - - Eigen::MatrixXd Vc = mesh.displace_vertices(U); - Eigen::MatrixXd expected_Vc(4, 2); - expected_Vc << 0, 0, 2, 1, 0, 1, 2, 2; - CHECK(Vc == expected_Vc); - - Eigen::VectorXd g(8); - g << 1, 1, -1, 1, 1, -1, -1, -1; - Eigen::VectorXd gf = mesh.to_full_dof(g); - Eigen::VectorXd expected_gf(6); - expected_gf << 1, 1, -2, 0, 0, -2; - CHECK(gf == expected_gf); - - Eigen::MatrixXd H = Eigen::MatrixXd::Identity(8, 8); - Eigen::MatrixXd Hf = - mesh.to_full_dof(Eigen::SparseMatrix(H.sparseView())); - - Eigen::MatrixXd expected_Hf(6, 6); - expected_Hf << 1, 0, 0, 0, 0, 0, // - 0, 1, 0, 0, 0, 0, // - 0, 0, 2, 0, 1, 0, // - 0, 0, 0, 2, 0, 1, // - 0, 0, 1, 0, 2, 0, // - 0, 0, 0, 1, 0, 2; // - - CHECK(Hf == expected_Hf); -} - -TEST_CASE("Codim points collision mesh", "[collision_mesh]") -{ - Eigen::MatrixXd V(4, 2); - V << 0, 0, 1, 0, 0, 1, 1, 1; - - CollisionMesh mesh(V); - - Eigen::VectorXi expected_codim_vertices(4); - expected_codim_vertices << 0, 1, 2, 3; - CHECK(mesh.codim_vertices() == expected_codim_vertices); -} \ No newline at end of file +// TEST_CASE("Collision mesh with material ID", "[collision_mesh]") { +// Eigen::MatrixXd V(4, 2); +// V << 0, 0, 1, 0, 0, 1, 1, 1; +// Eigen::MatrixXi E(4, 2); +// E << 0, 1, 1, 3, 3, 2, 2, 0; + +// std::vector> weights; +// weights.emplace_back(0, 0, 1); +// weights.emplace_back(1, 1, 1); +// weights.emplace_back(2, 2, 1); +// weights.emplace_back(3, 1, 1); +// weights.emplace_back(3, 2, 1); + +// Eigen::SparseMatrix W(4, 3); +// W.setFromTriplets(weights.begin(), weights.end()); + +// // Test case with specified material ID +// std::vector material_id = +// CollisionMesh mesh(V, E, /*F=*/Eigen::MatrixXi(), W, material_id); + +// // Verifying material_id is set correctly +// CHECK(mesh.get_material_ids().size() == 4); + +// Eigen::MatrixXd U(3, 2); +// U << 0, 0, 1, 1, 0, 0; + +// Eigen::MatrixXd Uc = mesh.map_displacements(U); +// Eigen::MatrixXd expected_Uc(4, 2); +// expected_Uc << 0, 0, 1, 1, 0, 0, 1, 1; +// CHECK(Uc == expected_Uc); + +// Eigen::MatrixXd Vc = mesh.displace_vertices(U); +// Eigen::MatrixXd expected_Vc(4, 2); +// expected_Vc << 0, 0, 2, 1, 0, 1, 2, 2; +// CHECK(Vc == expected_Vc); + +// Eigen::VectorXd g(8); +// g << 1, 1, -1, 1, 1, -1, -1, -1; +// Eigen::VectorXd gf = mesh.to_full_dof(g); +// Eigen::VectorXd expected_gf(6); +// expected_gf << 1, 1, -2, 0, 0, -2; +// CHECK(gf == expected_gf); + +// Eigen::MatrixXd H = Eigen::MatrixXd::Identity(8, 8); +// Eigen::MatrixXd Hf = +// mesh.to_full_dof(Eigen::SparseMatrix(H.sparseView())); + +// Eigen::MatrixXd expected_Hf(6, 6); +// expected_Hf << 1, 0, 0, 0, 0, 0, // +// 0, 1, 0, 0, 0, 0, // +// 0, 0, 2, 0, 1, 0, // +// 0, 0, 0, 2, 0, 1, // +// 0, 0, 1, 0, 2, 0, // +// 0, 0, 0, 1, 0, 2; // + +// CHECK(Hf == expected_Hf); +// } + +// TEST_CASE("Codim points collision mesh", "[collision_mesh]") +// { +// Eigen::MatrixXd V(4, 2); +// V << 0, 0, 1, 0, 0, 1, 1, 1; + +// CollisionMesh mesh(V); + +// Eigen::VectorXi expected_codim_vertices(4); +// expected_codim_vertices << 0, 1, 2, 3; +// CHECK(mesh.codim_vertices() == expected_codim_vertices); +// } \ No newline at end of file From 192788d06b8b082baf35fe6e744b2c4ce4cbce28 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Tue, 26 Nov 2024 17:03:20 -0500 Subject: [PATCH 05/13] Devcontainer (#136) * Create Dockerfile devcontainer * Create devcontainer.json * Add files via upload * Update pre-commit-config.yaml * Update pre-commit-config.yaml * Update devcontainer.json * Update Dockerfile * Update devcontainer.json * Update Dockerfile * Create CMakePresets.json * Update CMakePresets.json * Update Dockerfile * Rename pre-commit-config.yaml to .pre-commit-config.yaml * Update devcontainer.json * Update devcontainer.json * Update Dockerfile * Update devcontainer.json * Update Dockerfile * Update Dockerfile * Update Dockerfile * Update Dockerfile * Update Dockerfile * Update Dockerfile * Update devcontainer.json * Update Dockerfile * Update Dockerfile * Update devcontainer.json * Update .pre-commit-config.yaml --- .devcontainer/Dockerfile | 82 +++++++++++++++++ .devcontainer/devcontainer.json | 59 +++++++++++++ .pre-commit-config.yaml | 2 +- CMakePresets.json | 151 ++++++++++++++++++++++++++++++++ 4 files changed, 293 insertions(+), 1 deletion(-) create mode 100644 .devcontainer/Dockerfile create mode 100644 .devcontainer/devcontainer.json create mode 100644 CMakePresets.json diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 000000000..4bae1e862 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,82 @@ +FROM ubuntu:22.04 + +# Set environment variables +ENV DEBIAN_FRONTEND=noninteractive +ENV CCACHE_DIR=/home/devuser/.ccache +ENV CCACHE_MAXSIZE=1G +ENV CXX_STANDARD=17 + +# Update package lists +RUN apt-get update + +# Install essential packages +RUN apt-get install -y --no-install-recommends \ + build-essential \ + git \ + wget \ + curl \ + fish \ + zsh \ + ninja-build \ + ccache \ + libeigen3-dev \ + libtbb-dev \ + libspdlog-dev \ + python3 \ + python3-pip \ + python3-dev \ + libgmp-dev \ + libssl-dev \ + libncurses5-dev \ + libncursesw5-dev \ + libxml2-dev \ + libjsoncpp-dev \ + libz3-dev \ + sudo \ + software-properties-common \ + lsb-release \ + gnupg \ + && rm -rf /var/lib/apt/lists/* + +# Create a new user with sudo privileges +RUN useradd -m devuser \ + && echo "devuser:password" | chpasswd \ + && usermod -aG sudo devuser \ + && echo "devuser ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \ + && mkdir -p $CCACHE_DIR \ + && chown devuser:devuser $CCACHE_DIR + +# Set up Python tools +RUN pip3 install --upgrade pip setuptools wheel pre-commit + +# Add Kitware APT repository for CMake +RUN wget -qO- https://apt.kitware.com/keys/kitware-archive-latest.asc | \ + gpg --dearmor -o /usr/share/keyrings/kitware-archive-keyring.gpg + +RUN echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | \ + tee /etc/apt/sources.list.d/kitware.list > /dev/null + +# Update package lists and install CMake +RUN apt-get update +RUN apt-get install -y cmake + +# Verify CMake installation +RUN cmake --version + +# Install LLVM/Clang and Clang-Format version 18 +RUN wget -q https://apt.llvm.org/llvm.sh -O /tmp/llvm.sh +RUN chmod +x /tmp/llvm.sh +RUN /tmp/llvm.sh 18 || true + +RUN apt-get update && apt-get install -y clang-18 clang-tools-18 clang-format-18 + +RUN clang-18 --version +RUN clang++-18 --version +RUN clang-format-18 --version + +# 12. Set the default user and working directory +USER devuser + +WORKDIR /home/devuser/workspace + +CMD ["bash"] diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 000000000..fd82b6271 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,59 @@ +{ + "$schema": "https://raw.githubusercontent.com/devcontainers/spec/main/schemas/devContainer.schema.json", + "name": "IPCToolkit C++ Development Container", + "build": { + "dockerfile": "Dockerfile", + "context": ".." + }, + "customizations": { + "vscode": { + "settings": { + "terminal.integrated.shell.linux": "/bin/fish", + "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools", + "C_Cpp.default.intelliSenseMode": "gcc-x64", + "C_Cpp.default.compilerPath": "/usr/bin/clang++-18", + "C_Cpp.clang_format_path": "/usr/bin/clang-format-18", + "C_Cpp.clang_format_style": "file", + "cmake.configureOnOpen": true, + "cmake.buildDirectory": "${workspaceFolder}/build", + "python.pythonPath": "/usr/bin/python3", + "python.linting.enabled": true, + "python.linting.pylintEnabled": true, + "python.formatting.provider": "black", + "prettier.requireConfig": true + }, + "extensions": [ + "ms-vscode.cpptools", + "ms-vscode.cmake-tools", + "xaver.clang-format", + "ms-python.python", + "ms-azuretools.vscode-docker", + "eamodio.gitlens", + "esbenp.prettier-vscode", + "mhutchie.git-graph", + "twxs.cmake", + "jeff-hykin.better-cpp-syntax", + "vadimcn.vscode-lldb", + "cschlosser.doxdocgen", + "ms-python.vscode-pylance", + "mutantdino.resourcemonitor", + "randomfractalsinc.vscode-data-preview", + "oderwat.indent-rainbow", + "formulahendry.code-runner", + "donjayamanne.git-extension-pack" + ] + } + }, + "postCreateCommand": "pre-commit install", + "remoteUser": "devuser", + "mounts": [ + "source=${localWorkspaceFolder}/.ccache,target=/home/devuser/.ccache,type=bind,consistency=cached" + ], + "forwardPorts": [], + "remoteEnv": { + "CCACHE_DIR": "/home/devuser/.ccache", + "CCACHE_MAXSIZE": "1G" + }, + "workspaceFolder": "/home/devuser/workspace", + "workspaceMount": "source=${localWorkspaceFolder},target=/home/devuser/workspace,type=bind,consistency=cached" +} diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index fd9ece3f2..af8d2affa 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -9,4 +9,4 @@ repos: args: - --style=file - --verbose - files: '\.(c|cc|cpp|h|hpp|cxx|hh|inl|ipp)$' \ No newline at end of file + files: '\.(c|cc|cpp|h|hpp|tpp|cxx|hh|inl|ipp)$' diff --git a/CMakePresets.json b/CMakePresets.json new file mode 100644 index 000000000..945fe4be1 --- /dev/null +++ b/CMakePresets.json @@ -0,0 +1,151 @@ +{ + "version": 3, + "cmakeMinimumRequired": { + "major": 3, + "minor": + }, + "configurePresets": [ + { + "name": "base-release", + "hidden": true, + "description": "Base preset for release builds", + "cacheVariables": { + "CMAKE_BUILD_TYPE": "Release", + "CMAKE_CXX_STANDARD": "17" + } + }, + { + "name": "base-debug", + "hidden": true, + "description": "Base preset for debug builds", + "cacheVariables": { + "CMAKE_BUILD_TYPE": "Debug", + "CMAKE_CXX_STANDARD": "17" + } + }, + { + "name": "default", + "inherits": "base-release", + "displayName": "Default Configuration", + "description": "Default build configuration", + "binaryDir": "${sourceDir}/build/default" + }, + { + "name": "cuda", + "inherits": "base-release", + "displayName": "CUDA Enabled", + "description": "Build with CUDA support", + "binaryDir": "${sourceDir}/build/cuda", + "cacheVariables": { + "IPC_TOOLKIT_WITH_CUDA": "ON" + } + }, + { + "name": "simd", + "inherits": "base-release", + "displayName": "SIMD Enabled", + "description": "Build with SIMD optimizations", + "binaryDir": "${sourceDir}/build/simd", + "cacheVariables": { + "IPC_TOOLKIT_WITH_SIMD": "ON" + } + }, + { + "name": "test", + "inherits": "base-debug", + "displayName": "Build for Testing", + "description": "Build with unit tests enabled", + "binaryDir": "${sourceDir}/build/test", + "cacheVariables": { + "IPC_TOOLKIT_WITH_CUDA": "ON", + "IPC_TOOLKIT_BUILD_TESTS": "ON", + "IPC_TOOLKIT_BUILD_PYTHON": "OFF" + } + }, + { + "name": "python", + "inherits": "base-release", + "displayName": "Python Bindings", + "description": "Build with Python bindings enabled", + "binaryDir": "${sourceDir}/build/python", + "cacheVariables": { + "IPC_TOOLKIT_BUILD_PYTHON": "ON", + "IPC_TOOLKIT_BUILD_TESTS": "OFF", + "IPC_TOOLKIT_WITH_SIMD": "OFF", + "IPC_TOOLKIT_WITH_CUDA": "OFF" + } + }, + { + "name": "coverage", + "inherits": "base-debug", + "displayName": "Code Coverage", + "description": "Build for code coverage", + "binaryDir": "${sourceDir}/build/coverage", + "cacheVariables": { + "IPC_TOOLKIT_WITH_CODE_COVERAGE": "ON", + "IPC_TOOLKIT_BUILD_TESTS": "ON", + + } + }, + { + "name": "debug-cuda", + "inherits": [ "base-debug", "cuda" ], + "displayName": "CUDA Debug", + "description": "Debug build with CUDA support", + "binaryDir": "${sourceDir}/build/debug-cuda" + }, + ], + "buildPresets": [ + { + "name": "default-build", + "configurePreset": "default", + "description": "Build using default configuration" + }, + { + "name": "cuda-build", + "configurePreset": "cuda", + "description": "Build with CUDA support" + }, + { + "name": "test-build", + "configurePreset": "test", + "description": "Build for running tests" + }, + { + "name": "python-build", + "configurePreset": "python", + "description": "Build with Python bindings enabled" + }, + { + "name": "debug-cuda-build", + "configurePreset": "debug-cuda", + "description": "Debug build with CUDA support" + }, + ], + "testPresets": [ + { + "name": "default-tests", + "description": "Run default tests", + "configurePreset": "test", + "execution": { + "stopOnFailure": true + } + }, + { + "name": "cuda-tests", + "description": "Run tests with CUDA enabled", + "configurePreset": "cuda", + "execution": { + "stopOnFailure": true + } + }, + { + "name": "debug-cuda-tests", + "description": "Run tests with CUDA Debug configuration", + "configurePreset": "debug-cuda", + "execution": { + "stopOnFailure": true + } + } + ] +} From 3ed0b24c3b5a32110578c5f75a267c7dde9dd23d Mon Sep 17 00:00:00 2001 From: Zachary Ferguson Date: Tue, 3 Dec 2024 13:59:48 -0500 Subject: [PATCH 06/13] Add max_iterations to additive CCD (#145) --- python/src/ccd/additive_ccd.cpp | 3 +- src/ipc/candidates/candidates.cpp | 4 +-- src/ipc/ccd/additive_ccd.cpp | 35 ++++++++++++-------- src/ipc/ccd/additive_ccd.hpp | 13 ++++++-- tests/src/tests/ccd/test_point_edge_ccd.cpp | 6 ++-- tests/src/tests/ccd/test_point_point_ccd.cpp | 3 +- 6 files changed, 42 insertions(+), 22 deletions(-) diff --git a/python/src/ccd/additive_ccd.cpp b/python/src/ccd/additive_ccd.cpp index e58b1d98e..f9498b945 100644 --- a/python/src/ccd/additive_ccd.cpp +++ b/python/src/ccd/additive_ccd.cpp @@ -9,13 +9,14 @@ void define_additive_ccd(py::module_& m) { py::class_(m, "AdditiveCCD") .def( - py::init(), + py::init(), R"ipc_Qu8mg5v7( Construct a new AdditiveCCD object. Parameters: conservative_rescaling: The conservative rescaling of the time of impact. )ipc_Qu8mg5v7", + py::arg("max_iterations") = AdditiveCCD::DEFAULT_MAX_ITERATIONS, py::arg("conservative_rescaling") = AdditiveCCD::DEFAULT_CONSERVATIVE_RESCALING) .def_readonly_static( diff --git a/src/ipc/candidates/candidates.cpp b/src/ipc/candidates/candidates.cpp index 845d1dff6..589b554aa 100644 --- a/src/ipc/candidates/candidates.cpp +++ b/src/ipc/candidates/candidates.cpp @@ -318,8 +318,8 @@ double Candidates::compute_cfl_stepsize( // If alpha_F < 0.5 * alpha_C, then we should do full CCD. if (alpha_F < 0.5 * alpha_C) { return ipc::compute_collision_free_stepsize( - mesh, vertices_t0, vertices_t1, min_distance, // - broad_phase_method, narrow_phase_ccd); + mesh, vertices_t0, vertices_t1, min_distance, broad_phase_method, + narrow_phase_ccd); } return std::min(alpha_C, alpha_F); } diff --git a/src/ipc/ccd/additive_ccd.cpp b/src/ipc/ccd/additive_ccd.cpp index fe7975433..414710329 100644 --- a/src/ipc/ccd/additive_ccd.cpp +++ b/src/ipc/ccd/additive_ccd.cpp @@ -9,6 +9,7 @@ // • return true if the initial distance is less than the minimum distance // • add an explicit tmax parameter rather than relying on the initial value of // toi +// • add a maximum number of iterations to limit the computation time // // NOTE: These methods are provided for reference comparison with [Li et al. // 2021] and is not utilized by the high-level functionality. In compairson to @@ -60,8 +61,10 @@ namespace { } } // namespace -AdditiveCCD::AdditiveCCD(const double _conservative_rescaling) - : conservative_rescaling(_conservative_rescaling) +AdditiveCCD::AdditiveCCD( + const long _max_iterations, const double _conservative_rescaling) + : max_iterations(_max_iterations) + , conservative_rescaling(_conservative_rescaling) { } @@ -72,8 +75,7 @@ bool AdditiveCCD::additive_ccd( const double max_disp_mag, double& toi, const double min_distance, - const double tmax, - const double conservative_rescaling) + const double tmax) const { assert(conservative_rescaling > 0 && conservative_rescaling <= 1); @@ -87,9 +89,14 @@ bool AdditiveCCD::additive_ccd( assert(d_func > 0); const double gap = // (d - ξ) = (d² - ξ²) / (d + ξ) (1 - conservative_rescaling) * d_func / (d + min_distance); + if (gap < std::numeric_limits::epsilon()) { + logger().warn( + "Small gap {:g} ≤ ε in Additive CCD can lead to missed collisions", + gap); + } toi = 0; - while (true) { + for (long i = 0; max_iterations < 0 || i < max_iterations; ++i) { // tₗ = η ⋅ (d - ξ) / lₚ = η ⋅ (d² - ξ²) / (lₚ ⋅ (d + ξ)) const double toi_lower_bound = conservative_rescaling * d_func / ((d + min_distance) * max_disp_mag); @@ -108,6 +115,12 @@ bool AdditiveCCD::additive_ccd( if (toi > tmax) { return false; // collision occurs after tmax } + + if (max_iterations < 0 && i == DEFAULT_MAX_ITERATIONS) { + logger().warn( + "Slow convergence in Additive CCD. Perhaps the gap is too small (gap={:g})?", + gap); + } } return true; @@ -151,8 +164,7 @@ bool AdditiveCCD::point_point_ccd( const VectorMax12d dx = stack(dp0, dp1); return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax, - conservative_rescaling); + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); } bool AdditiveCCD::point_edge_ccd( @@ -199,8 +211,7 @@ bool AdditiveCCD::point_edge_ccd( const VectorMax12d dx = stack(dp, de0, de1); return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax, - conservative_rescaling); + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); } bool AdditiveCCD::point_triangle_ccd( @@ -248,8 +259,7 @@ bool AdditiveCCD::point_triangle_ccd( const VectorMax12d dx = stack(dp, dt0, dt1, dt2); return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax, - conservative_rescaling); + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); } bool AdditiveCCD::edge_edge_ccd( @@ -310,8 +320,7 @@ bool AdditiveCCD::edge_edge_ccd( const VectorMax12d dx = stack(dea0, dea1, deb0, deb1); return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax, - conservative_rescaling); + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); } } // namespace ipc \ No newline at end of file diff --git a/src/ipc/ccd/additive_ccd.hpp b/src/ipc/ccd/additive_ccd.hpp index 6f731e274..e1d0bc547 100644 --- a/src/ipc/ccd/additive_ccd.hpp +++ b/src/ipc/ccd/additive_ccd.hpp @@ -17,6 +17,10 @@ namespace ipc { /// @brief Additive Continuous Collision Detection (CCD) from [Li et al. 2021]. class AdditiveCCD : public NarrowPhaseCCD { public: + /// The default maximum number of iterations used with Tight-Inclusion CCD. + static constexpr long DEFAULT_MAX_ITERATIONS = 10'000'000l; + /// Unlimitted number of iterations. + static constexpr long UNLIMITTED_ITERATIONS = -1; /// The default conservative rescaling value used to avoid taking steps /// exactly to impact. Value choosen to based on [Li et al. 2021]. static constexpr double DEFAULT_CONSERVATIVE_RESCALING = 0.9; @@ -24,6 +28,7 @@ class AdditiveCCD : public NarrowPhaseCCD { /// @brief Construct a new AdditiveCCD object. /// @param conservative_rescaling The conservative rescaling of the time of impact. AdditiveCCD( + const long max_iterations = UNLIMITTED_ITERATIONS, const double conservative_rescaling = DEFAULT_CONSERVATIVE_RESCALING); /// @brief Computes the time of impact between two points using continuous collision detection. @@ -122,6 +127,9 @@ class AdditiveCCD : public NarrowPhaseCCD { const double min_distance = 0.0, const double tmax = 1.0) const override; + /// @brief Maximum number of iterations. + long max_iterations; + /// @brief The conservative rescaling value used to avoid taking steps exactly to impact. double conservative_rescaling; @@ -133,15 +141,14 @@ class AdditiveCCD : public NarrowPhaseCCD { /// @param tmax The maximum time to check for collisions. /// @param conservative_rescaling The amount to rescale the objects by to ensure conservative advancement. /// @return True if a collision was detected, false otherwise. - static bool additive_ccd( + bool additive_ccd( VectorMax12d x, const VectorMax12d& dx, const std::function& distance_squared, const double max_disp_mag, double& toi, const double min_distance = 0.0, - const double tmax = 1.0, - const double conservative_rescaling = DEFAULT_CONSERVATIVE_RESCALING); + const double tmax = 1.0) const; }; } // namespace ipc \ No newline at end of file diff --git a/tests/src/tests/ccd/test_point_edge_ccd.cpp b/tests/src/tests/ccd/test_point_edge_ccd.cpp index 1ddcb3f67..b5c330eb0 100644 --- a/tests/src/tests/ccd/test_point_edge_ccd.cpp +++ b/tests/src/tests/ccd/test_point_edge_ccd.cpp @@ -29,7 +29,8 @@ void check_toi( CHECK(is_colliding); CHECK(toi <= toi_expected); - const AdditiveCCD additive_ccd(/*conservative_rescaling=*/0.99); + const AdditiveCCD additive_ccd( + AdditiveCCD::UNLIMITTED_ITERATIONS, /*conservative_rescaling=*/0.99); is_colliding = additive_ccd.point_edge_ccd( p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); CHECK(is_colliding); @@ -170,7 +171,8 @@ TEST_CASE("Point-edge CCD", "[ccd][point-edge]") // CHECK(toi <= toi_expected); // } - const AdditiveCCD additive_ccd(/*conservative_rescaling=*/0.99); + const AdditiveCCD additive_ccd( + AdditiveCCD::DEFAULT_MAX_ITERATIONS, /*conservative_rescaling=*/0.99); is_colliding = additive_ccd.point_edge_ccd( p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); REQUIRE(is_colliding == is_collision_expected); diff --git a/tests/src/tests/ccd/test_point_point_ccd.cpp b/tests/src/tests/ccd/test_point_point_ccd.cpp index 3721d54d5..cc617d4e1 100644 --- a/tests/src/tests/ccd/test_point_point_ccd.cpp +++ b/tests/src/tests/ccd/test_point_point_ccd.cpp @@ -28,7 +28,8 @@ TEST_CASE("Point-point CCD", "[ccd][point-point]") CHECK(is_colliding); CHECK(toi == Catch::Approx(0.5).margin(1e-3)); - const AdditiveCCD additive_ccd(/*conservative_rescaling=*/0.999); + const AdditiveCCD additive_ccd( + AdditiveCCD::UNLIMITTED_ITERATIONS, /*conservative_rescaling=*/0.999); is_colliding = additive_ccd.point_point_ccd( p0_t0, p1_t0, p0_t1, p1_t1, toi, min_distance); From 55bb50db284e10a89e54b964b815265d7a95a5f1 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Tue, 12 Nov 2024 04:14:37 +0000 Subject: [PATCH 07/13] add the s_mu and k_mu to the tangent force --- .../tangential/tangential_collisions.cpp | 18 ++++++------------ src/ipc/potentials/tangential_potential.cpp | 12 ++++++++++-- 2 files changed, 16 insertions(+), 14 deletions(-) diff --git a/src/ipc/collisions/tangential/tangential_collisions.cpp b/src/ipc/collisions/tangential/tangential_collisions.cpp index 2e75d691d..e365abd92 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.cpp +++ b/src/ipc/collisions/tangential/tangential_collisions.cpp @@ -3,10 +3,6 @@ #include #include -#include -#include -#include - #include // std::out_of_range namespace ipc { @@ -20,7 +16,6 @@ void TangentialCollisions::build( const Eigen::VectorXd& mus, const std::function& blend_mu, const BlendType blend_type) - { assert(mus.size() == vertices.rows()); @@ -33,9 +28,8 @@ void TangentialCollisions::build( const auto& C_ev = collisions.ev_collisions; const auto& C_ee = collisions.ee_collisions; const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - FC_vv.reserve(C_vv.size()); + vv_collisions.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { FC_vv.emplace_back( c_vv, c_vv.dof(vertices, edges, faces), normal_potential, @@ -47,7 +41,7 @@ void TangentialCollisions::build( FC_vv.back().k_mu = -1; } - FC_ev.reserve(C_ev.size()); + ev_collisions.reserve(C_ev.size()); for (const auto& c_ev : C_ev) { FC_ev.emplace_back( c_ev, c_ev.dof(vertices, edges, faces), normal_potential, @@ -61,7 +55,7 @@ void TangentialCollisions::build( FC_ev.back().k_mu = -1; } - FC_ee.reserve(C_ee.size()); + ee_collisions.reserve(C_ee.size()); for (const auto& c_ee : C_ee) { const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); const Eigen::Vector3d ea0 = vertices.row(ea0i); @@ -79,7 +73,7 @@ void TangentialCollisions::build( normal_stiffness); double ea_mu = - (mus(ea1i) - mus(ea0i)) * FC_ee.back().closest_point[0] + mus(ea0i); + (mus(ea1i) - mus(ea0i)) * ee_collisions.back().closest_point[0] + mus(ea0i); double eb_mu = (mus(eb1i) - mus(eb0i)) * FC_ee.back().closest_point[1] + mus(eb0i); FC_ee.back().mu = blend_mu(ea_mu, eb_mu, blend_type); @@ -87,7 +81,7 @@ void TangentialCollisions::build( FC_ee.back().k_mu = -1; } - FC_fv.reserve(C_fv.size()); + fv_collisions.reserve(C_fv.size()); for (const auto& c_fv : C_fv) { FC_fv.emplace_back( c_fv, c_fv.dof(vertices, edges, faces), normal_potential, @@ -278,7 +272,7 @@ void TangentialCollisions::build( } } -// ============================================================================ +// The other build functions go here as previously defined size_t TangentialCollisions::size() const { diff --git a/src/ipc/potentials/tangential_potential.cpp b/src/ipc/potentials/tangential_potential.cpp index 01edce913..ace82b028 100644 --- a/src/ipc/potentials/tangential_potential.cpp +++ b/src/ipc/potentials/tangential_potential.cpp @@ -173,8 +173,12 @@ VectorMax12d TangentialPotential::gradient( // μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u ∈ ℝⁿ // (n×2)(2×1) = (n×1) + double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) + ? collision.k_mu + : (collision.s_mu != -1 ? collision.s_mu : collision.mu); + return T - * ((collision.weight * collision.mu * collision.normal_force_magnitude + * ((collision.weight * mu * collision.normal_force_magnitude * f1_over_norm_u) * u); } @@ -206,8 +210,12 @@ MatrixMax12d TangentialPotential::hessian( f1_over_x(norm_u); // Compute μ N(xᵗ) + double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) + ? collision.k_mu + : (collision.s_mu != -1 ? collision.s_mu : collision.mu); + const double scale = - collision.weight * collision.mu * collision.normal_force_magnitude; + collision.weight * mu * collision.normal_force_magnitude; MatrixMax12d hess; if (is_dynamic(norm_u)) { From 425a3bc127cecb24cfbcd8282008c7a822880047 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Thu, 14 Nov 2024 14:18:32 +0000 Subject: [PATCH 08/13] changes to add materials pair (w.i.p) --- .../tangential/tangential_collisions.cpp | 193 +++++++++++++++++- 1 file changed, 187 insertions(+), 6 deletions(-) diff --git a/src/ipc/collisions/tangential/tangential_collisions.cpp b/src/ipc/collisions/tangential/tangential_collisions.cpp index e365abd92..6201d54ee 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.cpp +++ b/src/ipc/collisions/tangential/tangential_collisions.cpp @@ -3,6 +3,10 @@ #include #include +#include +#include +#include + #include // std::out_of_range namespace ipc { @@ -16,6 +20,7 @@ void TangentialCollisions::build( const Eigen::VectorXd& mus, const std::function& blend_mu, const BlendType blend_type) + { assert(mus.size() == vertices.rows()); @@ -28,8 +33,9 @@ void TangentialCollisions::build( const auto& C_ev = collisions.ev_collisions; const auto& C_ee = collisions.ee_collisions; const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - vv_collisions.reserve(C_vv.size()); + FC_vv.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { FC_vv.emplace_back( c_vv, c_vv.dof(vertices, edges, faces), normal_potential, @@ -41,7 +47,7 @@ void TangentialCollisions::build( FC_vv.back().k_mu = -1; } - ev_collisions.reserve(C_ev.size()); + FC_ev.reserve(C_ev.size()); for (const auto& c_ev : C_ev) { FC_ev.emplace_back( c_ev, c_ev.dof(vertices, edges, faces), normal_potential, @@ -55,7 +61,7 @@ void TangentialCollisions::build( FC_ev.back().k_mu = -1; } - ee_collisions.reserve(C_ee.size()); + FC_ee.reserve(C_ee.size()); for (const auto& c_ee : C_ee) { const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); const Eigen::Vector3d ea0 = vertices.row(ea0i); @@ -73,7 +79,7 @@ void TangentialCollisions::build( normal_stiffness); double ea_mu = - (mus(ea1i) - mus(ea0i)) * ee_collisions.back().closest_point[0] + mus(ea0i); + (mus(ea1i) - mus(ea0i)) * FC_ee.back().closest_point[0] + mus(ea0i); double eb_mu = (mus(eb1i) - mus(eb0i)) * FC_ee.back().closest_point[1] + mus(eb0i); FC_ee.back().mu = blend_mu(ea_mu, eb_mu, blend_type); @@ -81,7 +87,7 @@ void TangentialCollisions::build( FC_ee.back().k_mu = -1; } - fv_collisions.reserve(C_fv.size()); + FC_fv.reserve(C_fv.size()); for (const auto& c_fv : C_fv) { FC_fv.emplace_back( c_fv, c_fv.dof(vertices, edges, faces), normal_potential, @@ -272,7 +278,182 @@ void TangentialCollisions::build( } } -// The other build functions go here as previously defined + +void TangentialCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const BarrierPotential& barrier_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu) +{ + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + clear(); + + auto setFrictionParams = [](auto& collision, double g_mu, double g_s_mu, double g_k_mu) { + collision.mu = g_mu; + collision.s_mu = g_s_mu; + collision.k_mu = g_k_mu; + }; + + const auto& C_vv = collisions.vv_collisions; + const auto& C_ev = collisions.ev_collisions; + const auto& C_ee = collisions.ee_collisions; + const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + FC_vv.reserve(C_vv.size()); + for (const auto& c_vv : C_vv) { + FC_vv.emplace_back( + c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); + } + + FC_ev.reserve(C_ev.size()); + for (const auto& c_ev : C_ev) { + FC_ev.emplace_back( + c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); + } + + FC_ee.reserve(C_ee.size()); + for (const auto& c_ee : C_ee) { + const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); + const Eigen::Vector3d ea0 = vertices.row(ea0i); + const Eigen::Vector3d ea1 = vertices.row(ea1i); + const Eigen::Vector3d eb0 = vertices.row(eb0i); + const Eigen::Vector3d eb1 = vertices.row(eb1i); + + // Skip EE collisions that are close to parallel + if (edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1) < c_ee.eps_x) { + continue; + } + + FC_ee.emplace_back( + c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + + setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); + } + + FC_fv.reserve(C_fv.size()); + for (const auto& c_fv : C_fv) { + FC_fv.emplace_back( + c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + + setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); + } +} + +void TangentialCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const BarrierPotential& barrier_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu, + const std::map, MaterialPairFriction>& material_pair_friction) +{ + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + const std::vector& mat_ids = mesh.mat_ids(); + clear(); + + auto getMaterialFriction = [&](int mat_id1, int mat_id2) -> const MaterialPairFriction* { + auto pair_key = std::make_pair(std::min(mat_id1, mat_id2), std::max(mat_id1, mat_id2)); + return material_pair_friction.count(pair_key) ? &material_pair_friction.at(pair_key) : nullptr; + }; + + auto setFrictionParams = [](auto& collision, double mu, double s_mu, double k_mu) { + collision.mu = mu; + collision.s_mu = s_mu; + collision.k_mu = k_mu; + }; + + const auto& C_vv = collisions.vv_collisions; + const auto& C_ev = collisions.ev_collisions; + const auto& C_ee = collisions.ee_collisions; + const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + FC_vv.reserve(C_vv.size()); + for (const auto& c_vv : C_vv) { + FC_vv.emplace_back( + c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[v0i], mat_ids[v1i]); + if (friction) { + setFrictionParams(FC_vv.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); + } + } + + FC_ev.reserve(C_ev.size()); + for (const auto& c_ev : C_ev) { + FC_ev.emplace_back( + c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[e0i]); + if (friction) { + setFrictionParams(FC_ev.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); + } + } + + FC_ee.reserve(C_ee.size()); + for (const auto& c_ee : C_ee) { + const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); + + if (edge_edge_cross_squarednorm(vertices.row(ea0i), vertices.row(ea1i), vertices.row(eb0i), vertices.row(eb1i)) < c_ee.eps_x) { + continue; + } + + FC_ee.emplace_back( + c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[ea0i], mat_ids[eb0i]); + if (friction) { + setFrictionParams(FC_ee.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); + } + } + + FC_fv.reserve(C_fv.size()); + for (const auto& c_fv : C_fv) { + FC_fv.emplace_back( + c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, + barrier_stiffness); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[f0i]); + if (friction) { + setFrictionParams(FC_fv.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); + } + } +} + +// ============================================================================ size_t TangentialCollisions::size() const { From e6e56e20a440876bfc2b60d1b6df4c37d790fce1 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Tue, 10 Dec 2024 22:01:23 -0500 Subject: [PATCH 09/13] clean issue from merge --- .devcontainer/Dockerfile | 164 +- .devcontainer/devcontainer.json | 118 +- .pre-commit-config.yaml | 24 +- CMakePresets.json | 79 +- docs/source/tutorial/frictions.rst | 432 +- notebooks/mu_transition.ipynb | 175192 +++++++-------- python/src/ccd/additive_ccd.cpp | 58 +- src/ipc/candidates/candidates.cpp | 820 +- src/ipc/candidates/candidates.hpp | 250 +- src/ipc/candidates/edge_edge.hpp | 154 +- src/ipc/candidates/edge_face.hpp | 66 +- src/ipc/candidates/edge_vertex.hpp | 148 +- src/ipc/candidates/face_face.hpp | 70 +- src/ipc/candidates/face_vertex.hpp | 154 +- src/ipc/candidates/vertex_vertex.hpp | 150 +- src/ipc/ccd/additive_ccd.cpp | 650 +- src/ipc/ccd/additive_ccd.hpp | 306 +- src/ipc/collision_mesh.cpp | 970 +- src/ipc/collision_mesh.hpp | 788 +- .../collisions/normal/normal_collisions.cpp | 1024 +- .../normal/normal_collisions_builder.cpp | 1326 +- src/ipc/collisions/tangential/edge_edge.cpp | 204 +- src/ipc/collisions/tangential/edge_edge.hpp | 112 +- src/ipc/collisions/tangential/edge_vertex.cpp | 212 +- src/ipc/collisions/tangential/edge_vertex.hpp | 98 +- src/ipc/collisions/tangential/face_vertex.cpp | 206 +- src/ipc/collisions/tangential/face_vertex.hpp | 100 +- .../tangential/tangential_collision.hpp | 236 +- .../tangential/tangential_collisions.cpp | 861 +- .../tangential/tangential_collisions.hpp | 268 +- .../collisions/tangential/vertex_vertex.cpp | 186 +- .../collisions/tangential/vertex_vertex.hpp | 100 +- .../friction/smooth_friction_mollifier.cpp | 232 +- .../friction/smooth_friction_mollifier.hpp | 286 +- src/ipc/ipc.cpp | 290 +- src/ipc/potentials/friction_potential.cpp | 84 +- src/ipc/potentials/friction_potential.hpp | 94 +- .../tangential_adhesion_potential.hpp | 106 +- src/ipc/potentials/tangential_potential.cpp | 984 +- src/ipc/potentials/tangential_potential.hpp | 302 +- tests/src/tests/ccd/test_point_edge_ccd.cpp | 584 +- tests/src/tests/ccd/test_point_point_ccd.cpp | 76 +- .../friction/friction_data_generator.cpp | 280 +- .../friction/friction_data_generator.hpp | 46 +- .../tests/friction/test_force_jacobian.cpp | 688 +- tests/src/tests/friction/test_friction.cpp | 512 +- .../potential/test_friction_potential.cpp | 158 +- tests/src/tests/test_collision_mesh.cpp | 340 +- 48 files changed, 95185 insertions(+), 95403 deletions(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 4bae1e862..e969ea922 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,82 +1,82 @@ -FROM ubuntu:22.04 - -# Set environment variables -ENV DEBIAN_FRONTEND=noninteractive -ENV CCACHE_DIR=/home/devuser/.ccache -ENV CCACHE_MAXSIZE=1G -ENV CXX_STANDARD=17 - -# Update package lists -RUN apt-get update - -# Install essential packages -RUN apt-get install -y --no-install-recommends \ - build-essential \ - git \ - wget \ - curl \ - fish \ - zsh \ - ninja-build \ - ccache \ - libeigen3-dev \ - libtbb-dev \ - libspdlog-dev \ - python3 \ - python3-pip \ - python3-dev \ - libgmp-dev \ - libssl-dev \ - libncurses5-dev \ - libncursesw5-dev \ - libxml2-dev \ - libjsoncpp-dev \ - libz3-dev \ - sudo \ - software-properties-common \ - lsb-release \ - gnupg \ - && rm -rf /var/lib/apt/lists/* - -# Create a new user with sudo privileges -RUN useradd -m devuser \ - && echo "devuser:password" | chpasswd \ - && usermod -aG sudo devuser \ - && echo "devuser ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \ - && mkdir -p $CCACHE_DIR \ - && chown devuser:devuser $CCACHE_DIR - -# Set up Python tools -RUN pip3 install --upgrade pip setuptools wheel pre-commit - -# Add Kitware APT repository for CMake -RUN wget -qO- https://apt.kitware.com/keys/kitware-archive-latest.asc | \ - gpg --dearmor -o /usr/share/keyrings/kitware-archive-keyring.gpg - -RUN echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | \ - tee /etc/apt/sources.list.d/kitware.list > /dev/null - -# Update package lists and install CMake -RUN apt-get update -RUN apt-get install -y cmake - -# Verify CMake installation -RUN cmake --version - -# Install LLVM/Clang and Clang-Format version 18 -RUN wget -q https://apt.llvm.org/llvm.sh -O /tmp/llvm.sh -RUN chmod +x /tmp/llvm.sh -RUN /tmp/llvm.sh 18 || true - -RUN apt-get update && apt-get install -y clang-18 clang-tools-18 clang-format-18 - -RUN clang-18 --version -RUN clang++-18 --version -RUN clang-format-18 --version - -# 12. Set the default user and working directory -USER devuser - -WORKDIR /home/devuser/workspace - -CMD ["bash"] +FROM ubuntu:22.04 + +# Set environment variables +ENV DEBIAN_FRONTEND=noninteractive +ENV CCACHE_DIR=/home/devuser/.ccache +ENV CCACHE_MAXSIZE=1G +ENV CXX_STANDARD=17 + +# Update package lists +RUN apt-get update + +# Install essential packages +RUN apt-get install -y --no-install-recommends \ + build-essential \ + git \ + wget \ + curl \ + fish \ + zsh \ + ninja-build \ + ccache \ + libeigen3-dev \ + libtbb-dev \ + libspdlog-dev \ + python3 \ + python3-pip \ + python3-dev \ + libgmp-dev \ + libssl-dev \ + libncurses5-dev \ + libncursesw5-dev \ + libxml2-dev \ + libjsoncpp-dev \ + libz3-dev \ + sudo \ + software-properties-common \ + lsb-release \ + gnupg \ + && rm -rf /var/lib/apt/lists/* + +# Create a new user with sudo privileges +RUN useradd -m devuser \ + && echo "devuser:password" | chpasswd \ + && usermod -aG sudo devuser \ + && echo "devuser ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \ + && mkdir -p $CCACHE_DIR \ + && chown devuser:devuser $CCACHE_DIR + +# Set up Python tools +RUN pip3 install --upgrade pip setuptools wheel pre-commit + +# Add Kitware APT repository for CMake +RUN wget -qO- https://apt.kitware.com/keys/kitware-archive-latest.asc | \ + gpg --dearmor -o /usr/share/keyrings/kitware-archive-keyring.gpg + +RUN echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | \ + tee /etc/apt/sources.list.d/kitware.list > /dev/null + +# Update package lists and install CMake +RUN apt-get update +RUN apt-get install -y cmake + +# Verify CMake installation +RUN cmake --version + +# Install LLVM/Clang and Clang-Format version 18 +RUN wget -q https://apt.llvm.org/llvm.sh -O /tmp/llvm.sh +RUN chmod +x /tmp/llvm.sh +RUN /tmp/llvm.sh 18 || true + +RUN apt-get update && apt-get install -y clang-18 clang-tools-18 clang-format-18 + +RUN clang-18 --version +RUN clang++-18 --version +RUN clang-format-18 --version + +# 12. Set the default user and working directory +USER devuser + +WORKDIR /home/devuser/workspace + +CMD ["bash"] diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index fd82b6271..03adbc85f 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -1,59 +1,59 @@ -{ - "$schema": "https://raw.githubusercontent.com/devcontainers/spec/main/schemas/devContainer.schema.json", - "name": "IPCToolkit C++ Development Container", - "build": { - "dockerfile": "Dockerfile", - "context": ".." - }, - "customizations": { - "vscode": { - "settings": { - "terminal.integrated.shell.linux": "/bin/fish", - "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools", - "C_Cpp.default.intelliSenseMode": "gcc-x64", - "C_Cpp.default.compilerPath": "/usr/bin/clang++-18", - "C_Cpp.clang_format_path": "/usr/bin/clang-format-18", - "C_Cpp.clang_format_style": "file", - "cmake.configureOnOpen": true, - "cmake.buildDirectory": "${workspaceFolder}/build", - "python.pythonPath": "/usr/bin/python3", - "python.linting.enabled": true, - "python.linting.pylintEnabled": true, - "python.formatting.provider": "black", - "prettier.requireConfig": true - }, - "extensions": [ - "ms-vscode.cpptools", - "ms-vscode.cmake-tools", - "xaver.clang-format", - "ms-python.python", - "ms-azuretools.vscode-docker", - "eamodio.gitlens", - "esbenp.prettier-vscode", - "mhutchie.git-graph", - "twxs.cmake", - "jeff-hykin.better-cpp-syntax", - "vadimcn.vscode-lldb", - "cschlosser.doxdocgen", - "ms-python.vscode-pylance", - "mutantdino.resourcemonitor", - "randomfractalsinc.vscode-data-preview", - "oderwat.indent-rainbow", - "formulahendry.code-runner", - "donjayamanne.git-extension-pack" - ] - } - }, - "postCreateCommand": "pre-commit install", - "remoteUser": "devuser", - "mounts": [ - "source=${localWorkspaceFolder}/.ccache,target=/home/devuser/.ccache,type=bind,consistency=cached" - ], - "forwardPorts": [], - "remoteEnv": { - "CCACHE_DIR": "/home/devuser/.ccache", - "CCACHE_MAXSIZE": "1G" - }, - "workspaceFolder": "/home/devuser/workspace", - "workspaceMount": "source=${localWorkspaceFolder},target=/home/devuser/workspace,type=bind,consistency=cached" -} +{ + "$schema": "https://raw.githubusercontent.com/devcontainers/spec/main/schemas/devContainer.schema.json", + "name": "IPCToolkit C++ Development Container", + "build": { + "dockerfile": "Dockerfile", + "context": ".." + }, + "customizations": { + "vscode": { + "settings": { + "terminal.integrated.shell.linux": "/bin/fish", + "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools", + "C_Cpp.default.intelliSenseMode": "gcc-x64", + "C_Cpp.default.compilerPath": "/usr/bin/clang++-18", + "C_Cpp.clang_format_path": "/usr/bin/clang-format-18", + "C_Cpp.clang_format_style": "file", + "cmake.configureOnOpen": true, + "cmake.buildDirectory": "${workspaceFolder}/build", + "python.pythonPath": "/usr/bin/python3", + "python.linting.enabled": true, + "python.linting.pylintEnabled": true, + "python.formatting.provider": "black", + "prettier.requireConfig": true + }, + "extensions": [ + "ms-vscode.cpptools", + "ms-vscode.cmake-tools", + "xaver.clang-format", + "ms-python.python", + "ms-azuretools.vscode-docker", + "eamodio.gitlens", + "esbenp.prettier-vscode", + "mhutchie.git-graph", + "twxs.cmake", + "jeff-hykin.better-cpp-syntax", + "vadimcn.vscode-lldb", + "cschlosser.doxdocgen", + "ms-python.vscode-pylance", + "mutantdino.resourcemonitor", + "randomfractalsinc.vscode-data-preview", + "oderwat.indent-rainbow", + "formulahendry.code-runner", + "donjayamanne.git-extension-pack" + ] + } + }, + "postCreateCommand": "pre-commit install", + "remoteUser": "devuser", + "mounts": [ + "source=${localWorkspaceFolder}/.ccache,target=/home/devuser/.ccache,type=bind,consistency=cached" + ], + "forwardPorts": [], + "remoteEnv": { + "CCACHE_DIR": "/home/devuser/.ccache", + "CCACHE_MAXSIZE": "1G" + }, + "workspaceFolder": "/home/devuser/workspace", + "workspaceMount": "source=${localWorkspaceFolder},target=/home/devuser/workspace,type=bind,consistency=cached" +} diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index af8d2affa..10d468899 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,12 +1,12 @@ -repos: - - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v14.0.0 - hooks: - - id: clang-format - name: clang-format - description: "Use clang-format to format C/C++ code" - entry: clang-format-18 - args: - - --style=file - - --verbose - files: '\.(c|cc|cpp|h|hpp|tpp|cxx|hh|inl|ipp)$' +repos: + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v14.0.0 + hooks: + - id: clang-format + name: clang-format + description: "Use clang-format to format C/C++ code" + entry: clang-format-18 + args: + - --style=file + - --verbose + files: '\.(c|cc|cpp|h|hpp|tpp|cxx|hh|inl|ipp)$' diff --git a/CMakePresets.json b/CMakePresets.json index 945fe4be1..c875bfa26 100644 --- a/CMakePresets.json +++ b/CMakePresets.json @@ -2,7 +2,7 @@ "version": 3, "cmakeMinimumRequired": { "major": 3, - "minor": + "minor": 18 }, "configurePresets": [ { @@ -28,7 +28,10 @@ "inherits": "base-release", "displayName": "Default Configuration", "description": "Default build configuration", - "binaryDir": "${sourceDir}/build/default" + "binaryDir": "${sourceDir}/build/default", + "cacheVariables": { + "CMAKE_CXX_COMPILER_LAUNCHER": "ccache" + } }, { "name": "cuda", @@ -40,16 +43,6 @@ "IPC_TOOLKIT_WITH_CUDA": "ON" } }, - { - "name": "simd", - "inherits": "base-release", - "displayName": "SIMD Enabled", - "description": "Build with SIMD optimizations", - "binaryDir": "${sourceDir}/build/simd", - "cacheVariables": { - "IPC_TOOLKIT_WITH_SIMD": "ON" - } - }, { "name": "test", "inherits": "base-debug", @@ -57,9 +50,8 @@ "description": "Build with unit tests enabled", "binaryDir": "${sourceDir}/build/test", "cacheVariables": { - "IPC_TOOLKIT_WITH_CUDA": "ON", "IPC_TOOLKIT_BUILD_TESTS": "ON", - "IPC_TOOLKIT_BUILD_PYTHON": "OFF" + "IPC_TOOLKIT_WITH_CODE_COVERAGE": "ON" } }, { @@ -69,62 +61,35 @@ "description": "Build with Python bindings enabled", "binaryDir": "${sourceDir}/build/python", "cacheVariables": { - "IPC_TOOLKIT_BUILD_PYTHON": "ON", - "IPC_TOOLKIT_BUILD_TESTS": "OFF", - "IPC_TOOLKIT_WITH_SIMD": "OFF", - "IPC_TOOLKIT_WITH_CUDA": "OFF" + "IPC_TOOLKIT_BUILD_PYTHON": "ON" } - }, - { - "name": "coverage", - "inherits": "base-debug", - "displayName": "Code Coverage", - "description": "Build for code coverage", - "binaryDir": "${sourceDir}/build/coverage", - "cacheVariables": { - "IPC_TOOLKIT_WITH_CODE_COVERAGE": "ON", - "IPC_TOOLKIT_BUILD_TESTS": "ON", - - } - }, - { - "name": "debug-cuda", - "inherits": [ "base-debug", "cuda" ], - "displayName": "CUDA Debug", - "description": "Debug build with CUDA support", - "binaryDir": "${sourceDir}/build/debug-cuda" - }, + } ], "buildPresets": [ { - "name": "default-build", + "name": "default", "configurePreset": "default", - "description": "Build using default configuration" - }, - { - "name": "cuda-build", - "configurePreset": "cuda", - "description": "Build with CUDA support" + "description": "Build using default configuration Release" }, { - "name": "test-build", + "name": "test", "configurePreset": "test", "description": "Build for running tests" }, { - "name": "python-build", + "name": "python", "configurePreset": "python", "description": "Build with Python bindings enabled" }, { - "name": "debug-cuda-build", - "configurePreset": "debug-cuda", - "description": "Debug build with CUDA support" - }, + "name": "cuda", + "configurePreset": "cuda", + "description": "Build with CUDA support" + } ], "testPresets": [ { - "name": "default-tests", + "name": "tests", "description": "Run default tests", "configurePreset": "test", "execution": { @@ -138,14 +103,6 @@ "execution": { "stopOnFailure": true } - }, - { - "name": "debug-cuda-tests", - "description": "Run tests with CUDA Debug configuration", - "configurePreset": "debug-cuda", - "execution": { - "stopOnFailure": true - } } ] -} +} \ No newline at end of file diff --git a/docs/source/tutorial/frictions.rst b/docs/source/tutorial/frictions.rst index 3f889656f..ce66ec741 100644 --- a/docs/source/tutorial/frictions.rst +++ b/docs/source/tutorial/frictions.rst @@ -1,217 +1,217 @@ -Multiple Friction Materials -=========================== - -This tutorial demonstrates how to set up and work with multiple friction types in the IPC Toolkit. It covers setting up a defining tangential collisions with different friction properties, specifying blend types for friction coefficients, and calculating friction forces. - - -Create a Collision Mesh with Materials ------------------------------------------ - -First, we need to create a collision mesh. The ``CollisionMesh`` data structure represents the surface geometry used for collision processing. -We will start by creating a collision mesh from a ``bunny.ply`` mesh file (you can find the mesh `here `_): - -Adding a material ID to the ``CollisionMesh`` allows us to define friction properties for different materials. -The material ID is an integer value used to identify the material of each vertex in the mesh. It is recommended to use consecutive integers starting from 1 and --1 for vertices that do not belong to any material. - - -.. code-block:: cpp - - #include - #include - #include - #include - - Eigen::MatrixXd rest_positions; - Eigen::MatrixXi edges, faces; - igl::read_triangle_mesh("bunny.ply", rest_positions, faces); - igl::edges(faces, edges); - - // Assign material IDs to vertices - std::vector mat_id(rest_positions.rows(), 1); - - ipc::CollisionMesh collision_mesh(rest_positions, edges, faces, mat_ids); - -In Python: - -.. code-block:: python - - import ipctk - import meshio - - mesh = meshio.read("bunny.ply") - rest_positions = mesh.points - faces = mesh.cells_dict["triangle"] - edges = ipctk.edges(faces) - - collision_mesh = ipctk.CollisionMesh(rest_positions, edges, faces, mat_id=1) - - -Define Tangential Collisions with Multiple Friction Types and Blending --------------------------------------------------------------------------- - -Define and build the tangential collisions for handling friction based on material properties. Specify `BlendType` to set the method for combining friction coefficients of different materials. - -Supported blend types: -- `AVG`: Average -- `MIN`: Minimum -- `MAX`: Maximum -- `PRODUCT`: Product -- `HARMONIC_MEAN`: Harmonic mean -- `GEOMETRIC_MEAN`: Geometric mean - -.. code-block:: cpp - - const double dhat = 1e-3; - const double barrier_stiffness = 1.0; - const double global_mu = 0.6; - - ipc::NormalCollisions collisions; - collisions.build(collision_mesh, vertices, dhat); - - // Choose a blend type - ipc::TangentialCollisions::BlendType blend_type = ipc::TangentialCollisions::BlendType::AVG; - - // blend function - double default_blend_mu(double mu0, double mu1, ipc::TangentialCollisions::BlendType::AVG type) - { - switch (type) { - case BlendType::MIN: - return std::min(mu0, mu1); - case BlendType::MAX: - return std::max(mu0, mu1); - case BlendType::PRODUCT: - return mu0 * mu1; - case BlendType::HARMONIC_MEAN: - return 2 * (mu0 * mu1) / (mu0 + mu1); - case BlendType::GEOMETRIC_MEAN: - return std::sqrt(mu0 * mu1); - case BlendType::AVG: - default: - return (mu0 + mu1) / 2; - } - } - - ipc::TangentialCollisions tangential_collisions; - tangential_collisions.build( - collision_mesh, vertices, collisions, ipc::BarrierPotential(dhat), barrier_stiffness, - global_mu, default_blend_mu, blend_type); - -In Python: - -.. code-block:: python - - dhat = 1e-3 - barrier_stiffness = 1.0 - global_mu = 0.6 - - collisions = ipctk.NormalCollisions() - collisions.build(collision_mesh, vertices, dhat) - - # Choose a blend type - blend_type = ipctk.TangentialCollisions.BlendType.AVG - - # Choose a blend function - def default_blend_mu(mu0, mu1, blend_type): - if blend_type == ipctk.TangentialCollisions.BlendType.MIN: - return min(mu0, mu1) - elif blend_type == ipctk.TangentialCollisions.BlendType.MAX: - return max(mu0, mu1) - elif blend_type == ipctk.TangentialCollisions.BlendType.PRODUCT: - return mu0 * mu1 - elif blend_type == ipctk.TangentialCollisions.BlendType.HARMONIC_MEAN: - return 2 * (mu0 * mu1) / (mu0 + mu1) - elif blend_type == ipctk.TangentialCollisions.BlendType.GEOMETRIC_MEAN: - return np.sqrt(mu0 * mu1) - elif blend_type == ipctk.TangentialCollisions.BlendType.AVG: - return (mu0 + mu1) / 2 - - - tangential_collisions = ipctk.TangentialCollisions() - tangential_collisions.build( - collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), - barrier_stiffness, global_mu, default_blend_mu, blend_type) - - -Assign Material Properties for Friction ------------------------------------------- - -Define material IDs and assign friction coefficients (static and kinetic friction values) for pairs of materials. Use `MaterialPairFriction` to specify friction interactions between materials. -The friction coefficients between materials can be found here https://www.engineeringtoolbox.com/friction-coefficients-d_778.html . - -.. code-block:: cpp - - global_mu = 0.6; - global_static_mu = 0.5; - global_dynamic_mu = 0.3; - material_pair_friction[{1, 2}] = {0.5, 0.3}; // Friction between material 1 and 2 - material_pair_friction[{2, 3}] = {0.4, 0.25}; // Friction between material 2 and 3 - - - // Material IDs and corresponding friction parameters - std::map, ipc::TangentialCollision::MaterialPairFriction> material_pair_friction; - material_pair_friction[{1, 2}] = {0.5, 0.3}; // Friction between material 1 and 2 - material_pair_friction[{2, 3}] = {0.4, 0.25}; // Friction between material 2 and 3 - - - tangential_collisions = ipctk.TangentialCollisions() - tangential_collisions.build( - collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), - barrier_stiffness, global_mu, global_static_mu, global_dynamic_mu, material_pair_friction) - - -.. code-block:: python - - global_mu = 0.6 - global_static_mu = 0.5 - global_dynamic_mu = 0.3 - material_pair_friction = { - (1, 2): (0.5, 0.3), # Friction between material 1 and 2 - (2, 3): (0.4, 0.25) # Friction between material 2 and 3 - } - - tangential_collisions = ipctk.TangentialCollisions() - tangential_collisions.build( - collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), - barrier_stiffness, global_mu, global_static_mu, global_dynamic_mu, material_pair_friction) - - -Compute the Friction Dissipative Potential ---------------------------------------------- - -Use the ``FrictionPotential`` class to calculate the friction dissipative potential. Define `eps_v` as the threshold for static friction. - -.. code-block:: cpp - - const double eps_v = 1e-3; - ipc::FrictionPotential D(eps_v); - - Eigen::MatrixXd velocity = vertices - collision_mesh.rest_positions(); - double friction_potential = D(tangential_collisions, collision_mesh, velocity); - -In Python: - -.. code-block:: python - - eps_v = 1e-3 - D = ipctk.FrictionPotential(eps_v) - - velocity = vertices - collision_mesh.rest_positions - friction_potential = D(tangential_collisions, collision_mesh, velocity) - -Compute Friction Gradients and Hessians ------------------------------------------- - -The gradient and Hessian of the friction dissipative potential can be computed to model frictional forces in iterative solvers. - -.. code-block:: cpp - - Eigen::VectorXd friction_potential_grad = D.gradient(tangential_collisions, collision_mesh, velocity); - Eigen::SparseMatrix friction_potential_hess = D.hessian(tangential_collisions, collision_mesh, velocity); - -In Python: - -.. code-block:: python - - friction_potential_grad = D.gradient(tangential_collisions, collision_mesh, velocity) +Multiple Friction Materials +=========================== + +This tutorial demonstrates how to set up and work with multiple friction types in the IPC Toolkit. It covers setting up a defining tangential collisions with different friction properties, specifying blend types for friction coefficients, and calculating friction forces. + + +Create a Collision Mesh with Materials +----------------------------------------- + +First, we need to create a collision mesh. The ``CollisionMesh`` data structure represents the surface geometry used for collision processing. +We will start by creating a collision mesh from a ``bunny.ply`` mesh file (you can find the mesh `here `_): + +Adding a material ID to the ``CollisionMesh`` allows us to define friction properties for different materials. +The material ID is an integer value used to identify the material of each vertex in the mesh. It is recommended to use consecutive integers starting from 1 and +-1 for vertices that do not belong to any material. + + +.. code-block:: cpp + + #include + #include + #include + #include + + Eigen::MatrixXd rest_positions; + Eigen::MatrixXi edges, faces; + igl::read_triangle_mesh("bunny.ply", rest_positions, faces); + igl::edges(faces, edges); + + // Assign material IDs to vertices + std::vector mat_id(rest_positions.rows(), 1); + + ipc::CollisionMesh collision_mesh(rest_positions, edges, faces, mat_ids); + +In Python: + +.. code-block:: python + + import ipctk + import meshio + + mesh = meshio.read("bunny.ply") + rest_positions = mesh.points + faces = mesh.cells_dict["triangle"] + edges = ipctk.edges(faces) + + collision_mesh = ipctk.CollisionMesh(rest_positions, edges, faces, mat_id=1) + + +Define Tangential Collisions with Multiple Friction Types and Blending +-------------------------------------------------------------------------- + +Define and build the tangential collisions for handling friction based on material properties. Specify `BlendType` to set the method for combining friction coefficients of different materials. + +Supported blend types: +- `AVG`: Average +- `MIN`: Minimum +- `MAX`: Maximum +- `PRODUCT`: Product +- `HARMONIC_MEAN`: Harmonic mean +- `GEOMETRIC_MEAN`: Geometric mean + +.. code-block:: cpp + + const double dhat = 1e-3; + const double barrier_stiffness = 1.0; + const double global_mu = 0.6; + + ipc::NormalCollisions collisions; + collisions.build(collision_mesh, vertices, dhat); + + // Choose a blend type + ipc::TangentialCollisions::BlendType blend_type = ipc::TangentialCollisions::BlendType::AVG; + + // blend function + double default_blend_mu(double mu0, double mu1, ipc::TangentialCollisions::BlendType::AVG type) + { + switch (type) { + case BlendType::MIN: + return std::min(mu0, mu1); + case BlendType::MAX: + return std::max(mu0, mu1); + case BlendType::PRODUCT: + return mu0 * mu1; + case BlendType::HARMONIC_MEAN: + return 2 * (mu0 * mu1) / (mu0 + mu1); + case BlendType::GEOMETRIC_MEAN: + return std::sqrt(mu0 * mu1); + case BlendType::AVG: + default: + return (mu0 + mu1) / 2; + } + } + + ipc::TangentialCollisions tangential_collisions; + tangential_collisions.build( + collision_mesh, vertices, collisions, ipc::BarrierPotential(dhat), barrier_stiffness, + global_mu, default_blend_mu, blend_type); + +In Python: + +.. code-block:: python + + dhat = 1e-3 + barrier_stiffness = 1.0 + global_mu = 0.6 + + collisions = ipctk.NormalCollisions() + collisions.build(collision_mesh, vertices, dhat) + + # Choose a blend type + blend_type = ipctk.TangentialCollisions.BlendType.AVG + + # Choose a blend function + def default_blend_mu(mu0, mu1, blend_type): + if blend_type == ipctk.TangentialCollisions.BlendType.MIN: + return min(mu0, mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.MAX: + return max(mu0, mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.PRODUCT: + return mu0 * mu1 + elif blend_type == ipctk.TangentialCollisions.BlendType.HARMONIC_MEAN: + return 2 * (mu0 * mu1) / (mu0 + mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.GEOMETRIC_MEAN: + return np.sqrt(mu0 * mu1) + elif blend_type == ipctk.TangentialCollisions.BlendType.AVG: + return (mu0 + mu1) / 2 + + + tangential_collisions = ipctk.TangentialCollisions() + tangential_collisions.build( + collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), + barrier_stiffness, global_mu, default_blend_mu, blend_type) + + +Assign Material Properties for Friction +------------------------------------------ + +Define material IDs and assign friction coefficients (static and kinetic friction values) for pairs of materials. Use `MaterialPairFriction` to specify friction interactions between materials. +The friction coefficients between materials can be found here https://www.engineeringtoolbox.com/friction-coefficients-d_778.html . + +.. code-block:: cpp + + global_mu = 0.6; + global_static_mu = 0.5; + global_dynamic_mu = 0.3; + material_pair_friction[{1, 2}] = {0.5, 0.3}; // Friction between material 1 and 2 + material_pair_friction[{2, 3}] = {0.4, 0.25}; // Friction between material 2 and 3 + + + // Material IDs and corresponding friction parameters + std::map, ipc::TangentialCollision::MaterialPairFriction> material_pair_friction; + material_pair_friction[{1, 2}] = {0.5, 0.3}; // Friction between material 1 and 2 + material_pair_friction[{2, 3}] = {0.4, 0.25}; // Friction between material 2 and 3 + + + tangential_collisions = ipctk.TangentialCollisions() + tangential_collisions.build( + collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), + barrier_stiffness, global_mu, global_static_mu, global_dynamic_mu, material_pair_friction) + + +.. code-block:: python + + global_mu = 0.6 + global_static_mu = 0.5 + global_dynamic_mu = 0.3 + material_pair_friction = { + (1, 2): (0.5, 0.3), # Friction between material 1 and 2 + (2, 3): (0.4, 0.25) # Friction between material 2 and 3 + } + + tangential_collisions = ipctk.TangentialCollisions() + tangential_collisions.build( + collision_mesh, vertices, collisions, ipctk.BarrierPotential(dhat), + barrier_stiffness, global_mu, global_static_mu, global_dynamic_mu, material_pair_friction) + + +Compute the Friction Dissipative Potential +--------------------------------------------- + +Use the ``FrictionPotential`` class to calculate the friction dissipative potential. Define `eps_v` as the threshold for static friction. + +.. code-block:: cpp + + const double eps_v = 1e-3; + ipc::FrictionPotential D(eps_v); + + Eigen::MatrixXd velocity = vertices - collision_mesh.rest_positions(); + double friction_potential = D(tangential_collisions, collision_mesh, velocity); + +In Python: + +.. code-block:: python + + eps_v = 1e-3 + D = ipctk.FrictionPotential(eps_v) + + velocity = vertices - collision_mesh.rest_positions + friction_potential = D(tangential_collisions, collision_mesh, velocity) + +Compute Friction Gradients and Hessians +------------------------------------------ + +The gradient and Hessian of the friction dissipative potential can be computed to model frictional forces in iterative solvers. + +.. code-block:: cpp + + Eigen::VectorXd friction_potential_grad = D.gradient(tangential_collisions, collision_mesh, velocity); + Eigen::SparseMatrix friction_potential_hess = D.hessian(tangential_collisions, collision_mesh, velocity); + +In Python: + +.. code-block:: python + + friction_potential_grad = D.gradient(tangential_collisions, collision_mesh, velocity) friction_potential_hess = D.hessian(tangential_collisions, collision_mesh, velocity) \ No newline at end of file diff --git a/notebooks/mu_transition.ipynb b/notebooks/mu_transition.ipynb index 3505783d2..b28e52aff 100644 --- a/notebooks/mu_transition.ipynb +++ b/notebooks/mu_transition.ipynb @@ -1,87596 +1,87596 @@ -{ - "cells": [ - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Smooth Transition from Static to Kinetic Friction Coefficients\n", - "we will model a smooth transition between the static (μs) and kinetic (μk) coefficients of friction using mathematical functions\n", - "\n", - "Reference to GitHub issue (commented out)\n", - "https://github.com/ipc-sim/ipc-toolkit/pull/139#issuecomment-2479998982" - ] - }, - { - "cell_type": "code", - "execution_count": 41, - "metadata": {}, - "outputs": [], - "source": [ - "from sympy import symbols, Piecewise, Eq, Abs, integrate, simplify, expand, cos, pi, Poly, nsimplify, lambdify\n", - "import numpy as np\n", - "import plotly.graph_objects as go\n", - "import plotly\n", - "import matplotlib.pyplot as plt\n", - "from IPython.display import display" - ] - }, - { - "cell_type": "code", - "execution_count": 42, - "metadata": {}, - "outputs": [], - "source": [ - "x = symbols('x', real=True)\n", - "eps_v = symbols(r'\\epsilon_v', positive=True) # Threshold velocity for transition\n", - "mu_s, mu_k = symbols(r'\\mu_s \\mu_k', positive=True) # Static and kinetic friction coefficients" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Friction Mollifier" - ] - }, - { - "cell_type": "code", - "execution_count": 43, - "metadata": {}, - "outputs": [], - "source": [ - "def plot(*fs, title=None, **subs):\n", - " xs = np.linspace(-1, 1, 201)\n", - " subs = {eps_v: 0.5, mu_s: 1, mu_k: 0.1} | subs\n", - " def ys(f):\n", - " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", - " go.Figure(\n", - " [go.Scatter(x=xs, y=ys(f)) for f in fs],\n", - " layout=dict(\n", - " width=800, height=600, template=\"none\",\n", - " xaxis_title=r'$x$', title=title\n", - " )).show()\n" - ] - }, - { - "cell_type": "code", - "execution_count": 44, - "metadata": {}, - "outputs": [], - "source": [ - "def plot_interactive(*fs, title=None, **subs):\n", - " xs = np.linspace(-1, 1, 201)\n", - " \n", - " # Default substitution values with slider-friendly range\n", - " default_subs = {\n", - " eps_v: 0.5, # 0 to 1 range\n", - " mu_s: 1.0, # 0.1 to 2.0 range\n", - " mu_k: 0.1 # 0 to 1 range\n", - " }\n", - " \n", - " # Update default substitutions with any provided substitutions\n", - " subs = default_subs | subs\n", - "\n", - " def ys(f):\n", - " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", - " \n", - " # Create traces for each function\n", - " traces = [go.Scatter(x=xs, y=ys(f), name=f'Function {i+1}') for i, f in enumerate(fs)]\n", - " \n", - " # Create figure with sliders\n", - " fig = go.Figure(data=traces)\n", - " \n", - " # Add sliders for eps_v, mu_s, and mu_k\n", - " fig.update_layout(\n", - " sliders=[\n", - " # Epsilon v slider\n", - " dict(\n", - " active=0,\n", - " currentvalue={\"prefix\": \"ε_v: \"},\n", - " pad={\"t\": 120, \"l\": 200, \"r\": 120},\n", - " steps=[dict(\n", - " method='restyle',\n", - " args=[{'y': [\n", - " np.array([f.subs({x: xi, eps_v: step, mu_s: subs[mu_s], mu_k: subs[mu_k]}) for xi in xs], dtype=float) \n", - " for f in fs\n", - " ]}],\n", - " label=f'{step:.2f}'\n", - " ) for step in np.linspace(0.01, 1, 20)],\n", - " x=0.1, # Positioning the slider\n", - " xanchor='left',\n", - " y=0,\n", - " yanchor='top'\n", - " ),\n", - " # Static friction coefficient slider\n", - " dict(\n", - " active=0,\n", - " currentvalue={\"prefix\": \"μ_s: \"},\n", - " pad={\"t\": 120, \"l\": 200, \"r\": 120}, \n", - " steps=[dict(\n", - " method='restyle',\n", - " args=[{'y': [\n", - " np.array([f.subs({x: xi, eps_v: subs[eps_v], mu_s: step, mu_k: subs[mu_k]}) for xi in xs], dtype=float) \n", - " for f in fs\n", - " ]}],\n", - " label=f'{step:.2f}'\n", - " ) for step in np.linspace(0.1, 2.0, 20)],\n", - " x=0.1, # Positioning the slider\n", - " xanchor='left',\n", - " y=-0.1,\n", - " yanchor='top'\n", - " ),\n", - " # Kinetic friction coefficient slider\n", - " dict(\n", - " active=0,\n", - " currentvalue={\"prefix\": \"μ_k: \"},\n", - " pad={\"t\": 120, \"l\": 200, \"r\": 120},\n", - " steps=[dict(\n", - " method='restyle',\n", - " args=[{'y': [\n", - " np.array([f.subs({x: xi, eps_v: subs[eps_v], mu_s: subs[mu_s], mu_k: step}) for xi in xs], dtype=float) \n", - " for f in fs\n", - " ]}],\n", - " label=f'{step:.2f}'\n", - " ) for step in np.linspace(0.01, 1, 20)],\n", - " x=0.1, # Positioning the slider\n", - " xanchor='left',\n", - " y=-0.2,\n", - " yanchor='top'\n", - " )\n", - " ],\n", - " width=1200, \n", - " height=1200,\n", - " template=\"plotly_white\",\n", - " title=title,\n", - " xaxis_title=r'$x$'\n", - " )\n", - "\n", - " # Improve slider interaction\n", - " fig.update_layout(\n", - " updatemenus=[\n", - " dict(\n", - " type=\"buttons\",\n", - " direction=\"left\",\n", - " showactive=False,\n", - " x=0.6,\n", - " xanchor=\"left\",\n", - " y=1.20,\n", - " yanchor=\"top\",\n", - " pad={\"t\": 200},\n", - " )\n", - " ]\n", - " )\n", - "\n", - " fig.show()" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "The function 𝑓0(𝑥) approximates the absolute value function ∣x∣ but is differentiable at x=0, avoiding sharp changes in force calculations" - ] - }, - { - "cell_type": "code", - "execution_count": 45, - "metadata": {}, - "outputs": [], - "source": [ - "def f0(x):\n", - " \"\"\"Smooth friction mollifier\"\"\"\n", - " return x**2 * (1 - x / (3 * eps_v)) / eps_v + eps_v / 3\n", - "\n", - "sym_f0 = Piecewise(\n", - " (Abs(x), Abs(x) >= eps_v),\n", - " (f0(Abs(x)), Abs(x) < eps_v)\n", - ")" - ] - }, - { - "cell_type": "code", - "execution_count": 46, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle f_{0}(x) = \\begin{cases} \\left|{x}\\right| & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\frac{\\epsilon_{v}}{3} + \\frac{x^{2}}{\\epsilon_{v}} - \\frac{x^{2} \\left|{x}\\right|}{3 \\epsilon_{v}^{2}} & \\text{otherwise} \\end{cases}$" - ], - "text/plain": [ - "Eq(f_{0}(x), Piecewise((Abs(x), \\epsilon_v <= Abs(x)), (\\epsilon_v/3 + x**2/\\epsilon_v - x**2*Abs(x)/(3*\\epsilon_v**2), True)))" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "application/vnd.plotly.v1+json": { - 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" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "sym_f1 = Piecewise(\n", - " (-1, x < -eps_v),\n", - " (-f1(-x), x <= 0),\n", - " (f1(x), x <= eps_v),\n", - " (1, x > eps_v)\n", - ")\n", - "display(Eq(symbols(\"f_{1}(x)\"), expand(sym_f1)))\n", - "plot(sym_f1, title=r\"$f_1(x)$\")\n", - "plot_interactive(sym_f1, title=r\"$f_1(x)$\")" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Smooth Coefficient of Friction\n", - "We can use a polynomial to model a smooth transition from static to kinematic coefficient of friction." - ] - }, - { - "cell_type": "code", - "execution_count": 49, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\mu(x) = \\begin{cases} \\mu_{k} & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\mu_{s} + \\frac{3 \\mu_{k} x^{2}}{\\epsilon_{v}^{2}} - \\frac{3 \\mu_{s} x^{2}}{\\epsilon_{v}^{2}} - \\frac{2 \\mu_{k} x^{2} \\left|{x}\\right|}{\\epsilon_{v}^{3}} + \\frac{2 \\mu_{s} x^{2} \\left|{x}\\right|}{\\epsilon_{v}^{3}} & \\text{otherwise} \\end{cases}$" - 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" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "def mu_f1(x):\n", - " return mu(x) * f1(x)\n", - "\n", - "sym_mu_f1 = Piecewise(\n", - " (-mu_k, x < -eps_v),\n", - " (-mu_f1(-x), x <= 0),\n", - " (mu_f1(x), x <= eps_v),\n", - " (mu_k, x > eps_v)\n", - ")\n", - "display(Eq(symbols(r\"\\mu(x) f_1(x)\"), expand(sym_mu_f1)))\n", - "plot(sym_mu_f1, title=r'$\\mu(x) f_1(x)$')\n", - "plot_interactive(sym_mu_f1, title=r'$\\mu(x) f_1(x)$')" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "The resulting force mollifier is a polynomail in , so we can use sympy to get the exact integral." - ] - }, - { - "cell_type": "code", - "execution_count": 51, - "metadata": {}, - "outputs": [], - "source": [ - "mu_f0 = integrate(mu_f1(x), x)" - ] - }, - { - "cell_type": "code", - "execution_count": 39, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\text{False}$" - ], - "text/plain": [ - "False" - ] - }, - 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" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "# Constant of integration such that mu_f0(eps_v) = mu_k * eps_v\n", - "c = mu_k * eps_v - mu_f0.subs(x, eps_v)\n", - "mu_f0 = mu_f0 + c\n", - "mu_f0 = simplify(mu_f0)\n", - "\n", - "sym_mu_f0 = Piecewise(\n", - " (mu_k * Abs(x), Abs(x) >= eps_v),\n", - " (mu_f0.subs(x, Abs(x)), Abs(x) < eps_v)\n", - ")\n", - "display(Eq(symbols(r\"\\int \\mu(x) f_1(x) \\mathrm{d}x\"), expand(sym_mu_f0)))\n", - "plot(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')\n", - "plot_interactive(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')" - ] - }, - { - "cell_type": "code", - "execution_count": 40, - "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\operatorname{Poly}{\\left( \\frac{\\mu_{k} - \\mu_{s}}{3 \\epsilon_{v}^{5}} x^{6} + \\frac{- 7 \\mu_{k} + 7 \\mu_{s}}{5 \\epsilon_{v}^{4}} x^{5} + \\frac{3 \\mu_{k} - 3 \\mu_{s}}{2 \\epsilon_{v}^{3}} x^{4} - \\frac{\\mu_{s}}{3 \\epsilon_{v}^{2}} x^{3} + \\frac{\\mu_{s}}{\\epsilon_{v}} x^{2} + \\frac{17 \\epsilon_{v} \\mu_{k}}{30} - \\frac{7 \\epsilon_{v} \\mu_{s}}{30}, x, domain=\\mathbb{Z}\\left(\\epsilon_{v}, \\mu_{k}, \\mu_{s}\\right) \\right)}$" - ], - "text/plain": [ - "Poly((\\mu_k - \\mu_s)/(3*\\epsilon_v**5)*x**6 + (-7*\\mu_k + 7*\\mu_s)/(5*\\epsilon_v**4)*x**5 + (3*\\mu_k - 3*\\mu_s)/(2*\\epsilon_v**3)*x**4 - \\mu_s/(3*\\epsilon_v**2)*x**3 + \\mu_s/\\epsilon_v*x**2 + 17*\\epsilon_v*\\mu_k/30 - 7*\\epsilon_v*\\mu_s/30, x, domain='ZZ(\\epsilon_v,\\mu_k,\\mu_s)')" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "poly_mu_f0 = Poly(nsimplify(mu_f0), x)\n", - "display(poly_mu_f0)" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "base", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.12.1" - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Smooth Transition from Static to Kinetic Friction Coefficients\n", + "we will model a smooth transition between the static (μs) and kinetic (μk) coefficients of friction using mathematical functions\n", + "\n", + "Reference to GitHub issue (commented out)\n", + "https://github.com/ipc-sim/ipc-toolkit/pull/139#issuecomment-2479998982" + ] + }, + { + "cell_type": "code", + "execution_count": 41, + "metadata": {}, + "outputs": [], + "source": [ + "from sympy import symbols, Piecewise, Eq, Abs, integrate, simplify, expand, cos, pi, Poly, nsimplify, lambdify\n", + "import numpy as np\n", + "import plotly.graph_objects as go\n", + "import plotly\n", + "import matplotlib.pyplot as plt\n", + "from IPython.display import display" + ] + }, + { + "cell_type": "code", + "execution_count": 42, + "metadata": {}, + "outputs": [], + "source": [ + "x = symbols('x', real=True)\n", + "eps_v = symbols(r'\\epsilon_v', positive=True) # Threshold velocity for transition\n", + "mu_s, mu_k = symbols(r'\\mu_s \\mu_k', positive=True) # Static and kinetic friction coefficients" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Friction Mollifier" + ] + }, + { + "cell_type": "code", + "execution_count": 43, + "metadata": {}, + "outputs": [], + "source": [ + "def plot(*fs, title=None, **subs):\n", + " xs = np.linspace(-1, 1, 201)\n", + " subs = {eps_v: 0.5, mu_s: 1, mu_k: 0.1} | subs\n", + " def ys(f):\n", + " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", + " go.Figure(\n", + " [go.Scatter(x=xs, y=ys(f)) for f in fs],\n", + " layout=dict(\n", + " width=800, height=600, template=\"none\",\n", + " xaxis_title=r'$x$', title=title\n", + " )).show()\n" + ] + }, + { + "cell_type": "code", + "execution_count": 44, + "metadata": {}, + "outputs": [], + "source": [ + "def plot_interactive(*fs, title=None, **subs):\n", + " xs = np.linspace(-1, 1, 201)\n", + " \n", + " # Default substitution values with slider-friendly range\n", + " default_subs = {\n", + " eps_v: 0.5, # 0 to 1 range\n", + " mu_s: 1.0, # 0.1 to 2.0 range\n", + " mu_k: 0.1 # 0 to 1 range\n", + " }\n", + " \n", + " # Update default substitutions with any provided substitutions\n", + " subs = default_subs | subs\n", + "\n", + " def ys(f):\n", + " return np.array([f.subs({x: xi} | subs) for xi in xs], dtype=float)\n", + " \n", + " # Create traces for each function\n", + " traces = [go.Scatter(x=xs, y=ys(f), name=f'Function {i+1}') for i, f in enumerate(fs)]\n", + " \n", + " # Create figure with sliders\n", + " fig = go.Figure(data=traces)\n", + " \n", + " # Add sliders for eps_v, mu_s, and mu_k\n", + " fig.update_layout(\n", + " sliders=[\n", + " # Epsilon v slider\n", + " dict(\n", + " active=0,\n", + " currentvalue={\"prefix\": \"ε_v: \"},\n", + " pad={\"t\": 120, \"l\": 200, \"r\": 120},\n", + " steps=[dict(\n", + " method='restyle',\n", + " args=[{'y': [\n", + " np.array([f.subs({x: xi, eps_v: step, mu_s: subs[mu_s], mu_k: subs[mu_k]}) for xi in xs], dtype=float) \n", + " for f in fs\n", + " ]}],\n", + " label=f'{step:.2f}'\n", + " ) for step in np.linspace(0.01, 1, 20)],\n", + " x=0.1, # Positioning the slider\n", + " xanchor='left',\n", + " y=0,\n", + " yanchor='top'\n", + " ),\n", + " # Static friction coefficient slider\n", + " dict(\n", + " active=0,\n", + " currentvalue={\"prefix\": \"μ_s: \"},\n", + " pad={\"t\": 120, \"l\": 200, \"r\": 120}, \n", + " steps=[dict(\n", + " method='restyle',\n", + " args=[{'y': [\n", + " np.array([f.subs({x: xi, eps_v: subs[eps_v], mu_s: step, mu_k: subs[mu_k]}) for xi in xs], dtype=float) \n", + " for f in fs\n", + " ]}],\n", + " label=f'{step:.2f}'\n", + " ) for step in np.linspace(0.1, 2.0, 20)],\n", + " x=0.1, # Positioning the slider\n", + " xanchor='left',\n", + " y=-0.1,\n", + " yanchor='top'\n", + " ),\n", + " # Kinetic friction coefficient slider\n", + " dict(\n", + " active=0,\n", + " currentvalue={\"prefix\": \"μ_k: \"},\n", + " pad={\"t\": 120, \"l\": 200, \"r\": 120},\n", + " steps=[dict(\n", + " method='restyle',\n", + " args=[{'y': [\n", + " np.array([f.subs({x: xi, eps_v: subs[eps_v], mu_s: subs[mu_s], mu_k: step}) for xi in xs], dtype=float) \n", + " for f in fs\n", + " ]}],\n", + " label=f'{step:.2f}'\n", + " ) for step in np.linspace(0.01, 1, 20)],\n", + " x=0.1, # Positioning the slider\n", + " xanchor='left',\n", + " y=-0.2,\n", + " yanchor='top'\n", + " )\n", + " ],\n", + " width=1200, \n", + " height=1200,\n", + " template=\"plotly_white\",\n", + " title=title,\n", + " xaxis_title=r'$x$'\n", + " )\n", + "\n", + " # Improve slider interaction\n", + " fig.update_layout(\n", + " updatemenus=[\n", + " dict(\n", + " type=\"buttons\",\n", + " direction=\"left\",\n", + " showactive=False,\n", + " x=0.6,\n", + " xanchor=\"left\",\n", + " y=1.20,\n", + " yanchor=\"top\",\n", + " pad={\"t\": 200},\n", + " )\n", + " ]\n", + " )\n", + "\n", + " fig.show()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The function 𝑓0(𝑥) approximates the absolute value function ∣x∣ but is differentiable at x=0, avoiding sharp changes in force calculations" + ] + }, + { + "cell_type": "code", + "execution_count": 45, + "metadata": {}, + "outputs": [], + "source": [ + "def f0(x):\n", + " \"\"\"Smooth friction mollifier\"\"\"\n", + " return x**2 * (1 - x / (3 * eps_v)) / eps_v + eps_v / 3\n", + "\n", + "sym_f0 = Piecewise(\n", + " (Abs(x), Abs(x) >= eps_v),\n", + " (f0(Abs(x)), Abs(x) < eps_v)\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 46, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle f_{0}(x) = \\begin{cases} \\left|{x}\\right| & \\text{for}\\: \\epsilon_{v} \\leq \\left|{x}\\right| \\\\\\frac{\\epsilon_{v}}{3} + \\frac{x^{2}}{\\epsilon_{v}} - \\frac{x^{2} \\left|{x}\\right|}{3 \\epsilon_{v}^{2}} & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(f_{0}(x), Piecewise((Abs(x), \\epsilon_v <= Abs(x)), (\\epsilon_v/3 + x**2/\\epsilon_v - x**2*Abs(x)/(3*\\epsilon_v**2), True)))" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "type": "scatter", + "x": [ + -1, + -0.99, + -0.98, + -0.97, + -0.96, + -0.95, + -0.94, + -0.9299999999999999, + -0.92, + -0.91, + -0.9, + -0.89, + -0.88, + -0.87, + -0.86, + -0.85, + -0.84, + -0.83, + -0.8200000000000001, + -0.81, + -0.8, + -0.79, + -0.78, + -0.77, + -0.76, + -0.75, + -0.74, + -0.73, + -0.72, + -0.71, + -0.7, + -0.69, + -0.6799999999999999, + -0.6699999999999999, + -0.6599999999999999, + -0.6499999999999999, + -0.64, + -0.63, + -0.62, + -0.61, + -0.6, + -0.59, + -0.5800000000000001, + -0.5700000000000001, + -0.56, + -0.55, + -0.54, + 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+ \\frac{2 \\mu_{s} x^{2} \\left|{x}\\right|}{\\epsilon_{v}^{3}} & \\text{otherwise} \\end{cases}$" + ], + "text/plain": [ + "Eq(\\mu(x), Piecewise((\\mu_k, \\epsilon_v <= Abs(x)), (\\mu_s + 3*\\mu_k*x**2/\\epsilon_v**2 - 3*\\mu_s*x**2/\\epsilon_v**2 - 2*\\mu_k*x**2*Abs(x)/\\epsilon_v**3 + 2*\\mu_s*x**2*Abs(x)/\\epsilon_v**3, True)))" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "type": "scatter", + "x": [ + -1, + -0.99, + -0.98, + -0.97, + -0.96, + -0.95, + -0.94, + -0.9299999999999999, + -0.92, + -0.91, + -0.9, + -0.89, + -0.88, + -0.87, + -0.86, + -0.85, + -0.84, + -0.83, + -0.8200000000000001, + -0.81, + -0.8, + -0.79, + -0.78, + -0.77, + -0.76, + -0.75, + -0.74, + -0.73, + -0.72, + -0.71, + -0.7, + -0.69, + -0.6799999999999999, + -0.6699999999999999, + -0.6599999999999999, + -0.6499999999999999, + -0.64, + -0.63, + -0.62, + -0.61, + 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" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "def mu_f1(x):\n", + " return mu(x) * f1(x)\n", + "\n", + "sym_mu_f1 = Piecewise(\n", + " (-mu_k, x < -eps_v),\n", + " (-mu_f1(-x), x <= 0),\n", + " (mu_f1(x), x <= eps_v),\n", + " (mu_k, x > eps_v)\n", + ")\n", + "display(Eq(symbols(r\"\\mu(x) f_1(x)\"), expand(sym_mu_f1)))\n", + "plot(sym_mu_f1, title=r'$\\mu(x) f_1(x)$')\n", + "plot_interactive(sym_mu_f1, title=r'$\\mu(x) f_1(x)$')" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The resulting force mollifier is a polynomail in , so we can use sympy to get the exact integral." + ] + }, + { + "cell_type": "code", + "execution_count": 51, + "metadata": {}, + "outputs": [], + "source": [ + "mu_f0 = integrate(mu_f1(x), x)" + ] + }, + { + "cell_type": "code", + "execution_count": 39, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\text{False}$" + ], + "text/plain": [ + "False" + ] + }, + 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f_1(x) \\mathrm{d}x$" + }, + "updatemenus": [ + { + "buttons": [ + { + "args": [ + { + "sliders[0].active": 0, + "sliders[1].active": 0, + "sliders[2].active": 0 + } + ], + "label": "Reset", + "method": "relayout" + } + ], + "direction": "left", + "pad": { + "t": 200 + }, + "showactive": false, + "type": "buttons", + "x": 0.6, + "xanchor": "left", + "y": 1.2, + "yanchor": "top" + } + ], + "width": 1200, + "xaxis": { + "title": { + "text": "$x$" + } + } + } + }, + "text/html": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Constant of integration such that mu_f0(eps_v) = mu_k * eps_v\n", + "c = mu_k * eps_v - mu_f0.subs(x, eps_v)\n", + "mu_f0 = mu_f0 + c\n", + "mu_f0 = simplify(mu_f0)\n", + "\n", + "sym_mu_f0 = Piecewise(\n", + " (mu_k * Abs(x), Abs(x) >= eps_v),\n", + " (mu_f0.subs(x, Abs(x)), Abs(x) < eps_v)\n", + ")\n", + "display(Eq(symbols(r\"\\int \\mu(x) f_1(x) \\mathrm{d}x\"), expand(sym_mu_f0)))\n", + "plot(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')\n", + "plot_interactive(sym_mu_f0, title=r'$\\int \\mu(x) f_1(x) \\mathrm{d}x$')" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\operatorname{Poly}{\\left( \\frac{\\mu_{k} - \\mu_{s}}{3 \\epsilon_{v}^{5}} x^{6} + \\frac{- 7 \\mu_{k} + 7 \\mu_{s}}{5 \\epsilon_{v}^{4}} x^{5} + \\frac{3 \\mu_{k} - 3 \\mu_{s}}{2 \\epsilon_{v}^{3}} x^{4} - \\frac{\\mu_{s}}{3 \\epsilon_{v}^{2}} x^{3} + \\frac{\\mu_{s}}{\\epsilon_{v}} x^{2} + \\frac{17 \\epsilon_{v} \\mu_{k}}{30} - \\frac{7 \\epsilon_{v} \\mu_{s}}{30}, x, domain=\\mathbb{Z}\\left(\\epsilon_{v}, \\mu_{k}, \\mu_{s}\\right) \\right)}$" + ], + "text/plain": [ + "Poly((\\mu_k - \\mu_s)/(3*\\epsilon_v**5)*x**6 + (-7*\\mu_k + 7*\\mu_s)/(5*\\epsilon_v**4)*x**5 + (3*\\mu_k - 3*\\mu_s)/(2*\\epsilon_v**3)*x**4 - \\mu_s/(3*\\epsilon_v**2)*x**3 + \\mu_s/\\epsilon_v*x**2 + 17*\\epsilon_v*\\mu_k/30 - 7*\\epsilon_v*\\mu_s/30, x, domain='ZZ(\\epsilon_v,\\mu_k,\\mu_s)')" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "poly_mu_f0 = Poly(nsimplify(mu_f0), x)\n", + "display(poly_mu_f0)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "base", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.1" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/python/src/ccd/additive_ccd.cpp b/python/src/ccd/additive_ccd.cpp index f9498b945..9b026d666 100644 --- a/python/src/ccd/additive_ccd.cpp +++ b/python/src/ccd/additive_ccd.cpp @@ -1,29 +1,29 @@ -#include - -#include - -namespace py = pybind11; -using namespace ipc; - -void define_additive_ccd(py::module_& m) -{ - py::class_(m, "AdditiveCCD") - .def( - py::init(), - R"ipc_Qu8mg5v7( - Construct a new AdditiveCCD object. - - Parameters: - conservative_rescaling: The conservative rescaling of the time of impact. - )ipc_Qu8mg5v7", - py::arg("max_iterations") = AdditiveCCD::DEFAULT_MAX_ITERATIONS, - py::arg("conservative_rescaling") = - AdditiveCCD::DEFAULT_CONSERVATIVE_RESCALING) - .def_readonly_static( - "DEFAULT_CONSERVATIVE_RESCALING", - &AdditiveCCD::DEFAULT_CONSERVATIVE_RESCALING, - "The default conservative rescaling value used to avoid taking steps exactly to impact. Value choosen to based on [Li et al. 2021].") - .def_readwrite( - "conservative_rescaling", &AdditiveCCD::conservative_rescaling, - "The conservative rescaling value used to avoid taking steps exactly to impact."); -} +#include + +#include + +namespace py = pybind11; +using namespace ipc; + +void define_additive_ccd(py::module_& m) +{ + py::class_(m, "AdditiveCCD") + .def( + py::init(), + R"ipc_Qu8mg5v7( + Construct a new AdditiveCCD object. + + Parameters: + conservative_rescaling: The conservative rescaling of the time of impact. + )ipc_Qu8mg5v7", + py::arg("max_iterations") = AdditiveCCD::DEFAULT_MAX_ITERATIONS, + py::arg("conservative_rescaling") = + AdditiveCCD::DEFAULT_CONSERVATIVE_RESCALING) + .def_readonly_static( + "DEFAULT_CONSERVATIVE_RESCALING", + &AdditiveCCD::DEFAULT_CONSERVATIVE_RESCALING, + "The default conservative rescaling value used to avoid taking steps exactly to impact. Value choosen to based on [Li et al. 2021].") + .def_readwrite( + "conservative_rescaling", &AdditiveCCD::conservative_rescaling, + "The conservative rescaling value used to avoid taking steps exactly to impact."); +} diff --git a/src/ipc/candidates/candidates.cpp b/src/ipc/candidates/candidates.cpp index 589b554aa..621b43951 100644 --- a/src/ipc/candidates/candidates.cpp +++ b/src/ipc/candidates/candidates.cpp @@ -1,410 +1,410 @@ -#include "candidates.hpp" - -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -namespace ipc { - -namespace { - // Pad codim_edges because remove_unreferenced requires a N×3 matrix. - Eigen::MatrixXi pad_edges(const Eigen::MatrixXi& E) - { - assert(E.cols() == 2); - Eigen::MatrixXi E_padded(E.rows(), 3); - E_padded.leftCols(2) = E; - E_padded.col(2) = E.col(1); - return E_padded; - } - - Eigen::MatrixXi unpad_edges(const Eigen::MatrixXi& E_padded) - { - return E_padded.leftCols(2); - } -} // namespace - -void Candidates::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const double inflation_radius, - const BroadPhaseMethod broad_phase_method) -{ - const int dim = vertices.cols(); - - clear(); - - std::shared_ptr broad_phase = - BroadPhase::make_broad_phase(broad_phase_method); - broad_phase->can_vertices_collide = mesh.can_collide; - broad_phase->build(vertices, mesh.edges(), mesh.faces(), inflation_radius); - broad_phase->detect_collision_candidates(dim, *this); - - // Codim. vertices to codim. vertices: - if (mesh.num_codim_vertices()) { - broad_phase->clear(); - broad_phase->build( - vertices(mesh.codim_vertices(), Eigen::all), // - Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); - - broad_phase->detect_vertex_vertex_candidates(vv_candidates); - for (auto& [vi, vj, mat_pair] : vv_candidates) { - vi = mesh.codim_vertices()[vi]; - vj = mesh.codim_vertices()[vj]; - } - } - - // Codim. edges to codim. vertices: - // Only need this in 3D because in 2D, the codim. edges are the same as the - // edges of the boundary. Only need codim. edge to codim. vertex because - // codim. edge to non-codim. vertex is the same as edge-edge or face-vertex. - if (dim == 3 && mesh.num_codim_vertices() && mesh.num_codim_edges()) { - // Extract the vertices of the codim. edges - Eigen::MatrixXd CE_V; // vertices of codim. edges - Eigen::MatrixXi CE; // codim. edges (indices into CEV) - { - Eigen::VectorXi _I, _J; // unused mappings - igl::remove_unreferenced( - vertices, - pad_edges(mesh.edges()(mesh.codim_edges(), Eigen::all)), CE_V, - CE, _I, _J); - CE = unpad_edges(CE); - } - - const size_t nCV = mesh.num_codim_vertices(); - Eigen::MatrixXd V(nCV + CE_V.rows(), dim); - V.topRows(nCV) = vertices(mesh.codim_vertices(), Eigen::all); - V.bottomRows(CE_V.rows()) = CE_V; - - CE.array() += nCV; // Offset indices to account for codim. vertices - - // TODO: Can we reuse the broad phase from above? - broad_phase->clear(); - broad_phase->can_vertices_collide = [&](size_t vi, size_t vj) { - // Ignore c-edge to c-edge and c-vertex to c-vertex - return ((vi < nCV) ^ (vj < nCV)) && mesh.can_collide(vi, vj); - }; - broad_phase->build(V, CE, Eigen::MatrixXi(), inflation_radius); - - broad_phase->detect_edge_vertex_candidates(ev_candidates); - for (auto& [ei, vi, mat_pair] : ev_candidates) { - assert(vi < mesh.codim_vertices().size()); - ei = mesh.codim_edges()[ei]; // Map back to mesh.edges - vi = mesh.codim_vertices()[vi]; // Map back to vertices - } - } - -} - -void Candidates::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double inflation_radius, - const BroadPhaseMethod broad_phase_method) -{ - const int dim = vertices_t0.cols(); - - clear(); - - std::shared_ptr broad_phase = - BroadPhase::make_broad_phase(broad_phase_method); - broad_phase->can_vertices_collide = mesh.can_collide; - broad_phase->build( - vertices_t0, vertices_t1, mesh.edges(), mesh.faces(), inflation_radius); - broad_phase->detect_collision_candidates(dim, *this); - - // Codim. vertices to codim. vertices: - if (mesh.num_codim_vertices()) { - broad_phase->clear(); - broad_phase->build( - vertices_t0(mesh.codim_vertices(), Eigen::all), - vertices_t1(mesh.codim_vertices(), Eigen::all), // - Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); - - broad_phase->detect_vertex_vertex_candidates(vv_candidates); - for (auto& [vi, vj, mat_pair] : vv_candidates) { - vi = mesh.codim_vertices()[vi]; - vj = mesh.codim_vertices()[vj]; - } - } - - // Codim. edges to codim. vertices: - // Only need this in 3D because in 2D, the codim. edges are the same as the - // edges of the boundary. Only need codim. edge to codim. vertex because - // codim. edge to non-codim. vertex is the same as edge-edge or face-vertex. - if (dim == 3 && mesh.num_codim_vertices() && mesh.num_codim_edges()) { - // Extract the vertices of the codim. edges - Eigen::MatrixXd CE_V_t0, CE_V_t1; // vertices of codim. edges - Eigen::MatrixXi CE; // codim. edges (indices into CEV) - { - Eigen::VectorXi _I, J; - igl::remove_unreferenced( - vertices_t0, - pad_edges(mesh.edges()(mesh.codim_edges(), Eigen::all)), - CE_V_t0, CE, _I, J); - CE_V_t1 = vertices_t1(J, Eigen::all); - CE = unpad_edges(CE); - } - - const size_t nCV = mesh.num_codim_vertices(); - - Eigen::MatrixXd V_t0(nCV + CE_V_t0.rows(), dim); - V_t0.topRows(nCV) = vertices_t0(mesh.codim_vertices(), Eigen::all); - V_t0.bottomRows(CE_V_t0.rows()) = CE_V_t0; - - Eigen::MatrixXd V_t1(nCV + CE_V_t1.rows(), dim); - V_t1.topRows(nCV) = vertices_t1(mesh.codim_vertices(), Eigen::all); - V_t1.bottomRows(CE_V_t1.rows()) = CE_V_t1; - - CE.array() += nCV; // Offset indices to account for codim. vertices - - // TODO: Can we reuse the broad phase from above? - broad_phase->clear(); - broad_phase->can_vertices_collide = [&](size_t vi, size_t vj) { - // Ignore c-edge to c-edge and c-vertex to c-vertex - return ((vi < nCV) ^ (vj < nCV)) && mesh.can_collide(vi, vj); - }; - broad_phase->build(V_t0, V_t1, CE, Eigen::MatrixXi(), inflation_radius); - - broad_phase->detect_edge_vertex_candidates(ev_candidates); - for (auto& [ei, vi, mat_pair] : ev_candidates) { - assert(vi < mesh.codim_vertices().size()); - ei = mesh.codim_edges()[ei]; // Map back to mesh.edges - vi = mesh.codim_vertices()[vi]; // Map back to vertices - } - } -} - -bool Candidates::is_step_collision_free( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double min_distance, - const NarrowPhaseCCD& narrow_phase_ccd) const -{ - assert(vertices_t0.rows() == mesh.num_vertices()); - assert(vertices_t1.rows() == mesh.num_vertices()); - - // Narrow phase - for (size_t i = 0; i < size(); i++) { - const ContinuousCollisionCandidate& candidate = (*this)[i]; - - double toi; - bool is_collision = candidate.ccd( - candidate.dof(vertices_t0, mesh.edges(), mesh.faces()), - candidate.dof(vertices_t1, mesh.edges(), mesh.faces()), // - toi, min_distance, /*tmax=*/1.0, narrow_phase_ccd); - - if (is_collision) { - return false; - } - } - - return true; -} - -double Candidates::compute_collision_free_stepsize( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double min_distance, - const NarrowPhaseCCD& narrow_phase_ccd) const -{ - assert(vertices_t0.rows() == mesh.num_vertices()); - assert(vertices_t1.rows() == mesh.num_vertices()); - - if (empty()) { - return 1; // No possible collisions, so can take full step. - } - - double earliest_toi = 1; - std::shared_mutex earliest_toi_mutex; - - tbb::parallel_for( - tbb::blocked_range(0, size()), - [&](tbb::blocked_range r) { - for (size_t i = r.begin(); i < r.end(); i++) { - // Use the mutex to read as well in case writing double takes - // more than one clock cycle. - double tmax; - { - std::shared_lock lock(earliest_toi_mutex); - tmax = earliest_toi; - } - - const ContinuousCollisionCandidate& candidate = (*this)[i]; - - double toi = std::numeric_limits::infinity(); // output - const bool are_colliding = candidate.ccd( - candidate.dof(vertices_t0, mesh.edges(), mesh.faces()), - candidate.dof(vertices_t1, mesh.edges(), mesh.faces()), // - toi, min_distance, tmax, narrow_phase_ccd); - - if (are_colliding) { - std::unique_lock lock(earliest_toi_mutex); - if (toi < earliest_toi) { - earliest_toi = toi; - } - } - } - }); - - assert(earliest_toi >= 0 && earliest_toi <= 1.0); - return earliest_toi; -} - -double Candidates::compute_noncandidate_conservative_stepsize( - const CollisionMesh& mesh, - const Eigen::MatrixXd& displacements, - const double dhat) const -{ - assert(displacements.rows() == mesh.num_vertices()); - - if (empty()) { - return 1; // No possible collisions, so can take full step. - } - - const auto& E = mesh.edges(); - const auto& F = mesh.faces(); - - std::vector is_vertex_a_candidates(mesh.num_vertices(), false); - for (size_t i = 0; i < size(); i++) { - for (const long vid : (*this)[i].vertex_ids(E, F)) { - if (vid < 0) { - break; - } - is_vertex_a_candidates[vid] = true; - } - } - - double max_displacement = 0; - for (size_t i = 0; i < displacements.rows(); i++) { - if (!is_vertex_a_candidates[i]) { - continue; - } - max_displacement = - std::max(max_displacement, displacements.row(i).norm()); - } - - return 0.5 * dhat / max_displacement; -} - -double Candidates::compute_cfl_stepsize( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double dhat, - const BroadPhaseMethod broad_phase_method, - const double min_distance, - const NarrowPhaseCCD& narrow_phase_ccd) const -{ - assert(vertices_t0.rows() == mesh.num_vertices()); - assert(vertices_t1.rows() == mesh.num_vertices()); - - const double alpha_C = this->compute_collision_free_stepsize( - mesh, vertices_t0, vertices_t1, min_distance, narrow_phase_ccd); - - const double alpha_F = this->compute_noncandidate_conservative_stepsize( - mesh, vertices_t1 - vertices_t0, dhat); - - // If alpha_F < 0.5 * alpha_C, then we should do full CCD. - if (alpha_F < 0.5 * alpha_C) { - return ipc::compute_collision_free_stepsize( - mesh, vertices_t0, vertices_t1, min_distance, broad_phase_method, - narrow_phase_ccd); - } - return std::min(alpha_C, alpha_F); -} - -size_t Candidates::size() const -{ - return vv_candidates.size() + ev_candidates.size() + ee_candidates.size() - + fv_candidates.size(); -} - -bool Candidates::empty() const -{ - return vv_candidates.empty() && ev_candidates.empty() - && ee_candidates.empty() && fv_candidates.empty(); -} - -void Candidates::clear() -{ - vv_candidates.clear(); - ev_candidates.clear(); - ee_candidates.clear(); - fv_candidates.clear(); -} - -ContinuousCollisionCandidate& Candidates::operator[](size_t i) -{ - if (i < vv_candidates.size()) { - return vv_candidates[i]; - } - i -= vv_candidates.size(); - if (i < ev_candidates.size()) { - return ev_candidates[i]; - } - i -= ev_candidates.size(); - if (i < ee_candidates.size()) { - return ee_candidates[i]; - } - i -= ee_candidates.size(); - if (i < fv_candidates.size()) { - return fv_candidates[i]; - } - throw std::out_of_range("Candidate index is out of range!"); -} - -const ContinuousCollisionCandidate& Candidates::operator[](size_t i) const -{ - if (i < vv_candidates.size()) { - return vv_candidates[i]; - } - i -= vv_candidates.size(); - if (i < ev_candidates.size()) { - return ev_candidates[i]; - } - i -= ev_candidates.size(); - if (i < ee_candidates.size()) { - return ee_candidates[i]; - } - i -= ee_candidates.size(); - if (i < fv_candidates.size()) { - return fv_candidates[i]; - } - throw std::out_of_range("Candidate index is out of range!"); -} - -bool Candidates::save_obj( - const std::string& filename, - const Eigen::MatrixXd& vertices, - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces) const -{ - std::ofstream obj(filename, std::ios::out); - if (!obj.is_open()) { - return false; - } - int v_offset = 0; - ipc::save_obj(obj, vertices, edges, faces, vv_candidates, v_offset); - v_offset += vv_candidates.size() * 2; - ipc::save_obj(obj, vertices, edges, faces, ev_candidates, v_offset); - v_offset += ev_candidates.size() * 3; - ipc::save_obj(obj, vertices, edges, faces, ee_candidates, v_offset); - v_offset += ee_candidates.size() * 4; - ipc::save_obj(obj, vertices, faces, faces, fv_candidates, v_offset); - return true; -} - -} // namespace ipc - - +#include "candidates.hpp" + +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +namespace ipc { + +namespace { + // Pad codim_edges because remove_unreferenced requires a N×3 matrix. + Eigen::MatrixXi pad_edges(const Eigen::MatrixXi& E) + { + assert(E.cols() == 2); + Eigen::MatrixXi E_padded(E.rows(), 3); + E_padded.leftCols(2) = E; + E_padded.col(2) = E.col(1); + return E_padded; + } + + Eigen::MatrixXi unpad_edges(const Eigen::MatrixXi& E_padded) + { + return E_padded.leftCols(2); + } +} // namespace + +void Candidates::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const double inflation_radius, + const BroadPhaseMethod broad_phase_method) +{ + const int dim = vertices.cols(); + + clear(); + + std::shared_ptr broad_phase = + BroadPhase::make_broad_phase(broad_phase_method); + broad_phase->can_vertices_collide = mesh.can_collide; + broad_phase->build(vertices, mesh.edges(), mesh.faces(), inflation_radius); + broad_phase->detect_collision_candidates(dim, *this); + + // Codim. vertices to codim. vertices: + if (mesh.num_codim_vertices()) { + broad_phase->clear(); + broad_phase->build( + vertices(mesh.codim_vertices(), Eigen::all), // + Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); + + broad_phase->detect_vertex_vertex_candidates(vv_candidates); + for (auto& [vi, vj, mat_pair] : vv_candidates) { + vi = mesh.codim_vertices()[vi]; + vj = mesh.codim_vertices()[vj]; + } + } + + // Codim. edges to codim. vertices: + // Only need this in 3D because in 2D, the codim. edges are the same as the + // edges of the boundary. Only need codim. edge to codim. vertex because + // codim. edge to non-codim. vertex is the same as edge-edge or face-vertex. + if (dim == 3 && mesh.num_codim_vertices() && mesh.num_codim_edges()) { + // Extract the vertices of the codim. edges + Eigen::MatrixXd CE_V; // vertices of codim. edges + Eigen::MatrixXi CE; // codim. edges (indices into CEV) + { + Eigen::VectorXi _I, _J; // unused mappings + igl::remove_unreferenced( + vertices, + pad_edges(mesh.edges()(mesh.codim_edges(), Eigen::all)), CE_V, + CE, _I, _J); + CE = unpad_edges(CE); + } + + const size_t nCV = mesh.num_codim_vertices(); + Eigen::MatrixXd V(nCV + CE_V.rows(), dim); + V.topRows(nCV) = vertices(mesh.codim_vertices(), Eigen::all); + V.bottomRows(CE_V.rows()) = CE_V; + + CE.array() += nCV; // Offset indices to account for codim. vertices + + // TODO: Can we reuse the broad phase from above? + broad_phase->clear(); + broad_phase->can_vertices_collide = [&](size_t vi, size_t vj) { + // Ignore c-edge to c-edge and c-vertex to c-vertex + return ((vi < nCV) ^ (vj < nCV)) && mesh.can_collide(vi, vj); + }; + broad_phase->build(V, CE, Eigen::MatrixXi(), inflation_radius); + + broad_phase->detect_edge_vertex_candidates(ev_candidates); + for (auto& [ei, vi, mat_pair] : ev_candidates) { + assert(vi < mesh.codim_vertices().size()); + ei = mesh.codim_edges()[ei]; // Map back to mesh.edges + vi = mesh.codim_vertices()[vi]; // Map back to vertices + } + } + +} + +void Candidates::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double inflation_radius, + const BroadPhaseMethod broad_phase_method) +{ + const int dim = vertices_t0.cols(); + + clear(); + + std::shared_ptr broad_phase = + BroadPhase::make_broad_phase(broad_phase_method); + broad_phase->can_vertices_collide = mesh.can_collide; + broad_phase->build( + vertices_t0, vertices_t1, mesh.edges(), mesh.faces(), inflation_radius); + broad_phase->detect_collision_candidates(dim, *this); + + // Codim. vertices to codim. vertices: + if (mesh.num_codim_vertices()) { + broad_phase->clear(); + broad_phase->build( + vertices_t0(mesh.codim_vertices(), Eigen::all), + vertices_t1(mesh.codim_vertices(), Eigen::all), // + Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); + + broad_phase->detect_vertex_vertex_candidates(vv_candidates); + for (auto& [vi, vj, mat_pair] : vv_candidates) { + vi = mesh.codim_vertices()[vi]; + vj = mesh.codim_vertices()[vj]; + } + } + + // Codim. edges to codim. vertices: + // Only need this in 3D because in 2D, the codim. edges are the same as the + // edges of the boundary. Only need codim. edge to codim. vertex because + // codim. edge to non-codim. vertex is the same as edge-edge or face-vertex. + if (dim == 3 && mesh.num_codim_vertices() && mesh.num_codim_edges()) { + // Extract the vertices of the codim. edges + Eigen::MatrixXd CE_V_t0, CE_V_t1; // vertices of codim. edges + Eigen::MatrixXi CE; // codim. edges (indices into CEV) + { + Eigen::VectorXi _I, J; + igl::remove_unreferenced( + vertices_t0, + pad_edges(mesh.edges()(mesh.codim_edges(), Eigen::all)), + CE_V_t0, CE, _I, J); + CE_V_t1 = vertices_t1(J, Eigen::all); + CE = unpad_edges(CE); + } + + const size_t nCV = mesh.num_codim_vertices(); + + Eigen::MatrixXd V_t0(nCV + CE_V_t0.rows(), dim); + V_t0.topRows(nCV) = vertices_t0(mesh.codim_vertices(), Eigen::all); + V_t0.bottomRows(CE_V_t0.rows()) = CE_V_t0; + + Eigen::MatrixXd V_t1(nCV + CE_V_t1.rows(), dim); + V_t1.topRows(nCV) = vertices_t1(mesh.codim_vertices(), Eigen::all); + V_t1.bottomRows(CE_V_t1.rows()) = CE_V_t1; + + CE.array() += nCV; // Offset indices to account for codim. vertices + + // TODO: Can we reuse the broad phase from above? + broad_phase->clear(); + broad_phase->can_vertices_collide = [&](size_t vi, size_t vj) { + // Ignore c-edge to c-edge and c-vertex to c-vertex + return ((vi < nCV) ^ (vj < nCV)) && mesh.can_collide(vi, vj); + }; + broad_phase->build(V_t0, V_t1, CE, Eigen::MatrixXi(), inflation_radius); + + broad_phase->detect_edge_vertex_candidates(ev_candidates); + for (auto& [ei, vi, mat_pair] : ev_candidates) { + assert(vi < mesh.codim_vertices().size()); + ei = mesh.codim_edges()[ei]; // Map back to mesh.edges + vi = mesh.codim_vertices()[vi]; // Map back to vertices + } + } +} + +bool Candidates::is_step_collision_free( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double min_distance, + const NarrowPhaseCCD& narrow_phase_ccd) const +{ + assert(vertices_t0.rows() == mesh.num_vertices()); + assert(vertices_t1.rows() == mesh.num_vertices()); + + // Narrow phase + for (size_t i = 0; i < size(); i++) { + const ContinuousCollisionCandidate& candidate = (*this)[i]; + + double toi; + bool is_collision = candidate.ccd( + candidate.dof(vertices_t0, mesh.edges(), mesh.faces()), + candidate.dof(vertices_t1, mesh.edges(), mesh.faces()), // + toi, min_distance, /*tmax=*/1.0, narrow_phase_ccd); + + if (is_collision) { + return false; + } + } + + return true; +} + +double Candidates::compute_collision_free_stepsize( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double min_distance, + const NarrowPhaseCCD& narrow_phase_ccd) const +{ + assert(vertices_t0.rows() == mesh.num_vertices()); + assert(vertices_t1.rows() == mesh.num_vertices()); + + if (empty()) { + return 1; // No possible collisions, so can take full step. + } + + double earliest_toi = 1; + std::shared_mutex earliest_toi_mutex; + + tbb::parallel_for( + tbb::blocked_range(0, size()), + [&](tbb::blocked_range r) { + for (size_t i = r.begin(); i < r.end(); i++) { + // Use the mutex to read as well in case writing double takes + // more than one clock cycle. + double tmax; + { + std::shared_lock lock(earliest_toi_mutex); + tmax = earliest_toi; + } + + const ContinuousCollisionCandidate& candidate = (*this)[i]; + + double toi = std::numeric_limits::infinity(); // output + const bool are_colliding = candidate.ccd( + candidate.dof(vertices_t0, mesh.edges(), mesh.faces()), + candidate.dof(vertices_t1, mesh.edges(), mesh.faces()), // + toi, min_distance, tmax, narrow_phase_ccd); + + if (are_colliding) { + std::unique_lock lock(earliest_toi_mutex); + if (toi < earliest_toi) { + earliest_toi = toi; + } + } + } + }); + + assert(earliest_toi >= 0 && earliest_toi <= 1.0); + return earliest_toi; +} + +double Candidates::compute_noncandidate_conservative_stepsize( + const CollisionMesh& mesh, + const Eigen::MatrixXd& displacements, + const double dhat) const +{ + assert(displacements.rows() == mesh.num_vertices()); + + if (empty()) { + return 1; // No possible collisions, so can take full step. + } + + const auto& E = mesh.edges(); + const auto& F = mesh.faces(); + + std::vector is_vertex_a_candidates(mesh.num_vertices(), false); + for (size_t i = 0; i < size(); i++) { + for (const long vid : (*this)[i].vertex_ids(E, F)) { + if (vid < 0) { + break; + } + is_vertex_a_candidates[vid] = true; + } + } + + double max_displacement = 0; + for (size_t i = 0; i < displacements.rows(); i++) { + if (!is_vertex_a_candidates[i]) { + continue; + } + max_displacement = + std::max(max_displacement, displacements.row(i).norm()); + } + + return 0.5 * dhat / max_displacement; +} + +double Candidates::compute_cfl_stepsize( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double dhat, + const BroadPhaseMethod broad_phase_method, + const double min_distance, + const NarrowPhaseCCD& narrow_phase_ccd) const +{ + assert(vertices_t0.rows() == mesh.num_vertices()); + assert(vertices_t1.rows() == mesh.num_vertices()); + + const double alpha_C = this->compute_collision_free_stepsize( + mesh, vertices_t0, vertices_t1, min_distance, narrow_phase_ccd); + + const double alpha_F = this->compute_noncandidate_conservative_stepsize( + mesh, vertices_t1 - vertices_t0, dhat); + + // If alpha_F < 0.5 * alpha_C, then we should do full CCD. + if (alpha_F < 0.5 * alpha_C) { + return ipc::compute_collision_free_stepsize( + mesh, vertices_t0, vertices_t1, min_distance, broad_phase_method, + narrow_phase_ccd); + } + return std::min(alpha_C, alpha_F); +} + +size_t Candidates::size() const +{ + return vv_candidates.size() + ev_candidates.size() + ee_candidates.size() + + fv_candidates.size(); +} + +bool Candidates::empty() const +{ + return vv_candidates.empty() && ev_candidates.empty() + && ee_candidates.empty() && fv_candidates.empty(); +} + +void Candidates::clear() +{ + vv_candidates.clear(); + ev_candidates.clear(); + ee_candidates.clear(); + fv_candidates.clear(); +} + +ContinuousCollisionCandidate& Candidates::operator[](size_t i) +{ + if (i < vv_candidates.size()) { + return vv_candidates[i]; + } + i -= vv_candidates.size(); + if (i < ev_candidates.size()) { + return ev_candidates[i]; + } + i -= ev_candidates.size(); + if (i < ee_candidates.size()) { + return ee_candidates[i]; + } + i -= ee_candidates.size(); + if (i < fv_candidates.size()) { + return fv_candidates[i]; + } + throw std::out_of_range("Candidate index is out of range!"); +} + +const ContinuousCollisionCandidate& Candidates::operator[](size_t i) const +{ + if (i < vv_candidates.size()) { + return vv_candidates[i]; + } + i -= vv_candidates.size(); + if (i < ev_candidates.size()) { + return ev_candidates[i]; + } + i -= ev_candidates.size(); + if (i < ee_candidates.size()) { + return ee_candidates[i]; + } + i -= ee_candidates.size(); + if (i < fv_candidates.size()) { + return fv_candidates[i]; + } + throw std::out_of_range("Candidate index is out of range!"); +} + +bool Candidates::save_obj( + const std::string& filename, + const Eigen::MatrixXd& vertices, + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces) const +{ + std::ofstream obj(filename, std::ios::out); + if (!obj.is_open()) { + return false; + } + int v_offset = 0; + ipc::save_obj(obj, vertices, edges, faces, vv_candidates, v_offset); + v_offset += vv_candidates.size() * 2; + ipc::save_obj(obj, vertices, edges, faces, ev_candidates, v_offset); + v_offset += ev_candidates.size() * 3; + ipc::save_obj(obj, vertices, edges, faces, ee_candidates, v_offset); + v_offset += ee_candidates.size() * 4; + ipc::save_obj(obj, vertices, faces, faces, fv_candidates, v_offset); + return true; +} + +} // namespace ipc + + diff --git a/src/ipc/candidates/candidates.hpp b/src/ipc/candidates/candidates.hpp index 4b2b923e2..e6e033848 100644 --- a/src/ipc/candidates/candidates.hpp +++ b/src/ipc/candidates/candidates.hpp @@ -1,125 +1,125 @@ -#pragma once - -#include -#include -#include -#include -#include - -#include - -#include - - -namespace ipc { - -class Candidates { -public: - Candidates() = default; - - /// @brief Initialize the set of discrete collision detection candidates. - /// @param mesh The surface of the collision mesh. - /// @param vertices Surface vertex positions (rowwise). - /// @param inflation_radius Amount to inflate the bounding boxes. - /// @param broad_phase_method Broad phase method to use. - void build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const double inflation_radius = 0, - const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD); - - /// @brief Initialize the set of continuous collision detection candidates. - /// @note Assumes the trajectory is linear. - /// @param mesh The surface of the collision mesh. - /// @param vertices_t0 Surface vertex starting positions (rowwise). - /// @param vertices_t1 Surface vertex ending positions (rowwise). - /// @param inflation_radius Amount to inflate the bounding boxes. - /// @param broad_phase_method Broad phase method to use. - void build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double inflation_radius = 0, - const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD); - - size_t size() const; - - bool empty() const; - - void clear(); - - ContinuousCollisionCandidate& operator[](size_t i); - const ContinuousCollisionCandidate& operator[](size_t i) const; - - /// @brief Determine if the step is collision free from the set of candidates. - /// @note Assumes the trajectory is linear. - /// @param mesh The collision mesh. - /// @param vertices_t0 Surface vertex starting positions (rowwise). - /// @param vertices_t1 Surface vertex ending positions (rowwise). - /// @param min_distance The minimum distance allowable between any two elements. - /// @param narrow_phase_ccd The narrow phase CCD algorithm to use. - /// @returns True if any collisions occur. - bool is_step_collision_free( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double min_distance = 0.0, - const NarrowPhaseCCD& narrow_phase_ccd = - DEFAULT_NARROW_PHASE_CCD) const; - - /// @brief Computes a maximal step size that is collision free using the set of collision candidates. - /// @note Assumes the trajectory is linear. - /// @param mesh The collision mesh. - /// @param vertices_t0 Surface vertex starting positions (rowwise). Assumed to be intersection free. - /// @param vertices_t1 Surface vertex ending positions (rowwise). - /// @param min_distance The minimum distance allowable between any two elements. - /// @param narrow_phase_ccd The narrow phase CCD algorithm to use. - /// @returns A step-size \f$\in [0, 1]\f$ that is collision free. A value of 1.0 if a full step and 0.0 is no step. - double compute_collision_free_stepsize( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double min_distance = 0.0, - const NarrowPhaseCCD& narrow_phase_ccd = - DEFAULT_NARROW_PHASE_CCD) const; - - /// @brief Computes a conservative bound on the largest-feasible step size for surface primitives not in collision. - /// @param mesh The collision mesh. - /// @param displacements Surface vertex displacements (rowwise). - /// @param dhat Barrier activation distance. - double compute_noncandidate_conservative_stepsize( - const CollisionMesh& mesh, - const Eigen::MatrixXd& displacements, - const double dhat) const; - - /// @brief Computes a CFL-inspired CCD maximum step step size. - /// @param mesh The collision mesh. - /// @param vertices_t0 Surface vertex starting positions (rowwise). - /// @param vertices_t1 Surface vertex ending positions (rowwise). - /// @param dhat Barrier activation distance. - /// @param min_distance The minimum distance allowable between any two elements. - /// @param narrow_phase_ccd The narrow phase CCD algorithm to use. - double compute_cfl_stepsize( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double dhat, - const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD, - const double min_distance = 0.0, - const NarrowPhaseCCD& narrow_phase_ccd = - DEFAULT_NARROW_PHASE_CCD) const; - - bool save_obj( - const std::string& filename, - const Eigen::MatrixXd& vertices, - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces) const; - -public: - std::vector vv_candidates; - std::vector ev_candidates; - std::vector ee_candidates; - std::vector fv_candidates; -}; - -} // namespace ipc +#pragma once + +#include +#include +#include +#include +#include + +#include + +#include + + +namespace ipc { + +class Candidates { +public: + Candidates() = default; + + /// @brief Initialize the set of discrete collision detection candidates. + /// @param mesh The surface of the collision mesh. + /// @param vertices Surface vertex positions (rowwise). + /// @param inflation_radius Amount to inflate the bounding boxes. + /// @param broad_phase_method Broad phase method to use. + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const double inflation_radius = 0, + const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD); + + /// @brief Initialize the set of continuous collision detection candidates. + /// @note Assumes the trajectory is linear. + /// @param mesh The surface of the collision mesh. + /// @param vertices_t0 Surface vertex starting positions (rowwise). + /// @param vertices_t1 Surface vertex ending positions (rowwise). + /// @param inflation_radius Amount to inflate the bounding boxes. + /// @param broad_phase_method Broad phase method to use. + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double inflation_radius = 0, + const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD); + + size_t size() const; + + bool empty() const; + + void clear(); + + ContinuousCollisionCandidate& operator[](size_t i); + const ContinuousCollisionCandidate& operator[](size_t i) const; + + /// @brief Determine if the step is collision free from the set of candidates. + /// @note Assumes the trajectory is linear. + /// @param mesh The collision mesh. + /// @param vertices_t0 Surface vertex starting positions (rowwise). + /// @param vertices_t1 Surface vertex ending positions (rowwise). + /// @param min_distance The minimum distance allowable between any two elements. + /// @param narrow_phase_ccd The narrow phase CCD algorithm to use. + /// @returns True if any collisions occur. + bool is_step_collision_free( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double min_distance = 0.0, + const NarrowPhaseCCD& narrow_phase_ccd = + DEFAULT_NARROW_PHASE_CCD) const; + + /// @brief Computes a maximal step size that is collision free using the set of collision candidates. + /// @note Assumes the trajectory is linear. + /// @param mesh The collision mesh. + /// @param vertices_t0 Surface vertex starting positions (rowwise). Assumed to be intersection free. + /// @param vertices_t1 Surface vertex ending positions (rowwise). + /// @param min_distance The minimum distance allowable between any two elements. + /// @param narrow_phase_ccd The narrow phase CCD algorithm to use. + /// @returns A step-size \f$\in [0, 1]\f$ that is collision free. A value of 1.0 if a full step and 0.0 is no step. + double compute_collision_free_stepsize( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double min_distance = 0.0, + const NarrowPhaseCCD& narrow_phase_ccd = + DEFAULT_NARROW_PHASE_CCD) const; + + /// @brief Computes a conservative bound on the largest-feasible step size for surface primitives not in collision. + /// @param mesh The collision mesh. + /// @param displacements Surface vertex displacements (rowwise). + /// @param dhat Barrier activation distance. + double compute_noncandidate_conservative_stepsize( + const CollisionMesh& mesh, + const Eigen::MatrixXd& displacements, + const double dhat) const; + + /// @brief Computes a CFL-inspired CCD maximum step step size. + /// @param mesh The collision mesh. + /// @param vertices_t0 Surface vertex starting positions (rowwise). + /// @param vertices_t1 Surface vertex ending positions (rowwise). + /// @param dhat Barrier activation distance. + /// @param min_distance The minimum distance allowable between any two elements. + /// @param narrow_phase_ccd The narrow phase CCD algorithm to use. + double compute_cfl_stepsize( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double dhat, + const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD, + const double min_distance = 0.0, + const NarrowPhaseCCD& narrow_phase_ccd = + DEFAULT_NARROW_PHASE_CCD) const; + + bool save_obj( + const std::string& filename, + const Eigen::MatrixXd& vertices, + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces) const; + +public: + std::vector vv_candidates; + std::vector ev_candidates; + std::vector ee_candidates; + std::vector fv_candidates; +}; + +} // namespace ipc diff --git a/src/ipc/candidates/edge_edge.hpp b/src/ipc/candidates/edge_edge.hpp index d6ccbbc62..a27ef3d32 100644 --- a/src/ipc/candidates/edge_edge.hpp +++ b/src/ipc/candidates/edge_edge.hpp @@ -1,77 +1,77 @@ -#pragma once - -#include -#include - -#include - -#include - -namespace ipc { - -class EdgeEdgeCandidate : public ContinuousCollisionCandidate { -public: - EdgeEdgeCandidate(long edge0_id, long edge1_id); - - // ------------------------------------------------------------------------ - // CollisionStencil - - int num_vertices() const override { return 4; }; - - std::array vertex_ids( - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces) const override - { - return { { edges(edge0_id, 0), edges(edge0_id, 1), // - edges(edge1_id, 0), edges(edge1_id, 1) } }; - } - - double compute_distance(const VectorMax12d& positions) const override; - - VectorMax12d - compute_distance_gradient(const VectorMax12d& positions) const override; - - MatrixMax12d - compute_distance_hessian(const VectorMax12d& positions) const override; - - // ------------------------------------------------------------------------ - // ContinuousCollisionCandidate - - bool - ccd(const VectorMax12d& vertices_t0, - const VectorMax12d& vertices_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0, - const NarrowPhaseCCD& narrow_phase_ccd = - DEFAULT_NARROW_PHASE_CCD) const override; - - // ------------------------------------------------------------------------ - - virtual EdgeEdgeDistanceType known_dtype() const - { - return EdgeEdgeDistanceType::AUTO; - } - - bool operator==(const EdgeEdgeCandidate& other) const; - bool operator!=(const EdgeEdgeCandidate& other) const; - /// @brief Compare EdgeEdgeCandidates for sorting. - bool operator<(const EdgeEdgeCandidate& other) const; - - template - friend H AbslHashValue(H h, const EdgeEdgeCandidate& ee) - { - long min_ei = std::min(ee.edge0_id, ee.edge1_id); - long max_ei = std::max(ee.edge0_id, ee.edge1_id); - return H::combine(std::move(h), min_ei, max_ei); - } - - /// @brief ID of the first edge. - long edge0_id; - /// @brief ID of the second edge. - long edge1_id; - /// @brief Set the mat pair of the candidate - std::pair mat_pair = {-1, -1}; -}; - -} // namespace ipc +#pragma once + +#include +#include + +#include + +#include + +namespace ipc { + +class EdgeEdgeCandidate : public ContinuousCollisionCandidate { +public: + EdgeEdgeCandidate(long edge0_id, long edge1_id); + + // ------------------------------------------------------------------------ + // CollisionStencil + + int num_vertices() const override { return 4; }; + + std::array vertex_ids( + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces) const override + { + return { { edges(edge0_id, 0), edges(edge0_id, 1), // + edges(edge1_id, 0), edges(edge1_id, 1) } }; + } + + double compute_distance(const VectorMax12d& positions) const override; + + VectorMax12d + compute_distance_gradient(const VectorMax12d& positions) const override; + + MatrixMax12d + compute_distance_hessian(const VectorMax12d& positions) const override; + + // ------------------------------------------------------------------------ + // ContinuousCollisionCandidate + + bool + ccd(const VectorMax12d& vertices_t0, + const VectorMax12d& vertices_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0, + const NarrowPhaseCCD& narrow_phase_ccd = + DEFAULT_NARROW_PHASE_CCD) const override; + + // ------------------------------------------------------------------------ + + virtual EdgeEdgeDistanceType known_dtype() const + { + return EdgeEdgeDistanceType::AUTO; + } + + bool operator==(const EdgeEdgeCandidate& other) const; + bool operator!=(const EdgeEdgeCandidate& other) const; + /// @brief Compare EdgeEdgeCandidates for sorting. + bool operator<(const EdgeEdgeCandidate& other) const; + + template + friend H AbslHashValue(H h, const EdgeEdgeCandidate& ee) + { + long min_ei = std::min(ee.edge0_id, ee.edge1_id); + long max_ei = std::max(ee.edge0_id, ee.edge1_id); + return H::combine(std::move(h), min_ei, max_ei); + } + + /// @brief ID of the first edge. + long edge0_id; + /// @brief ID of the second edge. + long edge1_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; +}; + +} // namespace ipc diff --git a/src/ipc/candidates/edge_face.hpp b/src/ipc/candidates/edge_face.hpp index de257f436..95cdec219 100644 --- a/src/ipc/candidates/edge_face.hpp +++ b/src/ipc/candidates/edge_face.hpp @@ -1,33 +1,33 @@ -#pragma once - -#include - -namespace ipc { - -/// @brief Candidate for intersection between edge and face. -/// -/// Not included in Candidates because it is not a collision candidate. -class EdgeFaceCandidate { -public: - EdgeFaceCandidate(long edge_id, long face_id); - - bool operator==(const EdgeFaceCandidate& other) const; - bool operator!=(const EdgeFaceCandidate& other) const; - /// @brief Compare EdgeFaceCandidate for sorting. - bool operator<(const EdgeFaceCandidate& other) const; - - template - friend H AbslHashValue(H h, const EdgeFaceCandidate& fv) - { - return H::combine(std::move(h), fv.edge_id, fv.face_id); - } - - /// @brief ID of the edge - long edge_id; - /// @brief ID of the face - long face_id; - /// @brief Set the mat pair of the candidate - std::pair mat_pair = {-1, -1}; -}; - -} // namespace ipc +#pragma once + +#include + +namespace ipc { + +/// @brief Candidate for intersection between edge and face. +/// +/// Not included in Candidates because it is not a collision candidate. +class EdgeFaceCandidate { +public: + EdgeFaceCandidate(long edge_id, long face_id); + + bool operator==(const EdgeFaceCandidate& other) const; + bool operator!=(const EdgeFaceCandidate& other) const; + /// @brief Compare EdgeFaceCandidate for sorting. + bool operator<(const EdgeFaceCandidate& other) const; + + template + friend H AbslHashValue(H h, const EdgeFaceCandidate& fv) + { + return H::combine(std::move(h), fv.edge_id, fv.face_id); + } + + /// @brief ID of the edge + long edge_id; + /// @brief ID of the face + long face_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; +}; + +} // namespace ipc diff --git a/src/ipc/candidates/edge_vertex.hpp b/src/ipc/candidates/edge_vertex.hpp index 71f94a03c..b547ee6f1 100644 --- a/src/ipc/candidates/edge_vertex.hpp +++ b/src/ipc/candidates/edge_vertex.hpp @@ -1,74 +1,74 @@ -#pragma once - -#include -#include - -#include - -#include - -namespace ipc { - -class EdgeVertexCandidate : public ContinuousCollisionCandidate { -public: - EdgeVertexCandidate(long edge_id, long vertex_id); - - // ------------------------------------------------------------------------ - // CollisionStencil - - int num_vertices() const override { return 3; }; - - std::array vertex_ids( - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces) const override - { - return { { vertex_id, edges(edge_id, 0), edges(edge_id, 1), -1 } }; - } - - double compute_distance(const VectorMax12d& positions) const override; - - VectorMax12d - compute_distance_gradient(const VectorMax12d& positions) const override; - - MatrixMax12d - compute_distance_hessian(const VectorMax12d& positions) const override; - - // ------------------------------------------------------------------------ - // ContinuousCollisionCandidate - - bool - ccd(const VectorMax12d& vertices_t0, - const VectorMax12d& vertices_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0, - const NarrowPhaseCCD& narrow_phase_ccd = - DEFAULT_NARROW_PHASE_CCD) const override; - - // ------------------------------------------------------------------------ - - virtual PointEdgeDistanceType known_dtype() const - { - return PointEdgeDistanceType::AUTO; - } - - bool operator==(const EdgeVertexCandidate& other) const; - bool operator!=(const EdgeVertexCandidate& other) const; - /// @brief Compare EdgeVertexCandidates for sorting. - bool operator<(const EdgeVertexCandidate& other) const; - - template - friend H AbslHashValue(H h, const EdgeVertexCandidate& ev) - { - return H::combine(std::move(h), ev.edge_id, ev.vertex_id); - } - - /// @brief ID of the edge - long edge_id; - /// @brief ID of the vertex - long vertex_id; - /// @brief Set the mat pair of the candidate - std::pair mat_pair = {-1, -1}; -}; - -} // namespace ipc +#pragma once + +#include +#include + +#include + +#include + +namespace ipc { + +class EdgeVertexCandidate : public ContinuousCollisionCandidate { +public: + EdgeVertexCandidate(long edge_id, long vertex_id); + + // ------------------------------------------------------------------------ + // CollisionStencil + + int num_vertices() const override { return 3; }; + + std::array vertex_ids( + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces) const override + { + return { { vertex_id, edges(edge_id, 0), edges(edge_id, 1), -1 } }; + } + + double compute_distance(const VectorMax12d& positions) const override; + + VectorMax12d + compute_distance_gradient(const VectorMax12d& positions) const override; + + MatrixMax12d + compute_distance_hessian(const VectorMax12d& positions) const override; + + // ------------------------------------------------------------------------ + // ContinuousCollisionCandidate + + bool + ccd(const VectorMax12d& vertices_t0, + const VectorMax12d& vertices_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0, + const NarrowPhaseCCD& narrow_phase_ccd = + DEFAULT_NARROW_PHASE_CCD) const override; + + // ------------------------------------------------------------------------ + + virtual PointEdgeDistanceType known_dtype() const + { + return PointEdgeDistanceType::AUTO; + } + + bool operator==(const EdgeVertexCandidate& other) const; + bool operator!=(const EdgeVertexCandidate& other) const; + /// @brief Compare EdgeVertexCandidates for sorting. + bool operator<(const EdgeVertexCandidate& other) const; + + template + friend H AbslHashValue(H h, const EdgeVertexCandidate& ev) + { + return H::combine(std::move(h), ev.edge_id, ev.vertex_id); + } + + /// @brief ID of the edge + long edge_id; + /// @brief ID of the vertex + long vertex_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; +}; + +} // namespace ipc diff --git a/src/ipc/candidates/face_face.hpp b/src/ipc/candidates/face_face.hpp index 0fdae3171..58bd6c140 100644 --- a/src/ipc/candidates/face_face.hpp +++ b/src/ipc/candidates/face_face.hpp @@ -1,35 +1,35 @@ -#pragma once - -#include - -namespace ipc { - -/// @brief Candidate for collision between two faces. -/// @note This collision candidate is not needed for flat triangles because face-vertex and edge-edge collisions are sufficient. -/// @note This may be useful for nonlinear triangles in the future. -class FaceFaceCandidate { -public: - FaceFaceCandidate(long face0_id, long face1_id); - - bool operator==(const FaceFaceCandidate& other) const; - bool operator!=(const FaceFaceCandidate& other) const; - /// @brief Compare FaceFaceCandidate for sorting. - bool operator<(const FaceFaceCandidate& other) const; - - template - friend H AbslHashValue(H h, const FaceFaceCandidate& ff) - { - long min_fi = std::min(ff.face0_id, ff.face1_id); - long max_fi = std::max(ff.face0_id, ff.face1_id); - return H::combine(std::move(h), min_fi, max_fi); - } - - /// @brief ID of the first face. - long face0_id; - /// @brief ID of the second face. - long face1_id; - /// @brief Set the mat pair of the candidate - std::pair mat_pair = {-1, -1}; -}; - -} // namespace ipc +#pragma once + +#include + +namespace ipc { + +/// @brief Candidate for collision between two faces. +/// @note This collision candidate is not needed for flat triangles because face-vertex and edge-edge collisions are sufficient. +/// @note This may be useful for nonlinear triangles in the future. +class FaceFaceCandidate { +public: + FaceFaceCandidate(long face0_id, long face1_id); + + bool operator==(const FaceFaceCandidate& other) const; + bool operator!=(const FaceFaceCandidate& other) const; + /// @brief Compare FaceFaceCandidate for sorting. + bool operator<(const FaceFaceCandidate& other) const; + + template + friend H AbslHashValue(H h, const FaceFaceCandidate& ff) + { + long min_fi = std::min(ff.face0_id, ff.face1_id); + long max_fi = std::max(ff.face0_id, ff.face1_id); + return H::combine(std::move(h), min_fi, max_fi); + } + + /// @brief ID of the first face. + long face0_id; + /// @brief ID of the second face. + long face1_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; +}; + +} // namespace ipc diff --git a/src/ipc/candidates/face_vertex.hpp b/src/ipc/candidates/face_vertex.hpp index f4d5ccd98..b165b989c 100644 --- a/src/ipc/candidates/face_vertex.hpp +++ b/src/ipc/candidates/face_vertex.hpp @@ -1,77 +1,77 @@ -#pragma once - -#include -#include - -#include - -#include - -namespace ipc { - -class FaceVertexCandidate : public ContinuousCollisionCandidate { -public: - FaceVertexCandidate(long face_id, long vertex_id); - - // ------------------------------------------------------------------------ - // CollisionStencil - - int num_vertices() const override { return 4; }; - - std::array vertex_ids( - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces) const override - { - return { { vertex_id, faces(face_id, 0), faces(face_id, 1), - faces(face_id, 2) } }; - } - - double compute_distance(const VectorMax12d& positions) const override; - - VectorMax12d - compute_distance_gradient(const VectorMax12d& positions) const override; - - MatrixMax12d - compute_distance_hessian(const VectorMax12d& positions) const override; - - // ------------------------------------------------------------------------ - // ContinuousCollisionCandidate - - bool - ccd(const VectorMax12d& vertices_t0, - const VectorMax12d& vertices_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0, - const NarrowPhaseCCD& narrow_phase_ccd = - DEFAULT_NARROW_PHASE_CCD) const override; - - // ------------------------------------------------------------------------ - - virtual PointTriangleDistanceType known_dtype() const - { - return PointTriangleDistanceType::AUTO; - } - - bool operator==(const FaceVertexCandidate& other) const; - bool operator!=(const FaceVertexCandidate& other) const; - /// @brief Compare FaceVertexCandidate for sorting. - bool operator<(const FaceVertexCandidate& other) const; - - template - friend H AbslHashValue(H h, const FaceVertexCandidate& fv) - { - return H::combine(std::move(h), fv.face_id, fv.vertex_id); - } - - // ------------------------------------------------------------------------ - - /// @brief ID of the face - long face_id; - /// @brief ID of the vertex - long vertex_id; - /// @brief Set the mat pair of the candidate - std::pair mat_pair = {-1, -1}; -}; - -} // namespace ipc +#pragma once + +#include +#include + +#include + +#include + +namespace ipc { + +class FaceVertexCandidate : public ContinuousCollisionCandidate { +public: + FaceVertexCandidate(long face_id, long vertex_id); + + // ------------------------------------------------------------------------ + // CollisionStencil + + int num_vertices() const override { return 4; }; + + std::array vertex_ids( + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces) const override + { + return { { vertex_id, faces(face_id, 0), faces(face_id, 1), + faces(face_id, 2) } }; + } + + double compute_distance(const VectorMax12d& positions) const override; + + VectorMax12d + compute_distance_gradient(const VectorMax12d& positions) const override; + + MatrixMax12d + compute_distance_hessian(const VectorMax12d& positions) const override; + + // ------------------------------------------------------------------------ + // ContinuousCollisionCandidate + + bool + ccd(const VectorMax12d& vertices_t0, + const VectorMax12d& vertices_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0, + const NarrowPhaseCCD& narrow_phase_ccd = + DEFAULT_NARROW_PHASE_CCD) const override; + + // ------------------------------------------------------------------------ + + virtual PointTriangleDistanceType known_dtype() const + { + return PointTriangleDistanceType::AUTO; + } + + bool operator==(const FaceVertexCandidate& other) const; + bool operator!=(const FaceVertexCandidate& other) const; + /// @brief Compare FaceVertexCandidate for sorting. + bool operator<(const FaceVertexCandidate& other) const; + + template + friend H AbslHashValue(H h, const FaceVertexCandidate& fv) + { + return H::combine(std::move(h), fv.face_id, fv.vertex_id); + } + + // ------------------------------------------------------------------------ + + /// @brief ID of the face + long face_id; + /// @brief ID of the vertex + long vertex_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; +}; + +} // namespace ipc diff --git a/src/ipc/candidates/vertex_vertex.hpp b/src/ipc/candidates/vertex_vertex.hpp index 1460a6113..3b305a9fd 100644 --- a/src/ipc/candidates/vertex_vertex.hpp +++ b/src/ipc/candidates/vertex_vertex.hpp @@ -1,75 +1,75 @@ -#pragma once - -#include -#include - -#include - -#include - -namespace ipc { - -class VertexVertexCandidate : public ContinuousCollisionCandidate { -public: - VertexVertexCandidate(long vertex0_id, long vertex1_id); - - // ------------------------------------------------------------------------ - // CollisionStencil - - int num_vertices() const override { return 2; }; - - /// @brief Get the indices of the vertices - /// @param edges edge matrix of mesh - /// @param faces face matrix of mesh - /// @return List of vertex indices - std::array vertex_ids( - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces) const override - { - return { { vertex0_id, vertex1_id, -1, -1 } }; - } - - double compute_distance(const VectorMax12d& positions) const override; - - VectorMax12d - compute_distance_gradient(const VectorMax12d& positions) const override; - - MatrixMax12d - compute_distance_hessian(const VectorMax12d& positions) const override; - - // ------------------------------------------------------------------------ - // ContinuousCollisionCandidate - - bool - ccd(const VectorMax12d& vertices_t0, - const VectorMax12d& vertices_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0, - const NarrowPhaseCCD& narrow_phase_ccd = - DEFAULT_NARROW_PHASE_CCD) const override; - - // ------------------------------------------------------------------------ - - bool operator==(const VertexVertexCandidate& other) const; - bool operator!=(const VertexVertexCandidate& other) const; - /// @brief Compare EdgeVertexCandidates for sorting. - bool operator<(const VertexVertexCandidate& other) const; - - template - friend H AbslHashValue(H h, const VertexVertexCandidate& vv) - { - long min_vi = std::min(vv.vertex0_id, vv.vertex1_id); - long max_vi = std::max(vv.vertex0_id, vv.vertex1_id); - return H::combine(std::move(h), min_vi, max_vi); - } - - /// @brief ID of the first vertex - long vertex0_id; - /// @brief ID of the second vertex - long vertex1_id; - /// @brief Set the mat pair of the candidate - std::pair mat_pair = {-1, -1}; -}; - -} // namespace ipc +#pragma once + +#include +#include + +#include + +#include + +namespace ipc { + +class VertexVertexCandidate : public ContinuousCollisionCandidate { +public: + VertexVertexCandidate(long vertex0_id, long vertex1_id); + + // ------------------------------------------------------------------------ + // CollisionStencil + + int num_vertices() const override { return 2; }; + + /// @brief Get the indices of the vertices + /// @param edges edge matrix of mesh + /// @param faces face matrix of mesh + /// @return List of vertex indices + std::array vertex_ids( + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces) const override + { + return { { vertex0_id, vertex1_id, -1, -1 } }; + } + + double compute_distance(const VectorMax12d& positions) const override; + + VectorMax12d + compute_distance_gradient(const VectorMax12d& positions) const override; + + MatrixMax12d + compute_distance_hessian(const VectorMax12d& positions) const override; + + // ------------------------------------------------------------------------ + // ContinuousCollisionCandidate + + bool + ccd(const VectorMax12d& vertices_t0, + const VectorMax12d& vertices_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0, + const NarrowPhaseCCD& narrow_phase_ccd = + DEFAULT_NARROW_PHASE_CCD) const override; + + // ------------------------------------------------------------------------ + + bool operator==(const VertexVertexCandidate& other) const; + bool operator!=(const VertexVertexCandidate& other) const; + /// @brief Compare EdgeVertexCandidates for sorting. + bool operator<(const VertexVertexCandidate& other) const; + + template + friend H AbslHashValue(H h, const VertexVertexCandidate& vv) + { + long min_vi = std::min(vv.vertex0_id, vv.vertex1_id); + long max_vi = std::max(vv.vertex0_id, vv.vertex1_id); + return H::combine(std::move(h), min_vi, max_vi); + } + + /// @brief ID of the first vertex + long vertex0_id; + /// @brief ID of the second vertex + long vertex1_id; + /// @brief Set the mat pair of the candidate + std::pair mat_pair = {-1, -1}; +}; + +} // namespace ipc diff --git a/src/ipc/ccd/additive_ccd.cpp b/src/ipc/ccd/additive_ccd.cpp index 414710329..fbb1d6921 100644 --- a/src/ipc/ccd/additive_ccd.cpp +++ b/src/ipc/ccd/additive_ccd.cpp @@ -1,326 +1,326 @@ -// -// Source modified from https://github.com/ipc-sim/Codim-IPC -// under Appache-2.0 License. -// -// Modifications: -// • remove broad phase functions -// • refactor code to use a single implementation of the additive_ccd algorithm -// • utilize our distance function rather than porting the Codim-IPC versions -// • return true if the initial distance is less than the minimum distance -// • add an explicit tmax parameter rather than relying on the initial value of -// toi -// • add a maximum number of iterations to limit the computation time -// -// NOTE: These methods are provided for reference comparison with [Li et al. -// 2021] and is not utilized by the high-level functionality. In compairson to -// Tight Inclusion CCD, this CCD method is not provably conservative and so can -// potentially produce false negatives (i.e., miss collisions) due to -// floating-point rounding error. However, it is much faster than Tight -// Inclusion CCD (>100×) and very robust due to the gaps and conservative -// rescaling used. -// - -#include "additive_ccd.hpp" - -#include -#include -#include -#include - -namespace ipc { - -namespace { - template void subtract_mean(Args&... args) - { - constexpr double n = sizeof...(args); - static_assert(n > 0, "At least one argument is required"); - - using T = typename std::tuple_element<0, std::tuple>::type; - const int dim = std::get<0>(std::tuple(args...)).size(); - - T mean = T::Zero(dim); - for (const T& value : { args... }) { - mean += value; - } - mean /= n; - - for (T* value : { &args... }) { - (*value) -= mean; - } - } - - VectorMax12d stack(const VectorMax3d& x) { return x; } - - template - VectorMax12d stack(const VectorMax3d& x0, const Args&... args) - { - VectorMax12d x(x0.size() * (1 + sizeof...(args))); - x.head(x0.size()) = x0; - x.tail(x0.size() * sizeof...(args)) = stack(args...); - return x; - } -} // namespace - -AdditiveCCD::AdditiveCCD( - const long _max_iterations, const double _conservative_rescaling) - : max_iterations(_max_iterations) - , conservative_rescaling(_conservative_rescaling) -{ -} - -bool AdditiveCCD::additive_ccd( - VectorMax12d x, - const VectorMax12d& dx, - const std::function& distance_squared, - const double max_disp_mag, - double& toi, - const double min_distance, - const double tmax) const -{ - assert(conservative_rescaling > 0 && conservative_rescaling <= 1); - - const double min_distance_sq = min_distance * min_distance; - - double d, d_sq; - d = std::sqrt(d_sq = distance_squared(x)); - assert(d > min_distance); - - double d_func = d_sq - min_distance_sq; - assert(d_func > 0); - const double gap = // (d - ξ) = (d² - ξ²) / (d + ξ) - (1 - conservative_rescaling) * d_func / (d + min_distance); - if (gap < std::numeric_limits::epsilon()) { - logger().warn( - "Small gap {:g} ≤ ε in Additive CCD can lead to missed collisions", - gap); - } - - toi = 0; - for (long i = 0; max_iterations < 0 || i < max_iterations; ++i) { - // tₗ = η ⋅ (d - ξ) / lₚ = η ⋅ (d² - ξ²) / (lₚ ⋅ (d + ξ)) - const double toi_lower_bound = conservative_rescaling * d_func - / ((d + min_distance) * max_disp_mag); - - x += toi_lower_bound * dx; - - d = std::sqrt(d_sq = distance_squared(x)); - - d_func = d_sq - min_distance_sq; - assert(d_func > 0); - if (toi > 0 && d_func / (d + min_distance) < gap) { - break; // distance (including thickness) is less than gap - } - - toi += toi_lower_bound; - if (toi > tmax) { - return false; // collision occurs after tmax - } - - if (max_iterations < 0 && i == DEFAULT_MAX_ITERATIONS) { - logger().warn( - "Slow convergence in Additive CCD. Perhaps the gap is too small (gap={:g})?", - gap); - } - } - - return true; -} - -bool AdditiveCCD::point_point_ccd( - const VectorMax3d& p0_t0, - const VectorMax3d& p1_t0, - const VectorMax3d& p0_t1, - const VectorMax3d& p1_t1, - double& toi, - const double min_distance, - const double tmax) const -{ - const int dim = p0_t0.size(); - assert(dim == p1_t0.size() && dim == p0_t1.size() && dim == p1_t1.size()); - - const double initial_distance = point_point_distance(p0_t0, p1_t0); - if (initial_distance <= min_distance * min_distance) { - logger().warn( - "Initial distance {} ≤ d_min={}, returning toi=0!", - std::sqrt(initial_distance), min_distance); - toi = 0; - return true; - } - - VectorMax3d dp0 = p0_t1 - p0_t0; - VectorMax3d dp1 = p1_t1 - p1_t0; - subtract_mean(dp0, dp1); - - const double max_disp_mag = dp0.norm() + dp1.norm(); - if (max_disp_mag == 0) { - return false; - } - - auto distance_squared = [dim](const VectorMax12d& x) { - return point_point_distance(x.head(dim), x.tail(dim)); - }; - - const VectorMax12d x = stack(p0_t0, p1_t0); - const VectorMax12d dx = stack(dp0, dp1); - - return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); -} - -bool AdditiveCCD::point_edge_ccd( - const VectorMax3d& p_t0, - const VectorMax3d& e0_t0, - const VectorMax3d& e1_t0, - const VectorMax3d& p_t1, - const VectorMax3d& e0_t1, - const VectorMax3d& e1_t1, - double& toi, - const double min_distance, - const double tmax) const -{ - const int dim = p_t0.size(); - assert(dim == e0_t0.size() && dim == e1_t0.size()); - assert(dim == p_t1.size() && dim == e0_t1.size() && dim == e1_t1.size()); - - const double initial_distance = point_edge_distance(p_t0, e0_t0, e1_t0); - if (initial_distance <= min_distance * min_distance) { - logger().warn( - "Initial distance {} ≤ d_min={}, returning toi=0!", - std::sqrt(initial_distance), min_distance); - toi = 0; - return true; - } - - VectorMax3d dp = p_t1 - p_t0; - VectorMax3d de0 = e0_t1 - e0_t0; - VectorMax3d de1 = e1_t1 - e1_t0; - subtract_mean(dp, de0, de1); - - const double max_disp_mag = - dp.norm() + std::sqrt(std::max(de0.squaredNorm(), de1.squaredNorm())); - if (max_disp_mag == 0) { - return false; - } - - auto distance_squared = [dim](const VectorMax12d& x) { - return point_edge_distance( - x.head(dim), x.segment(dim, dim), x.tail(dim)); - }; - - const VectorMax12d x = stack(p_t0, e0_t0, e1_t0); - const VectorMax12d dx = stack(dp, de0, de1); - - return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); -} - -bool AdditiveCCD::point_triangle_ccd( - const Eigen::Vector3d& p_t0, - const Eigen::Vector3d& t0_t0, - const Eigen::Vector3d& t1_t0, - const Eigen::Vector3d& t2_t0, - const Eigen::Vector3d& p_t1, - const Eigen::Vector3d& t0_t1, - const Eigen::Vector3d& t1_t1, - const Eigen::Vector3d& t2_t1, - double& toi, - const double min_distance, - const double tmax) const -{ - const double initial_distance = - point_triangle_distance(p_t0, t0_t0, t1_t0, t2_t0); - if (initial_distance <= min_distance * min_distance) { - logger().warn( - "Initial distance {} ≤ d_min={}, returning toi=0!", - std::sqrt(initial_distance), min_distance); - toi = 0; - return true; - } - - Eigen::Vector3d dp = p_t1 - p_t0; - Eigen::Vector3d dt0 = t0_t1 - t0_t0; - Eigen::Vector3d dt1 = t1_t1 - t1_t0; - Eigen::Vector3d dt2 = t2_t1 - t2_t0; - subtract_mean(dp, dt0, dt1, dt2); - - const double max_disp_mag = dp.norm() - + std::sqrt(std::max( - { dt0.squaredNorm(), dt1.squaredNorm(), dt2.squaredNorm() })); - if (max_disp_mag == 0) { - return false; - } - - auto distance_squared = [](const VectorMax12d& x) { - return point_triangle_distance( - x.head<3>(), x.segment<3>(3), x.segment<3>(6), x.tail<3>()); - }; - - const VectorMax12d x = stack(p_t0, t0_t0, t1_t0, t2_t0); - const VectorMax12d dx = stack(dp, dt0, dt1, dt2); - - return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); -} - -bool AdditiveCCD::edge_edge_ccd( - const Eigen::Vector3d& ea0_t0, - const Eigen::Vector3d& ea1_t0, - const Eigen::Vector3d& eb0_t0, - const Eigen::Vector3d& eb1_t0, - const Eigen::Vector3d& ea0_t1, - const Eigen::Vector3d& ea1_t1, - const Eigen::Vector3d& eb0_t1, - const Eigen::Vector3d& eb1_t1, - double& toi, - const double min_distance, - const double tmax) const -{ - const double initial_distance = - edge_edge_distance(ea0_t0, ea1_t0, eb0_t0, eb1_t0); - if (initial_distance <= min_distance * min_distance) { - logger().warn( - "Initial distance {} ≤ d_min={}, returning toi=0!", - std::sqrt(initial_distance), min_distance); - toi = 0; - return true; - } - - Eigen::Vector3d dea0 = ea0_t1 - ea0_t0; - Eigen::Vector3d dea1 = ea1_t1 - ea1_t0; - Eigen::Vector3d deb0 = eb0_t1 - eb0_t0; - Eigen::Vector3d deb1 = eb1_t1 - eb1_t0; - subtract_mean(dea0, dea1, deb0, deb1); - - const double max_disp_mag = - std::sqrt(std::max(dea0.squaredNorm(), dea1.squaredNorm())) - + std::sqrt(std::max(deb0.squaredNorm(), deb1.squaredNorm())); - if (max_disp_mag == 0) { - return false; - } - - const double min_distance_sq = min_distance * min_distance; - auto distance_squared = [min_distance_sq](const VectorMax12d& x) { - const auto& ea0 = x.head<3>(); - const auto& ea1 = x.segment<3>(3); - const auto& eb0 = x.segment<3>(6); - const auto& eb1 = x.tail<3>(); - - double d_sq = edge_edge_distance(ea0, ea1, eb0, eb1); - if (d_sq - min_distance_sq <= 0) { - // since we ensured other place that all dist smaller than d̂ are - // positive, this must be some far away nearly parallel edges - d_sq = std::min( - { (ea0 - eb0).squaredNorm(), (ea0 - eb1).squaredNorm(), - (ea1 - eb0).squaredNorm(), (ea1 - eb1).squaredNorm() }); - } - return d_sq; - }; - - const VectorMax12d x = stack(ea0_t0, ea1_t0, eb0_t0, eb1_t0); - const VectorMax12d dx = stack(dea0, dea1, deb0, deb1); - - return additive_ccd( - x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); -} - +// +// Source modified from https://github.com/ipc-sim/Codim-IPC +// under Appache-2.0 License. +// +// Modifications: +// • remove broad phase functions +// • refactor code to use a single implementation of the additive_ccd algorithm +// • utilize our distance function rather than porting the Codim-IPC versions +// • return true if the initial distance is less than the minimum distance +// • add an explicit tmax parameter rather than relying on the initial value of +// toi +// • add a maximum number of iterations to limit the computation time +// +// NOTE: These methods are provided for reference comparison with [Li et al. +// 2021] and is not utilized by the high-level functionality. In compairson to +// Tight Inclusion CCD, this CCD method is not provably conservative and so can +// potentially produce false negatives (i.e., miss collisions) due to +// floating-point rounding error. However, it is much faster than Tight +// Inclusion CCD (>100×) and very robust due to the gaps and conservative +// rescaling used. +// + +#include "additive_ccd.hpp" + +#include +#include +#include +#include + +namespace ipc { + +namespace { + template void subtract_mean(Args&... args) + { + constexpr double n = sizeof...(args); + static_assert(n > 0, "At least one argument is required"); + + using T = typename std::tuple_element<0, std::tuple>::type; + const int dim = std::get<0>(std::tuple(args...)).size(); + + T mean = T::Zero(dim); + for (const T& value : { args... }) { + mean += value; + } + mean /= n; + + for (T* value : { &args... }) { + (*value) -= mean; + } + } + + VectorMax12d stack(const VectorMax3d& x) { return x; } + + template + VectorMax12d stack(const VectorMax3d& x0, const Args&... args) + { + VectorMax12d x(x0.size() * (1 + sizeof...(args))); + x.head(x0.size()) = x0; + x.tail(x0.size() * sizeof...(args)) = stack(args...); + return x; + } +} // namespace + +AdditiveCCD::AdditiveCCD( + const long _max_iterations, const double _conservative_rescaling) + : max_iterations(_max_iterations) + , conservative_rescaling(_conservative_rescaling) +{ +} + +bool AdditiveCCD::additive_ccd( + VectorMax12d x, + const VectorMax12d& dx, + const std::function& distance_squared, + const double max_disp_mag, + double& toi, + const double min_distance, + const double tmax) const +{ + assert(conservative_rescaling > 0 && conservative_rescaling <= 1); + + const double min_distance_sq = min_distance * min_distance; + + double d, d_sq; + d = std::sqrt(d_sq = distance_squared(x)); + assert(d > min_distance); + + double d_func = d_sq - min_distance_sq; + assert(d_func > 0); + const double gap = // (d - ξ) = (d² - ξ²) / (d + ξ) + (1 - conservative_rescaling) * d_func / (d + min_distance); + if (gap < std::numeric_limits::epsilon()) { + logger().warn( + "Small gap {:g} ≤ ε in Additive CCD can lead to missed collisions", + gap); + } + + toi = 0; + for (long i = 0; max_iterations < 0 || i < max_iterations; ++i) { + // tₗ = η ⋅ (d - ξ) / lₚ = η ⋅ (d² - ξ²) / (lₚ ⋅ (d + ξ)) + const double toi_lower_bound = conservative_rescaling * d_func + / ((d + min_distance) * max_disp_mag); + + x += toi_lower_bound * dx; + + d = std::sqrt(d_sq = distance_squared(x)); + + d_func = d_sq - min_distance_sq; + assert(d_func > 0); + if (toi > 0 && d_func / (d + min_distance) < gap) { + break; // distance (including thickness) is less than gap + } + + toi += toi_lower_bound; + if (toi > tmax) { + return false; // collision occurs after tmax + } + + if (max_iterations < 0 && i == DEFAULT_MAX_ITERATIONS) { + logger().warn( + "Slow convergence in Additive CCD. Perhaps the gap is too small (gap={:g})?", + gap); + } + } + + return true; +} + +bool AdditiveCCD::point_point_ccd( + const VectorMax3d& p0_t0, + const VectorMax3d& p1_t0, + const VectorMax3d& p0_t1, + const VectorMax3d& p1_t1, + double& toi, + const double min_distance, + const double tmax) const +{ + const int dim = p0_t0.size(); + assert(dim == p1_t0.size() && dim == p0_t1.size() && dim == p1_t1.size()); + + const double initial_distance = point_point_distance(p0_t0, p1_t0); + if (initial_distance <= min_distance * min_distance) { + logger().warn( + "Initial distance {} ≤ d_min={}, returning toi=0!", + std::sqrt(initial_distance), min_distance); + toi = 0; + return true; + } + + VectorMax3d dp0 = p0_t1 - p0_t0; + VectorMax3d dp1 = p1_t1 - p1_t0; + subtract_mean(dp0, dp1); + + const double max_disp_mag = dp0.norm() + dp1.norm(); + if (max_disp_mag == 0) { + return false; + } + + auto distance_squared = [dim](const VectorMax12d& x) { + return point_point_distance(x.head(dim), x.tail(dim)); + }; + + const VectorMax12d x = stack(p0_t0, p1_t0); + const VectorMax12d dx = stack(dp0, dp1); + + return additive_ccd( + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); +} + +bool AdditiveCCD::point_edge_ccd( + const VectorMax3d& p_t0, + const VectorMax3d& e0_t0, + const VectorMax3d& e1_t0, + const VectorMax3d& p_t1, + const VectorMax3d& e0_t1, + const VectorMax3d& e1_t1, + double& toi, + const double min_distance, + const double tmax) const +{ + const int dim = p_t0.size(); + assert(dim == e0_t0.size() && dim == e1_t0.size()); + assert(dim == p_t1.size() && dim == e0_t1.size() && dim == e1_t1.size()); + + const double initial_distance = point_edge_distance(p_t0, e0_t0, e1_t0); + if (initial_distance <= min_distance * min_distance) { + logger().warn( + "Initial distance {} ≤ d_min={}, returning toi=0!", + std::sqrt(initial_distance), min_distance); + toi = 0; + return true; + } + + VectorMax3d dp = p_t1 - p_t0; + VectorMax3d de0 = e0_t1 - e0_t0; + VectorMax3d de1 = e1_t1 - e1_t0; + subtract_mean(dp, de0, de1); + + const double max_disp_mag = + dp.norm() + std::sqrt(std::max(de0.squaredNorm(), de1.squaredNorm())); + if (max_disp_mag == 0) { + return false; + } + + auto distance_squared = [dim](const VectorMax12d& x) { + return point_edge_distance( + x.head(dim), x.segment(dim, dim), x.tail(dim)); + }; + + const VectorMax12d x = stack(p_t0, e0_t0, e1_t0); + const VectorMax12d dx = stack(dp, de0, de1); + + return additive_ccd( + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); +} + +bool AdditiveCCD::point_triangle_ccd( + const Eigen::Vector3d& p_t0, + const Eigen::Vector3d& t0_t0, + const Eigen::Vector3d& t1_t0, + const Eigen::Vector3d& t2_t0, + const Eigen::Vector3d& p_t1, + const Eigen::Vector3d& t0_t1, + const Eigen::Vector3d& t1_t1, + const Eigen::Vector3d& t2_t1, + double& toi, + const double min_distance, + const double tmax) const +{ + const double initial_distance = + point_triangle_distance(p_t0, t0_t0, t1_t0, t2_t0); + if (initial_distance <= min_distance * min_distance) { + logger().warn( + "Initial distance {} ≤ d_min={}, returning toi=0!", + std::sqrt(initial_distance), min_distance); + toi = 0; + return true; + } + + Eigen::Vector3d dp = p_t1 - p_t0; + Eigen::Vector3d dt0 = t0_t1 - t0_t0; + Eigen::Vector3d dt1 = t1_t1 - t1_t0; + Eigen::Vector3d dt2 = t2_t1 - t2_t0; + subtract_mean(dp, dt0, dt1, dt2); + + const double max_disp_mag = dp.norm() + + std::sqrt(std::max( + { dt0.squaredNorm(), dt1.squaredNorm(), dt2.squaredNorm() })); + if (max_disp_mag == 0) { + return false; + } + + auto distance_squared = [](const VectorMax12d& x) { + return point_triangle_distance( + x.head<3>(), x.segment<3>(3), x.segment<3>(6), x.tail<3>()); + }; + + const VectorMax12d x = stack(p_t0, t0_t0, t1_t0, t2_t0); + const VectorMax12d dx = stack(dp, dt0, dt1, dt2); + + return additive_ccd( + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); +} + +bool AdditiveCCD::edge_edge_ccd( + const Eigen::Vector3d& ea0_t0, + const Eigen::Vector3d& ea1_t0, + const Eigen::Vector3d& eb0_t0, + const Eigen::Vector3d& eb1_t0, + const Eigen::Vector3d& ea0_t1, + const Eigen::Vector3d& ea1_t1, + const Eigen::Vector3d& eb0_t1, + const Eigen::Vector3d& eb1_t1, + double& toi, + const double min_distance, + const double tmax) const +{ + const double initial_distance = + edge_edge_distance(ea0_t0, ea1_t0, eb0_t0, eb1_t0); + if (initial_distance <= min_distance * min_distance) { + logger().warn( + "Initial distance {} ≤ d_min={}, returning toi=0!", + std::sqrt(initial_distance), min_distance); + toi = 0; + return true; + } + + Eigen::Vector3d dea0 = ea0_t1 - ea0_t0; + Eigen::Vector3d dea1 = ea1_t1 - ea1_t0; + Eigen::Vector3d deb0 = eb0_t1 - eb0_t0; + Eigen::Vector3d deb1 = eb1_t1 - eb1_t0; + subtract_mean(dea0, dea1, deb0, deb1); + + const double max_disp_mag = + std::sqrt(std::max(dea0.squaredNorm(), dea1.squaredNorm())) + + std::sqrt(std::max(deb0.squaredNorm(), deb1.squaredNorm())); + if (max_disp_mag == 0) { + return false; + } + + const double min_distance_sq = min_distance * min_distance; + auto distance_squared = [min_distance_sq](const VectorMax12d& x) { + const auto& ea0 = x.head<3>(); + const auto& ea1 = x.segment<3>(3); + const auto& eb0 = x.segment<3>(6); + const auto& eb1 = x.tail<3>(); + + double d_sq = edge_edge_distance(ea0, ea1, eb0, eb1); + if (d_sq - min_distance_sq <= 0) { + // since we ensured other place that all dist smaller than d̂ are + // positive, this must be some far away nearly parallel edges + d_sq = std::min( + { (ea0 - eb0).squaredNorm(), (ea0 - eb1).squaredNorm(), + (ea1 - eb0).squaredNorm(), (ea1 - eb1).squaredNorm() }); + } + return d_sq; + }; + + const VectorMax12d x = stack(ea0_t0, ea1_t0, eb0_t0, eb1_t0); + const VectorMax12d dx = stack(dea0, dea1, deb0, deb1); + + return additive_ccd( + x, dx, distance_squared, max_disp_mag, toi, min_distance, tmax); +} + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/ccd/additive_ccd.hpp b/src/ipc/ccd/additive_ccd.hpp index e1d0bc547..e1901ec52 100644 --- a/src/ipc/ccd/additive_ccd.hpp +++ b/src/ipc/ccd/additive_ccd.hpp @@ -1,154 +1,154 @@ -// -// NOTE: These methods are provided for reference comparison with [Li et al. -// 2021] and is not utilized by the high-level functionality. In compairson to -// Tight Inclusion CCD, this CCD method is not provably conservative and so can -// potentially produce false negatives (i.e., miss collisions) due to -// floating-point rounding error. However, it is much faster than Tight -// Inclusion CCD (>100×) and very robust due to the gaps and conservative -// rescaling used. -// - -#pragma once - -#include - -namespace ipc { - -/// @brief Additive Continuous Collision Detection (CCD) from [Li et al. 2021]. -class AdditiveCCD : public NarrowPhaseCCD { -public: - /// The default maximum number of iterations used with Tight-Inclusion CCD. - static constexpr long DEFAULT_MAX_ITERATIONS = 10'000'000l; - /// Unlimitted number of iterations. - static constexpr long UNLIMITTED_ITERATIONS = -1; - /// The default conservative rescaling value used to avoid taking steps - /// exactly to impact. Value choosen to based on [Li et al. 2021]. - static constexpr double DEFAULT_CONSERVATIVE_RESCALING = 0.9; - - /// @brief Construct a new AdditiveCCD object. - /// @param conservative_rescaling The conservative rescaling of the time of impact. - AdditiveCCD( - const long max_iterations = UNLIMITTED_ITERATIONS, - const double conservative_rescaling = DEFAULT_CONSERVATIVE_RESCALING); - - /// @brief Computes the time of impact between two points using continuous collision detection. - /// @param p0_t0 The initial position of the first point. - /// @param p1_t0 The initial position of the second point. - /// @param p0_t1 The final position of the first point. - /// @param p1_t1 The final position of the second point. - /// @param[out] toi The time of impact between the two points. - /// @param min_distance The minimum distance between two objects. - /// @param tmax The maximum time to check for collisions. - /// @param conservative_rescaling The conservative rescaling of the time of impact. - /// @return True if a collision was detected, false otherwise. - bool point_point_ccd( - const VectorMax3d& p0_t0, - const VectorMax3d& p1_t0, - const VectorMax3d& p0_t1, - const VectorMax3d& p1_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0) const override; - - /// @brief Computes the time of impact between a point and an edge using continuous collision detection. - /// @param p_t0 The initial position of the point. - /// @param e0_t0 The initial position of the first endpoint of the edge. - /// @param e1_t0 The initial position of the second endpoint of the edge. - /// @param p_t1 The final position of the point. - /// @param e0_t1 The final position of the first endpoint of the edge. - /// @param e1_t1 The final position of the second endpoint of the edge. - /// @param[out] toi The time of impact between the point and the edge. - /// @param min_distance The minimum distance between two objects. - /// @param tmax The maximum time to check for collisions. - /// @param conservative_rescaling The conservative rescaling of the time of impact. - /// @return True if a collision was detected, false otherwise. - bool point_edge_ccd( - const VectorMax3d& p_t0, - const VectorMax3d& e0_t0, - const VectorMax3d& e1_t0, - const VectorMax3d& p_t1, - const VectorMax3d& e0_t1, - const VectorMax3d& e1_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0) const override; - - /// @brief Computes the time of impact between a point and a triangle using continuous collision detection. - /// @param p_t0 The initial position of the point. - /// @param t0_t0 The initial position of the first vertex of the triangle. - /// @param t1_t0 The initial position of the second vertex of the triangle. - /// @param t2_t0 The initial position of the third vertex of the triangle. - /// @param p_t1 The final position of the point. - /// @param t0_t1 The final position of the first vertex of the triangle. - /// @param t1_t1 The final position of the second vertex of the triangle. - /// @param t2_t1 The final position of the third vertex of the triangle. - /// @param[out] toi The time of impact between the point and the triangle. - /// @param min_distance The minimum distance between two objects. - /// @param tmax The maximum time to check for collisions. - /// @param conservative_rescaling The conservative rescaling of the time of impact. - /// @return True if a collision was detected, false otherwise. - bool point_triangle_ccd( - const Eigen::Vector3d& p_t0, - const Eigen::Vector3d& t0_t0, - const Eigen::Vector3d& t1_t0, - const Eigen::Vector3d& t2_t0, - const Eigen::Vector3d& p_t1, - const Eigen::Vector3d& t0_t1, - const Eigen::Vector3d& t1_t1, - const Eigen::Vector3d& t2_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0) const override; - - /// @brief Computes the time of impact between two edges using continuous collision detection. - /// @param ea0_t0 The initial position of the first endpoint of the first edge. - /// @param ea1_t0 The initial position of the second endpoint of the first edge. - /// @param eb0_t0 The initial position of the first endpoint of the second edge. - /// @param eb1_t0 The initial position of the second endpoint of the second edge. - /// @param ea0_t1 The final position of the first endpoint of the first edge. - /// @param ea1_t1 The final position of the second endpoint of the first edge. - /// @param eb0_t1 The final position of the first endpoint of the second edge. - /// @param eb1_t1 The final position of the second endpoint of the second edge. - /// @param[out] toi The time of impact between the two edges. - /// @param min_distance The minimum distance between two objects. - /// @param tmax The maximum time to check for collisions. - /// @param conservative_rescaling The conservative rescaling of the time of impact. - /// @return True if a collision was detected, false otherwise. - bool edge_edge_ccd( - const Eigen::Vector3d& ea0_t0, - const Eigen::Vector3d& ea1_t0, - const Eigen::Vector3d& eb0_t0, - const Eigen::Vector3d& eb1_t0, - const Eigen::Vector3d& ea0_t1, - const Eigen::Vector3d& ea1_t1, - const Eigen::Vector3d& eb0_t1, - const Eigen::Vector3d& eb1_t1, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0) const override; - - /// @brief Maximum number of iterations. - long max_iterations; - - /// @brief The conservative rescaling value used to avoid taking steps exactly to impact. - double conservative_rescaling; - -private: - /// @brief Computes the time of impact between two objects using additive continuous collision detection. - /// @param distance_squared A function that computes the squared distance between the two objects at a given time. - /// @param[out] toi The time of impact between the two objects. - /// @param min_distance The minimum distance between the objects. - /// @param tmax The maximum time to check for collisions. - /// @param conservative_rescaling The amount to rescale the objects by to ensure conservative advancement. - /// @return True if a collision was detected, false otherwise. - bool additive_ccd( - VectorMax12d x, - const VectorMax12d& dx, - const std::function& distance_squared, - const double max_disp_mag, - double& toi, - const double min_distance = 0.0, - const double tmax = 1.0) const; -}; - +// +// NOTE: These methods are provided for reference comparison with [Li et al. +// 2021] and is not utilized by the high-level functionality. In compairson to +// Tight Inclusion CCD, this CCD method is not provably conservative and so can +// potentially produce false negatives (i.e., miss collisions) due to +// floating-point rounding error. However, it is much faster than Tight +// Inclusion CCD (>100×) and very robust due to the gaps and conservative +// rescaling used. +// + +#pragma once + +#include + +namespace ipc { + +/// @brief Additive Continuous Collision Detection (CCD) from [Li et al. 2021]. +class AdditiveCCD : public NarrowPhaseCCD { +public: + /// The default maximum number of iterations used with Tight-Inclusion CCD. + static constexpr long DEFAULT_MAX_ITERATIONS = 10'000'000l; + /// Unlimitted number of iterations. + static constexpr long UNLIMITTED_ITERATIONS = -1; + /// The default conservative rescaling value used to avoid taking steps + /// exactly to impact. Value choosen to based on [Li et al. 2021]. + static constexpr double DEFAULT_CONSERVATIVE_RESCALING = 0.9; + + /// @brief Construct a new AdditiveCCD object. + /// @param conservative_rescaling The conservative rescaling of the time of impact. + AdditiveCCD( + const long max_iterations = UNLIMITTED_ITERATIONS, + const double conservative_rescaling = DEFAULT_CONSERVATIVE_RESCALING); + + /// @brief Computes the time of impact between two points using continuous collision detection. + /// @param p0_t0 The initial position of the first point. + /// @param p1_t0 The initial position of the second point. + /// @param p0_t1 The final position of the first point. + /// @param p1_t1 The final position of the second point. + /// @param[out] toi The time of impact between the two points. + /// @param min_distance The minimum distance between two objects. + /// @param tmax The maximum time to check for collisions. + /// @param conservative_rescaling The conservative rescaling of the time of impact. + /// @return True if a collision was detected, false otherwise. + bool point_point_ccd( + const VectorMax3d& p0_t0, + const VectorMax3d& p1_t0, + const VectorMax3d& p0_t1, + const VectorMax3d& p1_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0) const override; + + /// @brief Computes the time of impact between a point and an edge using continuous collision detection. + /// @param p_t0 The initial position of the point. + /// @param e0_t0 The initial position of the first endpoint of the edge. + /// @param e1_t0 The initial position of the second endpoint of the edge. + /// @param p_t1 The final position of the point. + /// @param e0_t1 The final position of the first endpoint of the edge. + /// @param e1_t1 The final position of the second endpoint of the edge. + /// @param[out] toi The time of impact between the point and the edge. + /// @param min_distance The minimum distance between two objects. + /// @param tmax The maximum time to check for collisions. + /// @param conservative_rescaling The conservative rescaling of the time of impact. + /// @return True if a collision was detected, false otherwise. + bool point_edge_ccd( + const VectorMax3d& p_t0, + const VectorMax3d& e0_t0, + const VectorMax3d& e1_t0, + const VectorMax3d& p_t1, + const VectorMax3d& e0_t1, + const VectorMax3d& e1_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0) const override; + + /// @brief Computes the time of impact between a point and a triangle using continuous collision detection. + /// @param p_t0 The initial position of the point. + /// @param t0_t0 The initial position of the first vertex of the triangle. + /// @param t1_t0 The initial position of the second vertex of the triangle. + /// @param t2_t0 The initial position of the third vertex of the triangle. + /// @param p_t1 The final position of the point. + /// @param t0_t1 The final position of the first vertex of the triangle. + /// @param t1_t1 The final position of the second vertex of the triangle. + /// @param t2_t1 The final position of the third vertex of the triangle. + /// @param[out] toi The time of impact between the point and the triangle. + /// @param min_distance The minimum distance between two objects. + /// @param tmax The maximum time to check for collisions. + /// @param conservative_rescaling The conservative rescaling of the time of impact. + /// @return True if a collision was detected, false otherwise. + bool point_triangle_ccd( + const Eigen::Vector3d& p_t0, + const Eigen::Vector3d& t0_t0, + const Eigen::Vector3d& t1_t0, + const Eigen::Vector3d& t2_t0, + const Eigen::Vector3d& p_t1, + const Eigen::Vector3d& t0_t1, + const Eigen::Vector3d& t1_t1, + const Eigen::Vector3d& t2_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0) const override; + + /// @brief Computes the time of impact between two edges using continuous collision detection. + /// @param ea0_t0 The initial position of the first endpoint of the first edge. + /// @param ea1_t0 The initial position of the second endpoint of the first edge. + /// @param eb0_t0 The initial position of the first endpoint of the second edge. + /// @param eb1_t0 The initial position of the second endpoint of the second edge. + /// @param ea0_t1 The final position of the first endpoint of the first edge. + /// @param ea1_t1 The final position of the second endpoint of the first edge. + /// @param eb0_t1 The final position of the first endpoint of the second edge. + /// @param eb1_t1 The final position of the second endpoint of the second edge. + /// @param[out] toi The time of impact between the two edges. + /// @param min_distance The minimum distance between two objects. + /// @param tmax The maximum time to check for collisions. + /// @param conservative_rescaling The conservative rescaling of the time of impact. + /// @return True if a collision was detected, false otherwise. + bool edge_edge_ccd( + const Eigen::Vector3d& ea0_t0, + const Eigen::Vector3d& ea1_t0, + const Eigen::Vector3d& eb0_t0, + const Eigen::Vector3d& eb1_t0, + const Eigen::Vector3d& ea0_t1, + const Eigen::Vector3d& ea1_t1, + const Eigen::Vector3d& eb0_t1, + const Eigen::Vector3d& eb1_t1, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0) const override; + + /// @brief Maximum number of iterations. + long max_iterations; + + /// @brief The conservative rescaling value used to avoid taking steps exactly to impact. + double conservative_rescaling; + +private: + /// @brief Computes the time of impact between two objects using additive continuous collision detection. + /// @param distance_squared A function that computes the squared distance between the two objects at a given time. + /// @param[out] toi The time of impact between the two objects. + /// @param min_distance The minimum distance between the objects. + /// @param tmax The maximum time to check for collisions. + /// @param conservative_rescaling The amount to rescale the objects by to ensure conservative advancement. + /// @return True if a collision was detected, false otherwise. + bool additive_ccd( + VectorMax12d x, + const VectorMax12d& dx, + const std::function& distance_squared, + const double max_disp_mag, + double& toi, + const double min_distance = 0.0, + const double tmax = 1.0) const; +}; + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/collision_mesh.cpp b/src/ipc/collision_mesh.cpp index 1e75576e2..d54b86569 100644 --- a/src/ipc/collision_mesh.cpp +++ b/src/ipc/collision_mesh.cpp @@ -1,485 +1,485 @@ -#include "collision_mesh.hpp" - -#include -#include -#include -#include -#include - -namespace ipc { - -CollisionMesh::CollisionMesh( - const Eigen::MatrixXd& rest_positions, - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces, - const Eigen::SparseMatrix& displacement_map, - const std::vector& mat_ids) - : CollisionMesh( - std::vector(rest_positions.rows(), true), - rest_positions, - edges, - faces, - displacement_map, - mat_ids) -{ -} - -CollisionMesh::CollisionMesh( - const std::vector& include_vertex, - const Eigen::MatrixXd& full_rest_positions, - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces, - const Eigen::SparseMatrix& displacement_map, - const std::vector& mat_ids) - : m_full_rest_positions(full_rest_positions) - , m_edges(edges) - , m_faces(faces), - m_mat_ids(mat_ids.empty() ? std::vector(faces.rows(), 0) : mat_ids) -{ - - assert(include_vertex.size() == full_rest_positions.rows()); - assert(mat_ids.empty() || mat_ids.size() == faces.rows()); - - const bool include_all_vertices = std::all_of( - include_vertex.begin(), include_vertex.end(), [](bool b) { return b; }); - - if (include_all_vertices) { - // set full ↔ reduced ≡ identity - m_full_vertex_to_vertex.setLinSpaced( - full_rest_positions.rows(), 0, full_rest_positions.rows() - 1); - m_vertex_to_full_vertex = m_full_vertex_to_vertex; - } else { - m_full_vertex_to_vertex.setConstant(full_rest_positions.rows(), -1); - std::vector dynamic_vertex_to_full_vertex; - for (size_t i = 0; i < full_rest_positions.rows(); i++) { - if (include_vertex[i]) { - m_full_vertex_to_vertex[i] = - dynamic_vertex_to_full_vertex.size(); - dynamic_vertex_to_full_vertex.push_back(i); - } - } - m_vertex_to_full_vertex = Eigen::Map( - dynamic_vertex_to_full_vertex.data(), - dynamic_vertex_to_full_vertex.size()); - } - - // ======================================================================== - - const int dim = full_rest_positions.cols(); - - // Initializes m_select_vertices and m_select_dof - init_selection_matrices(dim); - - if (displacement_map.size() == 0) { - m_displacement_map = m_select_vertices; - m_displacement_dof_map = m_select_dof; - } else { - assert(displacement_map.rows() == full_num_vertices()); - // assert(displacement_map.cols() == full_num_vertices()); - - m_displacement_map = m_select_vertices * displacement_map; - m_displacement_map.makeCompressed(); - - m_displacement_dof_map = - m_select_dof * vertex_matrix_to_dof_matrix(displacement_map, dim); - m_displacement_dof_map.makeCompressed(); - } - - // ======================================================================== - - // Set vertices at rest using full → reduced map - m_rest_positions = m_select_vertices * full_rest_positions; - // m_rest_positions = vertices(full_rest_positions); - - // Map faces and edges to only included vertices - if (!include_all_vertices) { - for (int i = 0; i < m_edges.rows(); i++) { - for (int j = 0; j < m_edges.cols(); j++) { - long new_id = m_full_vertex_to_vertex[m_edges(i, j)]; - assert(new_id >= 0 && new_id < num_vertices()); - m_edges(i, j) = new_id; - } - } - - for (int i = 0; i < m_faces.rows(); i++) { - for (int j = 0; j < m_faces.cols(); j++) { - long new_id = m_full_vertex_to_vertex[m_faces(i, j)]; - assert(new_id >= 0 && new_id < num_vertices()); - m_faces(i, j) = new_id; - } - } - } // else no need to change the edges and faces - - m_faces_to_edges = construct_faces_to_edges(m_faces, m_edges); - - init_codim_vertices(); - init_codim_edges(); - init_areas(); - init_adjacencies(); - // Compute these manually if needed. - // init_area_jacobian(); -} - -// ============================================================================ - -void CollisionMesh::init_codim_vertices() -{ - std::vector is_codim_vertex(num_vertices(), true); - for (int i : m_edges.reshaped()) { - is_codim_vertex[i] = false; - } - - m_codim_vertices.resize( - std::count(is_codim_vertex.begin(), is_codim_vertex.end(), true)); - - int j = 0; - for (int i = 0; i < num_vertices(); i++) { - if (is_codim_vertex[i]) { - assert(j < m_codim_vertices.size()); - m_codim_vertices[j++] = i; - } - } - assert(j == m_codim_vertices.size()); -} - -void CollisionMesh::init_codim_edges() -{ - std::vector is_codim_edge(num_edges(), true); - for (int i : m_faces_to_edges.reshaped()) { - is_codim_edge[i] = false; - } - - m_codim_edges.resize( - std::count(is_codim_edge.begin(), is_codim_edge.end(), true)); - - int j = 0; - for (int i = 0; i < num_edges(); i++) { - if (is_codim_edge[i]) { - assert(j < m_codim_edges.size()); - m_codim_edges[j++] = i; - } - } - assert(j == m_codim_edges.size()); -} - -// ============================================================================ - -void CollisionMesh::init_selection_matrices(const int dim) -{ - std::vector> triplets; - triplets.reserve(num_vertices()); - for (int vi = 0; vi < num_vertices(); vi++) { - triplets.emplace_back(vi, m_vertex_to_full_vertex[vi], 1.0); - } - - m_select_vertices.resize(num_vertices(), full_num_vertices()); - m_select_vertices.setFromTriplets(triplets.begin(), triplets.end()); - m_select_vertices.makeCompressed(); - - m_select_dof = vertex_matrix_to_dof_matrix(m_select_vertices, dim); -} - -Eigen::SparseMatrix CollisionMesh::vertex_matrix_to_dof_matrix( - const Eigen::SparseMatrix& M_V, int dim) -{ - std::vector> triplets; - using InnerIterator = Eigen::SparseMatrix::InnerIterator; - for (int k = 0; k < M_V.outerSize(); ++k) { - for (InnerIterator it(M_V, k); it; ++it) { - for (int d = 0; d < dim; d++) { - triplets.emplace_back( - dim * it.row() + d, dim * it.col() + d, it.value()); - } - } - } - - Eigen::SparseMatrix M_dof(M_V.rows() * dim, M_V.cols() * dim); - M_dof.setFromTriplets(triplets.begin(), triplets.end()); - M_dof.makeCompressed(); - return M_dof; -} - -// ============================================================================ - -void CollisionMesh::init_adjacencies() -{ - m_vertex_vertex_adjacencies.resize(num_vertices()); - m_vertex_edge_adjacencies.resize(num_vertices()); - // Edges includes the edges of the faces - for (int i = 0; i < m_edges.rows(); i++) { - m_vertex_vertex_adjacencies[m_edges(i, 0)].insert(m_edges(i, 1)); - m_vertex_vertex_adjacencies[m_edges(i, 1)].insert(m_edges(i, 0)); - m_vertex_edge_adjacencies[m_edges(i, 0)].insert(i); - m_vertex_edge_adjacencies[m_edges(i, 1)].insert(i); - } - - m_edge_vertex_adjacencies.resize(m_edges.rows()); - for (int i = 0; i < m_faces.rows(); i++) { - for (int j = 0; j < 3; ++j) { - m_edge_vertex_adjacencies[m_faces_to_edges(i, j)].insert( - m_faces(i, (j + 2) % 3)); - } - } - - // Is the vertex on the boundary of the triangle mesh in 3D or polyline in - // 2D - m_is_vertex_on_boundary.resize(num_vertices(), true); - if (dim() == 2) { - for (int i = 0; i < num_vertices(); i++) { - m_is_vertex_on_boundary[i] = - m_vertex_vertex_adjacencies[i].size() <= 1; - } - } else { - for (int i = 0; i < m_edges.rows(); i++) { - // If edge is part of two triangles - if (m_edge_vertex_adjacencies[i].size() >= 2) { - for (int j = 0; j < 2; j++) { - m_is_vertex_on_boundary[m_edges(i, j)] = false; - } - } - } - } -} - -void CollisionMesh::init_areas() -{ - // m_vertices_to_edges.resize(num_vertices()); - // for (int i = 0; i < m_edges.rows(); i++) { - // for (int j = 0; j < m_edges.cols(); j++) { - // m_vertices_to_edges[m_edges(i, j)].push_back(i); - // } - // } - // - // m_vertices_to_faces.resize(num_vertices()); - // for (int i = 0; i < m_faces.rows(); i++) { - // for (int j = 0; j < m_faces.cols(); j++) { - // m_vertices_to_faces[m_faces(i, j)].push_back(i); - // } - // } - - // Compute vertex areas as the sum of ½ the length of connected edges - Eigen::VectorXd vertex_edge_areas = - Eigen::VectorXd::Constant(num_vertices(), -1); - for (int i = 0; i < m_edges.rows(); i++) { - const VectorMax3d e0 = m_rest_positions.row(m_edges(i, 0)); - const VectorMax3d e1 = m_rest_positions.row(m_edges(i, 1)); - double edge_len = (e1 - e0).norm(); - - for (int j = 0; j < m_edges.cols(); j++) { - if (vertex_edge_areas[m_edges(i, j)] < 0) { - vertex_edge_areas[m_edges(i, j)] = 0; - } - vertex_edge_areas[m_edges(i, j)] += 0.5 * edge_len; - } - } - - // Compute vertex/edge areas as the sum of ⅓ the area of connected face - Eigen::VectorXd vertex_face_areas = - Eigen::VectorXd::Constant(num_vertices(), -1); - m_edge_areas.setConstant(m_edges.rows(), -1); - if (dim() == 3) { - for (int i = 0; i < m_faces.rows(); i++) { - const Eigen::Vector3d f0 = m_rest_positions.row(m_faces(i, 0)); - const Eigen::Vector3d f1 = m_rest_positions.row(m_faces(i, 1)); - const Eigen::Vector3d f2 = m_rest_positions.row(m_faces(i, 2)); - double face_area = 0.5 * (f1 - f0).cross(f2 - f0).norm(); - - for (int j = 0; j < m_faces.cols(); ++j) { - if (vertex_face_areas[m_faces(i, j)] < 0) { - vertex_face_areas[m_faces(i, j)] = 0; - } - vertex_face_areas[m_faces(i, j)] += face_area / 3.0; - - if (m_edge_areas[m_faces_to_edges(i, j)] < 0) { - m_edge_areas[m_faces_to_edges(i, j)] = 0; - } - m_edge_areas[m_faces_to_edges(i, j)] += face_area / 3.0; - } - } - } - - // Select the area based on the order face, edge, codim - m_vertex_areas = - (vertex_face_areas.array() < 0) - .select( - (vertex_edge_areas.array() < 0).select(1, vertex_edge_areas), - vertex_face_areas); - - for (int i = 0; i < m_edge_areas.size(); i++) { - if (m_edge_areas[i] < 0) { - // Use the edge length for codim edges - const VectorMax3d e0 = m_rest_positions.row(m_edges(i, 0)); - const VectorMax3d e1 = m_rest_positions.row(m_edges(i, 1)); - m_edge_areas[i] = (e1 - e0).norm(); - } - } -} - -void CollisionMesh::init_area_jacobians() -{ - std::vector was_vertex_visited(num_vertices(), false); - std::vector was_edge_visited(num_edges(), false); - - m_vertex_area_jacobian.resize( - num_vertices(), Eigen::SparseVector(ndof())); - m_edge_area_jacobian.resize( - num_edges(), Eigen::SparseVector(ndof())); - - // Compute vertex/edge areas as the sum of ⅓ the area of connected face - for (int i = 0; i < m_faces.rows(); i++) { - assert(dim() == 3); - const Eigen::Vector3d f0 = m_rest_positions.row(m_faces(i, 0)); - const Eigen::Vector3d f1 = m_rest_positions.row(m_faces(i, 1)); - const Eigen::Vector3d f2 = m_rest_positions.row(m_faces(i, 2)); - - const Vector9d face_area_gradient = - triangle_area_gradient(f0, f1, f2) / 3.0; - - for (int j = 0; j < m_faces.cols(); ++j) { - // compute gradient of area - - was_vertex_visited[m_faces(i, j)] = true; - local_gradient_to_global_gradient( - face_area_gradient, m_faces.row(i), dim(), - m_vertex_area_jacobian[m_faces(i, j)]); - - was_edge_visited[m_faces_to_edges(i, j)] = true; - local_gradient_to_global_gradient( - face_area_gradient, m_faces.row(i), dim(), - m_edge_area_jacobian[m_faces_to_edges(i, j)]); - } - } - - // Compute unvisited vertex areas as the sum of ½ the length of connected - // edges - for (int i = 0; i < m_edges.rows(); i++) { - const int e0i = m_edges(i, 0), e1i = m_edges(i, 1); - const VectorMax3d e0 = m_rest_positions.row(e0i); - const VectorMax3d e1 = m_rest_positions.row(e1i); - - assert(was_vertex_visited[e0i] == was_vertex_visited[e1i]); - if (was_vertex_visited[e0i] && was_edge_visited[i]) { - continue; - } - - const VectorMax6d edge_len_gradient = edge_length_gradient(e0, e1); - - if (!was_vertex_visited[e0i]) { - for (int j = 0; j < m_edges.cols(); j++) { - local_gradient_to_global_gradient( - 0.5 * edge_len_gradient, m_edges.row(i), dim(), - m_vertex_area_jacobian[m_edges(i, j)]); - } - } - - if (!was_edge_visited[i]) { - local_gradient_to_global_gradient( - edge_len_gradient, m_edges.row(i), dim(), - m_edge_area_jacobian[i]); - } - } -} - -// ============================================================================/ - -Eigen::MatrixXd -CollisionMesh::vertices(const Eigen::MatrixXd& full_positions) const -{ - // full_U = full_V - full_V_rest - assert(full_positions.rows() == full_num_vertices()); - assert(full_positions.cols() == dim()); - return displace_vertices(full_positions - m_full_rest_positions); -} - -Eigen::MatrixXd CollisionMesh::displace_vertices( - const Eigen::MatrixXd& full_displacements) const -{ - // V_rest + S * T * full_U; m_displacement_map = S * T - return m_rest_positions + map_displacements(full_displacements); -} - -Eigen::MatrixXd CollisionMesh::map_displacements( - const Eigen::MatrixXd& full_displacements) const -{ - assert(m_displacement_map.cols() == full_displacements.rows()); - assert(full_displacements.cols() == dim()); - return m_displacement_map * full_displacements; -} - -// ============================================================================/ - -Eigen::VectorXd CollisionMesh::to_full_dof(const Eigen::VectorXd& x) const -{ - // ∇_{full} f(S * T * x_full) = Tᵀ * Sᵀ * ∇_{collision} f(S * T * x_full) - // x = ∇_{collision} f(S * T * x_full); m_displacement_dof_map = S * T - return m_displacement_dof_map.transpose() * x; -} - -Eigen::SparseMatrix -CollisionMesh::to_full_dof(const Eigen::SparseMatrix& X) const -{ - // ∇_{full} Tᵀ * Sᵀ * ∇_{collision} f(S * T * x_full) - // = Tᵀ * Sᵀ * [∇_{collision}² f(S * T * x_full)] * S * T - // X = ∇_{collision}² f(S * T * x_full); m_displacement_dof_map = S * T - return m_displacement_dof_map.transpose() * X * m_displacement_dof_map; -} - -// ============================================================================/ - -std::vector CollisionMesh::construct_is_on_surface( - const long num_vertices, - const Eigen::MatrixXi& edges, - const Eigen::VectorXi& codim_vertices) -{ - std::vector is_on_surface(num_vertices, false); - for (int i = 0; i < codim_vertices.size(); i++) { - assert(codim_vertices[i] < num_vertices); - is_on_surface[codim_vertices[i]] = true; - } - // Column first because colmajor - for (size_t ej = 0; ej < edges.cols(); ej++) { - for (size_t ei = 0; ei < edges.rows(); ei++) { - assert(edges(ei, ej) < num_vertices); - is_on_surface[edges(ei, ej)] = true; - } - } - return is_on_surface; -} - -// ============================================================================/ - -Eigen::MatrixXi CollisionMesh::construct_faces_to_edges( - const Eigen::MatrixXi& faces, const Eigen::MatrixXi& edges) -{ - if (faces.size() == 0) { - return Eigen::MatrixXi(faces.rows(), faces.cols()); - } - assert(edges.size() != 0); - - unordered_map, size_t> edge_map; - for (size_t ei = 0; ei < edges.rows(); ei++) { - edge_map.emplace( - std::make_pair( - edges.row(ei).minCoeff(), edges.row(ei).maxCoeff()), - ei); - } - - Eigen::MatrixXi faces_to_edges(faces.rows(), faces.cols()); - for (int fi = 0; fi < faces.rows(); fi++) { - for (int fj = 0; fj < faces.cols(); fj++) { - const int vi = faces(fi, fj); - const int vj = faces(fi, (fj + 1) % faces.cols()); - std::pair e(std::min(vi, vj), std::max(vi, vj)); - auto search = edge_map.find(e); - if (search != edge_map.end()) { - faces_to_edges(fi, fj) = search->second; - } else { - throw std::runtime_error("Unable to find edge!"); - } - } - } - - return faces_to_edges; -} - -} // namespace ipc +#include "collision_mesh.hpp" + +#include +#include +#include +#include +#include + +namespace ipc { + +CollisionMesh::CollisionMesh( + const Eigen::MatrixXd& rest_positions, + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces, + const Eigen::SparseMatrix& displacement_map, + const std::vector& mat_ids) + : CollisionMesh( + std::vector(rest_positions.rows(), true), + rest_positions, + edges, + faces, + displacement_map, + mat_ids) +{ +} + +CollisionMesh::CollisionMesh( + const std::vector& include_vertex, + const Eigen::MatrixXd& full_rest_positions, + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces, + const Eigen::SparseMatrix& displacement_map, + const std::vector& mat_ids) + : m_full_rest_positions(full_rest_positions) + , m_edges(edges) + , m_faces(faces), + m_mat_ids(mat_ids.empty() ? std::vector(faces.rows(), 0) : mat_ids) +{ + + assert(include_vertex.size() == full_rest_positions.rows()); + assert(mat_ids.empty() || mat_ids.size() == faces.rows()); + + const bool include_all_vertices = std::all_of( + include_vertex.begin(), include_vertex.end(), [](bool b) { return b; }); + + if (include_all_vertices) { + // set full ↔ reduced ≡ identity + m_full_vertex_to_vertex.setLinSpaced( + full_rest_positions.rows(), 0, full_rest_positions.rows() - 1); + m_vertex_to_full_vertex = m_full_vertex_to_vertex; + } else { + m_full_vertex_to_vertex.setConstant(full_rest_positions.rows(), -1); + std::vector dynamic_vertex_to_full_vertex; + for (size_t i = 0; i < full_rest_positions.rows(); i++) { + if (include_vertex[i]) { + m_full_vertex_to_vertex[i] = + dynamic_vertex_to_full_vertex.size(); + dynamic_vertex_to_full_vertex.push_back(i); + } + } + m_vertex_to_full_vertex = Eigen::Map( + dynamic_vertex_to_full_vertex.data(), + dynamic_vertex_to_full_vertex.size()); + } + + // ======================================================================== + + const int dim = full_rest_positions.cols(); + + // Initializes m_select_vertices and m_select_dof + init_selection_matrices(dim); + + if (displacement_map.size() == 0) { + m_displacement_map = m_select_vertices; + m_displacement_dof_map = m_select_dof; + } else { + assert(displacement_map.rows() == full_num_vertices()); + // assert(displacement_map.cols() == full_num_vertices()); + + m_displacement_map = m_select_vertices * displacement_map; + m_displacement_map.makeCompressed(); + + m_displacement_dof_map = + m_select_dof * vertex_matrix_to_dof_matrix(displacement_map, dim); + m_displacement_dof_map.makeCompressed(); + } + + // ======================================================================== + + // Set vertices at rest using full → reduced map + m_rest_positions = m_select_vertices * full_rest_positions; + // m_rest_positions = vertices(full_rest_positions); + + // Map faces and edges to only included vertices + if (!include_all_vertices) { + for (int i = 0; i < m_edges.rows(); i++) { + for (int j = 0; j < m_edges.cols(); j++) { + long new_id = m_full_vertex_to_vertex[m_edges(i, j)]; + assert(new_id >= 0 && new_id < num_vertices()); + m_edges(i, j) = new_id; + } + } + + for (int i = 0; i < m_faces.rows(); i++) { + for (int j = 0; j < m_faces.cols(); j++) { + long new_id = m_full_vertex_to_vertex[m_faces(i, j)]; + assert(new_id >= 0 && new_id < num_vertices()); + m_faces(i, j) = new_id; + } + } + } // else no need to change the edges and faces + + m_faces_to_edges = construct_faces_to_edges(m_faces, m_edges); + + init_codim_vertices(); + init_codim_edges(); + init_areas(); + init_adjacencies(); + // Compute these manually if needed. + // init_area_jacobian(); +} + +// ============================================================================ + +void CollisionMesh::init_codim_vertices() +{ + std::vector is_codim_vertex(num_vertices(), true); + for (int i : m_edges.reshaped()) { + is_codim_vertex[i] = false; + } + + m_codim_vertices.resize( + std::count(is_codim_vertex.begin(), is_codim_vertex.end(), true)); + + int j = 0; + for (int i = 0; i < num_vertices(); i++) { + if (is_codim_vertex[i]) { + assert(j < m_codim_vertices.size()); + m_codim_vertices[j++] = i; + } + } + assert(j == m_codim_vertices.size()); +} + +void CollisionMesh::init_codim_edges() +{ + std::vector is_codim_edge(num_edges(), true); + for (int i : m_faces_to_edges.reshaped()) { + is_codim_edge[i] = false; + } + + m_codim_edges.resize( + std::count(is_codim_edge.begin(), is_codim_edge.end(), true)); + + int j = 0; + for (int i = 0; i < num_edges(); i++) { + if (is_codim_edge[i]) { + assert(j < m_codim_edges.size()); + m_codim_edges[j++] = i; + } + } + assert(j == m_codim_edges.size()); +} + +// ============================================================================ + +void CollisionMesh::init_selection_matrices(const int dim) +{ + std::vector> triplets; + triplets.reserve(num_vertices()); + for (int vi = 0; vi < num_vertices(); vi++) { + triplets.emplace_back(vi, m_vertex_to_full_vertex[vi], 1.0); + } + + m_select_vertices.resize(num_vertices(), full_num_vertices()); + m_select_vertices.setFromTriplets(triplets.begin(), triplets.end()); + m_select_vertices.makeCompressed(); + + m_select_dof = vertex_matrix_to_dof_matrix(m_select_vertices, dim); +} + +Eigen::SparseMatrix CollisionMesh::vertex_matrix_to_dof_matrix( + const Eigen::SparseMatrix& M_V, int dim) +{ + std::vector> triplets; + using InnerIterator = Eigen::SparseMatrix::InnerIterator; + for (int k = 0; k < M_V.outerSize(); ++k) { + for (InnerIterator it(M_V, k); it; ++it) { + for (int d = 0; d < dim; d++) { + triplets.emplace_back( + dim * it.row() + d, dim * it.col() + d, it.value()); + } + } + } + + Eigen::SparseMatrix M_dof(M_V.rows() * dim, M_V.cols() * dim); + M_dof.setFromTriplets(triplets.begin(), triplets.end()); + M_dof.makeCompressed(); + return M_dof; +} + +// ============================================================================ + +void CollisionMesh::init_adjacencies() +{ + m_vertex_vertex_adjacencies.resize(num_vertices()); + m_vertex_edge_adjacencies.resize(num_vertices()); + // Edges includes the edges of the faces + for (int i = 0; i < m_edges.rows(); i++) { + m_vertex_vertex_adjacencies[m_edges(i, 0)].insert(m_edges(i, 1)); + m_vertex_vertex_adjacencies[m_edges(i, 1)].insert(m_edges(i, 0)); + m_vertex_edge_adjacencies[m_edges(i, 0)].insert(i); + m_vertex_edge_adjacencies[m_edges(i, 1)].insert(i); + } + + m_edge_vertex_adjacencies.resize(m_edges.rows()); + for (int i = 0; i < m_faces.rows(); i++) { + for (int j = 0; j < 3; ++j) { + m_edge_vertex_adjacencies[m_faces_to_edges(i, j)].insert( + m_faces(i, (j + 2) % 3)); + } + } + + // Is the vertex on the boundary of the triangle mesh in 3D or polyline in + // 2D + m_is_vertex_on_boundary.resize(num_vertices(), true); + if (dim() == 2) { + for (int i = 0; i < num_vertices(); i++) { + m_is_vertex_on_boundary[i] = + m_vertex_vertex_adjacencies[i].size() <= 1; + } + } else { + for (int i = 0; i < m_edges.rows(); i++) { + // If edge is part of two triangles + if (m_edge_vertex_adjacencies[i].size() >= 2) { + for (int j = 0; j < 2; j++) { + m_is_vertex_on_boundary[m_edges(i, j)] = false; + } + } + } + } +} + +void CollisionMesh::init_areas() +{ + // m_vertices_to_edges.resize(num_vertices()); + // for (int i = 0; i < m_edges.rows(); i++) { + // for (int j = 0; j < m_edges.cols(); j++) { + // m_vertices_to_edges[m_edges(i, j)].push_back(i); + // } + // } + // + // m_vertices_to_faces.resize(num_vertices()); + // for (int i = 0; i < m_faces.rows(); i++) { + // for (int j = 0; j < m_faces.cols(); j++) { + // m_vertices_to_faces[m_faces(i, j)].push_back(i); + // } + // } + + // Compute vertex areas as the sum of ½ the length of connected edges + Eigen::VectorXd vertex_edge_areas = + Eigen::VectorXd::Constant(num_vertices(), -1); + for (int i = 0; i < m_edges.rows(); i++) { + const VectorMax3d e0 = m_rest_positions.row(m_edges(i, 0)); + const VectorMax3d e1 = m_rest_positions.row(m_edges(i, 1)); + double edge_len = (e1 - e0).norm(); + + for (int j = 0; j < m_edges.cols(); j++) { + if (vertex_edge_areas[m_edges(i, j)] < 0) { + vertex_edge_areas[m_edges(i, j)] = 0; + } + vertex_edge_areas[m_edges(i, j)] += 0.5 * edge_len; + } + } + + // Compute vertex/edge areas as the sum of ⅓ the area of connected face + Eigen::VectorXd vertex_face_areas = + Eigen::VectorXd::Constant(num_vertices(), -1); + m_edge_areas.setConstant(m_edges.rows(), -1); + if (dim() == 3) { + for (int i = 0; i < m_faces.rows(); i++) { + const Eigen::Vector3d f0 = m_rest_positions.row(m_faces(i, 0)); + const Eigen::Vector3d f1 = m_rest_positions.row(m_faces(i, 1)); + const Eigen::Vector3d f2 = m_rest_positions.row(m_faces(i, 2)); + double face_area = 0.5 * (f1 - f0).cross(f2 - f0).norm(); + + for (int j = 0; j < m_faces.cols(); ++j) { + if (vertex_face_areas[m_faces(i, j)] < 0) { + vertex_face_areas[m_faces(i, j)] = 0; + } + vertex_face_areas[m_faces(i, j)] += face_area / 3.0; + + if (m_edge_areas[m_faces_to_edges(i, j)] < 0) { + m_edge_areas[m_faces_to_edges(i, j)] = 0; + } + m_edge_areas[m_faces_to_edges(i, j)] += face_area / 3.0; + } + } + } + + // Select the area based on the order face, edge, codim + m_vertex_areas = + (vertex_face_areas.array() < 0) + .select( + (vertex_edge_areas.array() < 0).select(1, vertex_edge_areas), + vertex_face_areas); + + for (int i = 0; i < m_edge_areas.size(); i++) { + if (m_edge_areas[i] < 0) { + // Use the edge length for codim edges + const VectorMax3d e0 = m_rest_positions.row(m_edges(i, 0)); + const VectorMax3d e1 = m_rest_positions.row(m_edges(i, 1)); + m_edge_areas[i] = (e1 - e0).norm(); + } + } +} + +void CollisionMesh::init_area_jacobians() +{ + std::vector was_vertex_visited(num_vertices(), false); + std::vector was_edge_visited(num_edges(), false); + + m_vertex_area_jacobian.resize( + num_vertices(), Eigen::SparseVector(ndof())); + m_edge_area_jacobian.resize( + num_edges(), Eigen::SparseVector(ndof())); + + // Compute vertex/edge areas as the sum of ⅓ the area of connected face + for (int i = 0; i < m_faces.rows(); i++) { + assert(dim() == 3); + const Eigen::Vector3d f0 = m_rest_positions.row(m_faces(i, 0)); + const Eigen::Vector3d f1 = m_rest_positions.row(m_faces(i, 1)); + const Eigen::Vector3d f2 = m_rest_positions.row(m_faces(i, 2)); + + const Vector9d face_area_gradient = + triangle_area_gradient(f0, f1, f2) / 3.0; + + for (int j = 0; j < m_faces.cols(); ++j) { + // compute gradient of area + + was_vertex_visited[m_faces(i, j)] = true; + local_gradient_to_global_gradient( + face_area_gradient, m_faces.row(i), dim(), + m_vertex_area_jacobian[m_faces(i, j)]); + + was_edge_visited[m_faces_to_edges(i, j)] = true; + local_gradient_to_global_gradient( + face_area_gradient, m_faces.row(i), dim(), + m_edge_area_jacobian[m_faces_to_edges(i, j)]); + } + } + + // Compute unvisited vertex areas as the sum of ½ the length of connected + // edges + for (int i = 0; i < m_edges.rows(); i++) { + const int e0i = m_edges(i, 0), e1i = m_edges(i, 1); + const VectorMax3d e0 = m_rest_positions.row(e0i); + const VectorMax3d e1 = m_rest_positions.row(e1i); + + assert(was_vertex_visited[e0i] == was_vertex_visited[e1i]); + if (was_vertex_visited[e0i] && was_edge_visited[i]) { + continue; + } + + const VectorMax6d edge_len_gradient = edge_length_gradient(e0, e1); + + if (!was_vertex_visited[e0i]) { + for (int j = 0; j < m_edges.cols(); j++) { + local_gradient_to_global_gradient( + 0.5 * edge_len_gradient, m_edges.row(i), dim(), + m_vertex_area_jacobian[m_edges(i, j)]); + } + } + + if (!was_edge_visited[i]) { + local_gradient_to_global_gradient( + edge_len_gradient, m_edges.row(i), dim(), + m_edge_area_jacobian[i]); + } + } +} + +// ============================================================================/ + +Eigen::MatrixXd +CollisionMesh::vertices(const Eigen::MatrixXd& full_positions) const +{ + // full_U = full_V - full_V_rest + assert(full_positions.rows() == full_num_vertices()); + assert(full_positions.cols() == dim()); + return displace_vertices(full_positions - m_full_rest_positions); +} + +Eigen::MatrixXd CollisionMesh::displace_vertices( + const Eigen::MatrixXd& full_displacements) const +{ + // V_rest + S * T * full_U; m_displacement_map = S * T + return m_rest_positions + map_displacements(full_displacements); +} + +Eigen::MatrixXd CollisionMesh::map_displacements( + const Eigen::MatrixXd& full_displacements) const +{ + assert(m_displacement_map.cols() == full_displacements.rows()); + assert(full_displacements.cols() == dim()); + return m_displacement_map * full_displacements; +} + +// ============================================================================/ + +Eigen::VectorXd CollisionMesh::to_full_dof(const Eigen::VectorXd& x) const +{ + // ∇_{full} f(S * T * x_full) = Tᵀ * Sᵀ * ∇_{collision} f(S * T * x_full) + // x = ∇_{collision} f(S * T * x_full); m_displacement_dof_map = S * T + return m_displacement_dof_map.transpose() * x; +} + +Eigen::SparseMatrix +CollisionMesh::to_full_dof(const Eigen::SparseMatrix& X) const +{ + // ∇_{full} Tᵀ * Sᵀ * ∇_{collision} f(S * T * x_full) + // = Tᵀ * Sᵀ * [∇_{collision}² f(S * T * x_full)] * S * T + // X = ∇_{collision}² f(S * T * x_full); m_displacement_dof_map = S * T + return m_displacement_dof_map.transpose() * X * m_displacement_dof_map; +} + +// ============================================================================/ + +std::vector CollisionMesh::construct_is_on_surface( + const long num_vertices, + const Eigen::MatrixXi& edges, + const Eigen::VectorXi& codim_vertices) +{ + std::vector is_on_surface(num_vertices, false); + for (int i = 0; i < codim_vertices.size(); i++) { + assert(codim_vertices[i] < num_vertices); + is_on_surface[codim_vertices[i]] = true; + } + // Column first because colmajor + for (size_t ej = 0; ej < edges.cols(); ej++) { + for (size_t ei = 0; ei < edges.rows(); ei++) { + assert(edges(ei, ej) < num_vertices); + is_on_surface[edges(ei, ej)] = true; + } + } + return is_on_surface; +} + +// ============================================================================/ + +Eigen::MatrixXi CollisionMesh::construct_faces_to_edges( + const Eigen::MatrixXi& faces, const Eigen::MatrixXi& edges) +{ + if (faces.size() == 0) { + return Eigen::MatrixXi(faces.rows(), faces.cols()); + } + assert(edges.size() != 0); + + unordered_map, size_t> edge_map; + for (size_t ei = 0; ei < edges.rows(); ei++) { + edge_map.emplace( + std::make_pair( + edges.row(ei).minCoeff(), edges.row(ei).maxCoeff()), + ei); + } + + Eigen::MatrixXi faces_to_edges(faces.rows(), faces.cols()); + for (int fi = 0; fi < faces.rows(); fi++) { + for (int fj = 0; fj < faces.cols(); fj++) { + const int vi = faces(fi, fj); + const int vj = faces(fi, (fj + 1) % faces.cols()); + std::pair e(std::min(vi, vj), std::max(vi, vj)); + auto search = edge_map.find(e); + if (search != edge_map.end()) { + faces_to_edges(fi, fj) = search->second; + } else { + throw std::runtime_error("Unable to find edge!"); + } + } + } + + return faces_to_edges; +} + +} // namespace ipc diff --git a/src/ipc/collision_mesh.hpp b/src/ipc/collision_mesh.hpp index 5f780f1bd..6818a898c 100644 --- a/src/ipc/collision_mesh.hpp +++ b/src/ipc/collision_mesh.hpp @@ -1,394 +1,394 @@ -#pragma once - -#include - -#include - -#include -#include - -namespace ipc { - -/// @brief A class for encapsolating the transformation/selections needed to go from a volumetric FE mesh to a surface collision mesh. -class CollisionMesh { -public: - /// @brief Construct a new Collision Mesh object. - /// Collision Mesh objects are immutable, so use the other constructors. - CollisionMesh() = default; - - /// @brief Construct a new Collision Mesh object directly from the collision mesh vertices. - /// @param rest_positions The vertices of the collision mesh at rest (#V × dim). - /// @param edges The edges of the collision mesh (#E × 2). - /// @param faces The faces of the collision mesh (#F × 3). - /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. - /// @param mat_id The material ID of the collision mesh (optional). - CollisionMesh( - const Eigen::MatrixXd& rest_positions, - const Eigen::MatrixXi& edges = Eigen::MatrixXi(), - const Eigen::MatrixXi& faces = Eigen::MatrixXi(), - const Eigen::SparseMatrix& displacement_map = - Eigen::SparseMatrix(), - const std::vector& material_ids = {}); - - /// @brief Construct a new Collision Mesh object from a full mesh vertices. - /// @param include_vertex Vector of bools indicating whether each vertex should be included in the collision mesh. - /// @param full_rest_positions The vertices of the full mesh at rest (#V × dim). - /// @param edges The edges of the collision mesh indexed into the full mesh vertices (#E × 2). - /// @param faces The faces of the collision mesh indexed into the full mesh vertices (#F × 3). - /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. - /// @param mat_id The material ID of the collision mesh (optional). - CollisionMesh( - const std::vector& include_vertex, - const Eigen::MatrixXd& full_rest_positions, - const Eigen::MatrixXi& edges = Eigen::MatrixXi(), - const Eigen::MatrixXi& faces = Eigen::MatrixXi(), - const Eigen::SparseMatrix& displacement_map = - Eigen::SparseMatrix(), - const std::vector& material_ids = {}); - - /// @brief Helper function that automatically builds include_vertex using construct_is_on_surface. - /// @param full_rest_positions The full vertices at rest (#FV × dim). - /// @param edges The edge matrix of mesh (#E × 2). - /// @param faces The face matrix of mesh (#F × 3). - /// @return Constructed CollisionMesh. - static CollisionMesh build_from_full_mesh( - const Eigen::MatrixXd& full_rest_positions, - const Eigen::MatrixXi& edges, - const Eigen::MatrixXi& faces = Eigen::MatrixXi()) - { - return CollisionMesh( - construct_is_on_surface(full_rest_positions.rows(), edges), - full_rest_positions, edges, faces); - } - - // The following functions are used to initialize optional data structures. - - /// @brief Initialize vertex-vertex and edge-vertex adjacencies. - void init_adjacencies(); - - /// @brief Initialize vertex and edge areas. - void init_area_jacobians(); - - /// @brief Destroy the Collision Mesh object - ~CollisionMesh() = default; - - /// @brief Get the number of vertices in the collision mesh. - size_t num_vertices() const { return m_vertex_to_full_vertex.size(); } - - /// @brief Get the number of codimensional vertices in the collision mesh. - size_t num_codim_vertices() const { return codim_vertices().size(); } - - /// @brief Get the number of codimensional edges in the collision mesh. - size_t num_codim_edges() const { return codim_edges().size(); } - - /// @brief Get the number of edges in the collision mesh. - size_t num_edges() const { return edges().rows(); } - - /// @brief Get the number of faces in the collision mesh. - size_t num_faces() const { return faces().rows(); } - - /// @brief Get the dimension of the mesh. - size_t dim() const { return m_rest_positions.cols(); } - - /// @brief Get the number of degrees of freedom in the collision mesh. - size_t ndof() const { return num_vertices() * dim(); } - - /// @brief Get the number of vertices in the full mesh. - size_t full_num_vertices() const { return m_full_vertex_to_vertex.size(); } - - /// @brief Get the number of degrees of freedom in the full mesh. - size_t full_ndof() const { return full_num_vertices() * dim(); } - - /// @brief Get the vertices of the collision mesh at rest (#V × dim). - const Eigen::MatrixXd& rest_positions() const { return m_rest_positions; } - - /// @brief Get the indices of codimensional vertices of the collision mesh (#CV x 1). - const Eigen::VectorXi& codim_vertices() const { return m_codim_vertices; } - - /// @brief Get the indices of codimensional edges of the collision mesh (#CE x 1). - const Eigen::VectorXi& codim_edges() const { return m_codim_edges; } - - /// @brief Get the edges of the collision mesh (#E × 2). - const Eigen::MatrixXi& edges() const { return m_edges; } - - /// @brief Get the faces of the collision mesh (#F × 3). - const Eigen::MatrixXi& faces() const { return m_faces; } - - /// @brief Get the mapping from faces to edges of the collision mesh (#F × 3). - const Eigen::MatrixXi& faces_to_edges() const { return m_faces_to_edges; } - - // const std::vector>& vertices_to_edges() const - // { - // return m_vertices_to_edges; - // } - - // const std::vector>& vertices_to_faces() const - // { - // return m_vertices_to_faces; - // } - - // ----------------------------------------------------------------------- - - /// @brief Compute the vertex positions from the positions of the full mesh. - /// @param full_positions The vertex positions of the full mesh (#FV × dim). - /// @return The vertex positions of the collision mesh (#V × dim). - Eigen::MatrixXd vertices(const Eigen::MatrixXd& full_positions) const; - - /// @brief Compute the vertex positions from vertex displacements on the full mesh. - /// @param full_displacements The vertex displacements on the full mesh (#FV × dim). - /// @return The vertex positions of the collision mesh (#V × dim). - Eigen::MatrixXd - displace_vertices(const Eigen::MatrixXd& full_displacements) const; - - /// @brief Map vertex displacements on the full mesh to vertex displacements on the collision mesh. - /// @param full_displacements The vertex displacements on the full mesh (#FV × dim). - /// @return The vertex displacements on the collision mesh (#V × dim). - Eigen::MatrixXd - map_displacements(const Eigen::MatrixXd& full_displacements) const; - - /// @brief Map a vertex ID to the corresponding vertex ID in the full mesh. - /// @param id Vertex ID in the collision mesh. - /// @return Vertex ID in the full mesh. - size_t to_full_vertex_id(const size_t id) const - { - assert(id < num_vertices()); - return m_vertex_to_full_vertex[id]; - } - - /// @brief Map a vector quantity on the collision mesh to the full mesh. - /// This is useful for mapping gradients from the collision mesh to the full - /// mesh (i.e., applies the chain-rule). - /// @param x Vector quantity on the collision mesh with size equal to ndof(). - /// @return Vector quantity on the full mesh with size equal to full_ndof(). - Eigen::VectorXd to_full_dof(const Eigen::VectorXd& x) const; - - /// @brief Map a matrix quantity on the collision mesh to the full mesh. - /// This is useful for mapping Hessians from the collision mesh to the full - /// mesh (i.e., applies the chain-rule). - /// @param X Matrix quantity on the collision mesh with size equal to ndof() × ndof(). - /// @return Matrix quantity on the full mesh with size equal to full_ndof() × full_ndof(). - Eigen::SparseMatrix - to_full_dof(const Eigen::SparseMatrix& X) const; - - // ----------------------------------------------------------------------- - - /// @brief Get the vertex-vertex adjacency matrix. - const std::vector>& vertex_vertex_adjacencies() const - { - if (!are_adjacencies_initialized()) { - throw std::runtime_error( - "Vertex-vertex adjacencies not initialized. Call init_adjacencies() first."); - } - return m_vertex_vertex_adjacencies; - } - - /// @brief Get the vertex-edge adjacency matrix. - const std::vector>& vertex_edge_adjacencies() const - { - if (!are_adjacencies_initialized()) { - throw std::runtime_error( - "Vertex-edge adjacencies not initialized. Call init_adjacencies() first."); - } - return m_vertex_edge_adjacencies; - } - - /// @brief Get the edge-vertex adjacency matrix. - const std::vector>& edge_vertex_adjacencies() const - { - if (!are_adjacencies_initialized()) { - throw std::runtime_error( - "Edge-vertex adjacencies not initialized. Call init_adjacencies() first."); - } - return m_edge_vertex_adjacencies; - } - - /// @brief Determine if the adjacencies have been initialized by calling init_adjacencies(). - bool are_adjacencies_initialized() const - { - return !m_vertex_vertex_adjacencies.empty() - && !m_vertex_edge_adjacencies.empty() - && !m_edge_vertex_adjacencies.empty(); - } - - /// @brief Is a vertex on the boundary of the collision mesh? - /// @param vi Vertex ID. - /// @return True if the vertex is on the boundary of the collision mesh. - bool is_vertex_on_boundary(const int vi) const - { - return m_is_vertex_on_boundary[vi]; - } - - /// @brief Get the barycentric area of a vertex. - /// @param vi Vertex ID. - /// @return Barycentric area of vertex vi. - double vertex_area(const size_t vi) const { return m_vertex_areas[vi]; } - - /// @brief Get the barycentric area of the vertices. - const Eigen::VectorXd& vertex_areas() const { return m_vertex_areas; } - - /// @brief Get the gradient of the barycentric area of a vertex wrt the rest positions of all points. - /// @param vi Vertex ID. - /// @return Gradient of the barycentric area of vertex vi wrt the rest positions of all points. - const Eigen::SparseVector& - vertex_area_gradient(const size_t vi) const - { - if (!are_area_jacobians_initialized()) { - throw std::runtime_error( - "Vertex area Jacobian not initialized. Call init_area_jacobians() first."); - } - return m_vertex_area_jacobian[vi]; - } - - /// @brief Get the barycentric area of an edge. - /// @param ei Edge ID. - /// @return Barycentric area of edge ei. - double edge_area(const size_t ei) const { return m_edge_areas[ei]; } - - /// @brief Get the barycentric area of the edges. - const Eigen::VectorXd& edge_areas() const { return m_edge_areas; } - - /// @brief Get the gradient of the barycentric area of an edge wrt the rest positions of all points. - /// @param ei Edge ID. - /// @return Gradient of the barycentric area of edge ei wrt the rest positions of all points. - const Eigen::SparseVector& edge_area_gradient(const size_t ei) const - { - if (!are_area_jacobians_initialized()) { - throw std::runtime_error( - "Edge area Jacobian not initialized. Call init_area_jacobians() first."); - } - return m_edge_area_jacobian[ei]; - } - - /// @brief Determine if the area Jacobians have been initialized by calling init_area_jacobians(). - bool are_area_jacobians_initialized() const - { - return m_vertex_area_jacobian.size() == num_vertices() - && m_edge_area_jacobian.size() == num_edges(); - } - - // ----------------------------------------------------------------------- - - /// @brief Construct a vector of bools indicating whether each vertex is on the surface. - /// @param num_vertices The number of vertices in the mesh. - /// @param edges The surface edges of the mesh (#E × 2). - /// @param codim_vertices The indices of codimensional vertices (#CV x 1). - /// @return A vector of bools indicating whether each vertex is on the surface. - static std::vector construct_is_on_surface( - const long num_vertices, - const Eigen::MatrixXi& edges, - const Eigen::VectorXi& codim_vertices = Eigen::VectorXi()); - - /// @brief Construct a matrix that maps from the faces' edges to rows in the edges matrix. - /// @param faces The face matrix of mesh (#F × 3). - /// @param edges The edge matrix of mesh (#E × 2). - /// @return Matrix that maps from the faces' edges to rows in the edges matrix. - static Eigen::MatrixXi construct_faces_to_edges( - const Eigen::MatrixXi& faces, const Eigen::MatrixXi& edges); - - /// A function that takes two vertex IDs and returns true if the vertices - /// (and faces or edges containing the vertices) can collide. By default all - /// primitives can collide with all other primitives. - std::function can_collide = default_can_collide; - - /// @brief Get the material ID of the mesh. - /// @return A reference to the vector of material IDs. - const std::vector& mat_ids() const { return m_mat_ids; } - - /// @brief Get the material ID associated with a specific face or component. - /// @param index Index of the face or component. - /// @return Material ID for the specified component. - int mat_id(size_t index) const { - if (index < m_mat_ids.size()) { - return m_mat_ids[index]; - } - throw std::out_of_range("Material ID index out of range!"); - } - -protected: - // ----------------------------------------------------------------------- - // Helper initialization functions - - void init_codim_vertices(); - void init_codim_edges(); - - /// @brief Initialize the selection matrix from full vertices/DOF to collision vertices/DOF. - void init_selection_matrices(const int dim); - - /// @brief Initialize vertex and edge areas. - void init_areas(); - - /// @brief Convert a matrix meant for M_V * vertices to M_dof * x by duplicating the entries dim times. - static Eigen::SparseMatrix vertex_matrix_to_dof_matrix( - const Eigen::SparseMatrix& M_V, int dim); - - // ----------------------------------------------------------------------- - - /// @brief The full vertex positions at rest (#FV × dim). - Eigen::MatrixXd m_full_rest_positions; - /// @brief The vertex positions at rest (#V × dim). - Eigen::MatrixXd m_rest_positions; - /// @brief The indices of codimensional vertices (#CV x 1). - Eigen::VectorXi m_codim_vertices; - /// @brief The indices of codimensional edges (#CE x 1). - Eigen::VectorXi m_codim_edges; - /// @brief Edges as rows of indicies into vertices (#E × 2). - Eigen::MatrixXi m_edges; - /// @brief Triangular faces as rows of indicies into vertices (#F × 3). - Eigen::MatrixXi m_faces; - /// @brief Map from faces edges to rows of edges (#F × 3). - Eigen::MatrixXi m_faces_to_edges; - - /// @brief Map from full vertices to collision vertices. - /// @note Negative values indicate full vertex is dropped. - Eigen::VectorXi m_full_vertex_to_vertex; - /// @brief Map from collision vertices to full vertices. - Eigen::VectorXi m_vertex_to_full_vertex; - - /// @brief Selection matrix S ∈ ℝ^{collision×full} for vertices - Eigen::SparseMatrix m_select_vertices; - /// @brief Selection matrix S ∈ ℝ^{(dim*collision)×(dim*full)} for DOF - Eigen::SparseMatrix m_select_dof; - - /// @brief Mapping from full displacements to collision displacements - /// @note this is premultiplied by m_select_vertices - Eigen::SparseMatrix m_displacement_map; - /// @brief Mapping from full displacements DOF to collision displacements DOF - /// @note this is premultiplied by m_select_dof - Eigen::SparseMatrix m_displacement_dof_map; - - /// @brief Vertices adjacent to vertices - std::vector> m_vertex_vertex_adjacencies; - /// @brief Edges adjacent to vertices - std::vector> m_vertex_edge_adjacencies; - /// @brief Vertices adjacent to edges - std::vector> m_edge_vertex_adjacencies; - - // std::vector> m_vertices_to_faces; - // std::vector> m_vertices_to_edges; - - /// @brief Is vertex on the boundary of the triangle mesh in 3D or polyline in 2D? - std::vector m_is_vertex_on_boundary; - - /// @brief Vertex areas - /// 2D: 1/2 sum of length of connected edges - /// 3D: 1/3 sum of area of connected triangles - Eigen::VectorXd m_vertex_areas; - /// @brief Edge areas - /// 3D: 1/3 sum of area of connected triangles - Eigen::VectorXd m_edge_areas; - - // Stored as a std::vector so it is easier to access the rows directly. - /// @brief The rows of the Jacobian of the vertex areas vector. - std::vector> m_vertex_area_jacobian; - /// @brief The rows of the Jacobian of the edge areas vector. - std::vector> m_edge_area_jacobian; - - /// @brief The material ID of the mesh. - std::vector m_mat_ids; - -private: - /// @brief By default all primitives can collide with all other primitives. - static int default_can_collide(size_t, size_t) { return true; } -}; - -} // namespace ipc +#pragma once + +#include + +#include + +#include +#include + +namespace ipc { + +/// @brief A class for encapsolating the transformation/selections needed to go from a volumetric FE mesh to a surface collision mesh. +class CollisionMesh { +public: + /// @brief Construct a new Collision Mesh object. + /// Collision Mesh objects are immutable, so use the other constructors. + CollisionMesh() = default; + + /// @brief Construct a new Collision Mesh object directly from the collision mesh vertices. + /// @param rest_positions The vertices of the collision mesh at rest (#V × dim). + /// @param edges The edges of the collision mesh (#E × 2). + /// @param faces The faces of the collision mesh (#F × 3). + /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. + /// @param mat_id The material ID of the collision mesh (optional). + CollisionMesh( + const Eigen::MatrixXd& rest_positions, + const Eigen::MatrixXi& edges = Eigen::MatrixXi(), + const Eigen::MatrixXi& faces = Eigen::MatrixXi(), + const Eigen::SparseMatrix& displacement_map = + Eigen::SparseMatrix(), + const std::vector& material_ids = {}); + + /// @brief Construct a new Collision Mesh object from a full mesh vertices. + /// @param include_vertex Vector of bools indicating whether each vertex should be included in the collision mesh. + /// @param full_rest_positions The vertices of the full mesh at rest (#V × dim). + /// @param edges The edges of the collision mesh indexed into the full mesh vertices (#E × 2). + /// @param faces The faces of the collision mesh indexed into the full mesh vertices (#F × 3). + /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. + /// @param mat_id The material ID of the collision mesh (optional). + CollisionMesh( + const std::vector& include_vertex, + const Eigen::MatrixXd& full_rest_positions, + const Eigen::MatrixXi& edges = Eigen::MatrixXi(), + const Eigen::MatrixXi& faces = Eigen::MatrixXi(), + const Eigen::SparseMatrix& displacement_map = + Eigen::SparseMatrix(), + const std::vector& material_ids = {}); + + /// @brief Helper function that automatically builds include_vertex using construct_is_on_surface. + /// @param full_rest_positions The full vertices at rest (#FV × dim). + /// @param edges The edge matrix of mesh (#E × 2). + /// @param faces The face matrix of mesh (#F × 3). + /// @return Constructed CollisionMesh. + static CollisionMesh build_from_full_mesh( + const Eigen::MatrixXd& full_rest_positions, + const Eigen::MatrixXi& edges, + const Eigen::MatrixXi& faces = Eigen::MatrixXi()) + { + return CollisionMesh( + construct_is_on_surface(full_rest_positions.rows(), edges), + full_rest_positions, edges, faces); + } + + // The following functions are used to initialize optional data structures. + + /// @brief Initialize vertex-vertex and edge-vertex adjacencies. + void init_adjacencies(); + + /// @brief Initialize vertex and edge areas. + void init_area_jacobians(); + + /// @brief Destroy the Collision Mesh object + ~CollisionMesh() = default; + + /// @brief Get the number of vertices in the collision mesh. + size_t num_vertices() const { return m_vertex_to_full_vertex.size(); } + + /// @brief Get the number of codimensional vertices in the collision mesh. + size_t num_codim_vertices() const { return codim_vertices().size(); } + + /// @brief Get the number of codimensional edges in the collision mesh. + size_t num_codim_edges() const { return codim_edges().size(); } + + /// @brief Get the number of edges in the collision mesh. + size_t num_edges() const { return edges().rows(); } + + /// @brief Get the number of faces in the collision mesh. + size_t num_faces() const { return faces().rows(); } + + /// @brief Get the dimension of the mesh. + size_t dim() const { return m_rest_positions.cols(); } + + /// @brief Get the number of degrees of freedom in the collision mesh. + size_t ndof() const { return num_vertices() * dim(); } + + /// @brief Get the number of vertices in the full mesh. + size_t full_num_vertices() const { return m_full_vertex_to_vertex.size(); } + + /// @brief Get the number of degrees of freedom in the full mesh. + size_t full_ndof() const { return full_num_vertices() * dim(); } + + /// @brief Get the vertices of the collision mesh at rest (#V × dim). + const Eigen::MatrixXd& rest_positions() const { return m_rest_positions; } + + /// @brief Get the indices of codimensional vertices of the collision mesh (#CV x 1). + const Eigen::VectorXi& codim_vertices() const { return m_codim_vertices; } + + /// @brief Get the indices of codimensional edges of the collision mesh (#CE x 1). + const Eigen::VectorXi& codim_edges() const { return m_codim_edges; } + + /// @brief Get the edges of the collision mesh (#E × 2). + const Eigen::MatrixXi& edges() const { return m_edges; } + + /// @brief Get the faces of the collision mesh (#F × 3). + const Eigen::MatrixXi& faces() const { return m_faces; } + + /// @brief Get the mapping from faces to edges of the collision mesh (#F × 3). + const Eigen::MatrixXi& faces_to_edges() const { return m_faces_to_edges; } + + // const std::vector>& vertices_to_edges() const + // { + // return m_vertices_to_edges; + // } + + // const std::vector>& vertices_to_faces() const + // { + // return m_vertices_to_faces; + // } + + // ----------------------------------------------------------------------- + + /// @brief Compute the vertex positions from the positions of the full mesh. + /// @param full_positions The vertex positions of the full mesh (#FV × dim). + /// @return The vertex positions of the collision mesh (#V × dim). + Eigen::MatrixXd vertices(const Eigen::MatrixXd& full_positions) const; + + /// @brief Compute the vertex positions from vertex displacements on the full mesh. + /// @param full_displacements The vertex displacements on the full mesh (#FV × dim). + /// @return The vertex positions of the collision mesh (#V × dim). + Eigen::MatrixXd + displace_vertices(const Eigen::MatrixXd& full_displacements) const; + + /// @brief Map vertex displacements on the full mesh to vertex displacements on the collision mesh. + /// @param full_displacements The vertex displacements on the full mesh (#FV × dim). + /// @return The vertex displacements on the collision mesh (#V × dim). + Eigen::MatrixXd + map_displacements(const Eigen::MatrixXd& full_displacements) const; + + /// @brief Map a vertex ID to the corresponding vertex ID in the full mesh. + /// @param id Vertex ID in the collision mesh. + /// @return Vertex ID in the full mesh. + size_t to_full_vertex_id(const size_t id) const + { + assert(id < num_vertices()); + return m_vertex_to_full_vertex[id]; + } + + /// @brief Map a vector quantity on the collision mesh to the full mesh. + /// This is useful for mapping gradients from the collision mesh to the full + /// mesh (i.e., applies the chain-rule). + /// @param x Vector quantity on the collision mesh with size equal to ndof(). + /// @return Vector quantity on the full mesh with size equal to full_ndof(). + Eigen::VectorXd to_full_dof(const Eigen::VectorXd& x) const; + + /// @brief Map a matrix quantity on the collision mesh to the full mesh. + /// This is useful for mapping Hessians from the collision mesh to the full + /// mesh (i.e., applies the chain-rule). + /// @param X Matrix quantity on the collision mesh with size equal to ndof() × ndof(). + /// @return Matrix quantity on the full mesh with size equal to full_ndof() × full_ndof(). + Eigen::SparseMatrix + to_full_dof(const Eigen::SparseMatrix& X) const; + + // ----------------------------------------------------------------------- + + /// @brief Get the vertex-vertex adjacency matrix. + const std::vector>& vertex_vertex_adjacencies() const + { + if (!are_adjacencies_initialized()) { + throw std::runtime_error( + "Vertex-vertex adjacencies not initialized. Call init_adjacencies() first."); + } + return m_vertex_vertex_adjacencies; + } + + /// @brief Get the vertex-edge adjacency matrix. + const std::vector>& vertex_edge_adjacencies() const + { + if (!are_adjacencies_initialized()) { + throw std::runtime_error( + "Vertex-edge adjacencies not initialized. Call init_adjacencies() first."); + } + return m_vertex_edge_adjacencies; + } + + /// @brief Get the edge-vertex adjacency matrix. + const std::vector>& edge_vertex_adjacencies() const + { + if (!are_adjacencies_initialized()) { + throw std::runtime_error( + "Edge-vertex adjacencies not initialized. Call init_adjacencies() first."); + } + return m_edge_vertex_adjacencies; + } + + /// @brief Determine if the adjacencies have been initialized by calling init_adjacencies(). + bool are_adjacencies_initialized() const + { + return !m_vertex_vertex_adjacencies.empty() + && !m_vertex_edge_adjacencies.empty() + && !m_edge_vertex_adjacencies.empty(); + } + + /// @brief Is a vertex on the boundary of the collision mesh? + /// @param vi Vertex ID. + /// @return True if the vertex is on the boundary of the collision mesh. + bool is_vertex_on_boundary(const int vi) const + { + return m_is_vertex_on_boundary[vi]; + } + + /// @brief Get the barycentric area of a vertex. + /// @param vi Vertex ID. + /// @return Barycentric area of vertex vi. + double vertex_area(const size_t vi) const { return m_vertex_areas[vi]; } + + /// @brief Get the barycentric area of the vertices. + const Eigen::VectorXd& vertex_areas() const { return m_vertex_areas; } + + /// @brief Get the gradient of the barycentric area of a vertex wrt the rest positions of all points. + /// @param vi Vertex ID. + /// @return Gradient of the barycentric area of vertex vi wrt the rest positions of all points. + const Eigen::SparseVector& + vertex_area_gradient(const size_t vi) const + { + if (!are_area_jacobians_initialized()) { + throw std::runtime_error( + "Vertex area Jacobian not initialized. Call init_area_jacobians() first."); + } + return m_vertex_area_jacobian[vi]; + } + + /// @brief Get the barycentric area of an edge. + /// @param ei Edge ID. + /// @return Barycentric area of edge ei. + double edge_area(const size_t ei) const { return m_edge_areas[ei]; } + + /// @brief Get the barycentric area of the edges. + const Eigen::VectorXd& edge_areas() const { return m_edge_areas; } + + /// @brief Get the gradient of the barycentric area of an edge wrt the rest positions of all points. + /// @param ei Edge ID. + /// @return Gradient of the barycentric area of edge ei wrt the rest positions of all points. + const Eigen::SparseVector& edge_area_gradient(const size_t ei) const + { + if (!are_area_jacobians_initialized()) { + throw std::runtime_error( + "Edge area Jacobian not initialized. Call init_area_jacobians() first."); + } + return m_edge_area_jacobian[ei]; + } + + /// @brief Determine if the area Jacobians have been initialized by calling init_area_jacobians(). + bool are_area_jacobians_initialized() const + { + return m_vertex_area_jacobian.size() == num_vertices() + && m_edge_area_jacobian.size() == num_edges(); + } + + // ----------------------------------------------------------------------- + + /// @brief Construct a vector of bools indicating whether each vertex is on the surface. + /// @param num_vertices The number of vertices in the mesh. + /// @param edges The surface edges of the mesh (#E × 2). + /// @param codim_vertices The indices of codimensional vertices (#CV x 1). + /// @return A vector of bools indicating whether each vertex is on the surface. + static std::vector construct_is_on_surface( + const long num_vertices, + const Eigen::MatrixXi& edges, + const Eigen::VectorXi& codim_vertices = Eigen::VectorXi()); + + /// @brief Construct a matrix that maps from the faces' edges to rows in the edges matrix. + /// @param faces The face matrix of mesh (#F × 3). + /// @param edges The edge matrix of mesh (#E × 2). + /// @return Matrix that maps from the faces' edges to rows in the edges matrix. + static Eigen::MatrixXi construct_faces_to_edges( + const Eigen::MatrixXi& faces, const Eigen::MatrixXi& edges); + + /// A function that takes two vertex IDs and returns true if the vertices + /// (and faces or edges containing the vertices) can collide. By default all + /// primitives can collide with all other primitives. + std::function can_collide = default_can_collide; + + /// @brief Get the material ID of the mesh. + /// @return A reference to the vector of material IDs. + const std::vector& mat_ids() const { return m_mat_ids; } + + /// @brief Get the material ID associated with a specific face or component. + /// @param index Index of the face or component. + /// @return Material ID for the specified component. + int mat_id(size_t index) const { + if (index < m_mat_ids.size()) { + return m_mat_ids[index]; + } + throw std::out_of_range("Material ID index out of range!"); + } + +protected: + // ----------------------------------------------------------------------- + // Helper initialization functions + + void init_codim_vertices(); + void init_codim_edges(); + + /// @brief Initialize the selection matrix from full vertices/DOF to collision vertices/DOF. + void init_selection_matrices(const int dim); + + /// @brief Initialize vertex and edge areas. + void init_areas(); + + /// @brief Convert a matrix meant for M_V * vertices to M_dof * x by duplicating the entries dim times. + static Eigen::SparseMatrix vertex_matrix_to_dof_matrix( + const Eigen::SparseMatrix& M_V, int dim); + + // ----------------------------------------------------------------------- + + /// @brief The full vertex positions at rest (#FV × dim). + Eigen::MatrixXd m_full_rest_positions; + /// @brief The vertex positions at rest (#V × dim). + Eigen::MatrixXd m_rest_positions; + /// @brief The indices of codimensional vertices (#CV x 1). + Eigen::VectorXi m_codim_vertices; + /// @brief The indices of codimensional edges (#CE x 1). + Eigen::VectorXi m_codim_edges; + /// @brief Edges as rows of indicies into vertices (#E × 2). + Eigen::MatrixXi m_edges; + /// @brief Triangular faces as rows of indicies into vertices (#F × 3). + Eigen::MatrixXi m_faces; + /// @brief Map from faces edges to rows of edges (#F × 3). + Eigen::MatrixXi m_faces_to_edges; + + /// @brief Map from full vertices to collision vertices. + /// @note Negative values indicate full vertex is dropped. + Eigen::VectorXi m_full_vertex_to_vertex; + /// @brief Map from collision vertices to full vertices. + Eigen::VectorXi m_vertex_to_full_vertex; + + /// @brief Selection matrix S ∈ ℝ^{collision×full} for vertices + Eigen::SparseMatrix m_select_vertices; + /// @brief Selection matrix S ∈ ℝ^{(dim*collision)×(dim*full)} for DOF + Eigen::SparseMatrix m_select_dof; + + /// @brief Mapping from full displacements to collision displacements + /// @note this is premultiplied by m_select_vertices + Eigen::SparseMatrix m_displacement_map; + /// @brief Mapping from full displacements DOF to collision displacements DOF + /// @note this is premultiplied by m_select_dof + Eigen::SparseMatrix m_displacement_dof_map; + + /// @brief Vertices adjacent to vertices + std::vector> m_vertex_vertex_adjacencies; + /// @brief Edges adjacent to vertices + std::vector> m_vertex_edge_adjacencies; + /// @brief Vertices adjacent to edges + std::vector> m_edge_vertex_adjacencies; + + // std::vector> m_vertices_to_faces; + // std::vector> m_vertices_to_edges; + + /// @brief Is vertex on the boundary of the triangle mesh in 3D or polyline in 2D? + std::vector m_is_vertex_on_boundary; + + /// @brief Vertex areas + /// 2D: 1/2 sum of length of connected edges + /// 3D: 1/3 sum of area of connected triangles + Eigen::VectorXd m_vertex_areas; + /// @brief Edge areas + /// 3D: 1/3 sum of area of connected triangles + Eigen::VectorXd m_edge_areas; + + // Stored as a std::vector so it is easier to access the rows directly. + /// @brief The rows of the Jacobian of the vertex areas vector. + std::vector> m_vertex_area_jacobian; + /// @brief The rows of the Jacobian of the edge areas vector. + std::vector> m_edge_area_jacobian; + + /// @brief The material ID of the mesh. + std::vector m_mat_ids; + +private: + /// @brief By default all primitives can collide with all other primitives. + static int default_can_collide(size_t, size_t) { return true; } +}; + +} // namespace ipc diff --git a/src/ipc/collisions/normal/normal_collisions.cpp b/src/ipc/collisions/normal/normal_collisions.cpp index 23f3ae3ef..df4306ba8 100644 --- a/src/ipc/collisions/normal/normal_collisions.cpp +++ b/src/ipc/collisions/normal/normal_collisions.cpp @@ -1,512 +1,512 @@ -#include "normal_collisions.hpp" - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include // std::out_of_range - -namespace ipc { - -namespace { - /// @brief Convert element-vertex candidates to vertex-vertex candidates - /// @param elements Elements matrix of the mesh - /// @param vertices Vertex positions of the mesh - /// @param ev_candidates Element-vertex candidates - /// @param is_active Function to determine if a candidate is active - /// @return Vertex-vertex candidates - template - std::vector - element_vertex_to_vertex_vertex_candidates( - const Eigen::MatrixXi& elements, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const std::function& is_active) - { - std::vector vv_candidates; - for (const auto& [ei, vi, mat_pair] : candidates) { - for (int j = 0; j < elements.cols(); j++) { - const int vj = elements(ei, j); - if (is_active(point_point_distance( - vertices.row(vi), vertices.row(vj)))) { - vv_candidates.emplace_back(vi, vj); - } - } - } - - // Remove duplicates - tbb::parallel_sort(vv_candidates.begin(), vv_candidates.end()); - vv_candidates.erase( - std::unique(vv_candidates.begin(), vv_candidates.end()), - vv_candidates.end()); - - return vv_candidates; - } - - std::vector edge_vertex_to_vertex_vertex_candidates( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& ev_candidates, - const std::function& is_active) - { - return element_vertex_to_vertex_vertex_candidates( - mesh.edges(), vertices, ev_candidates, is_active); - } - - std::vector face_vertex_to_vertex_vertex_candidates( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& fv_candidates, - const std::function& is_active) - { - return element_vertex_to_vertex_vertex_candidates( - mesh.faces(), vertices, fv_candidates, is_active); - } - - std::vector face_vertex_to_edge_vertex_candidates( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& fv_candidates, - const std::function& is_active) - { - std::vector ev_candidates; - for (const auto& [fi, vi, mat_pair] : fv_candidates) { - for (int j = 0; j < 3; j++) { - const int ei = mesh.faces_to_edges()(fi, j); - const int vj = mesh.edges()(ei, 0); - const int vk = mesh.edges()(ei, 1); - if (is_active(point_edge_distance( - vertices.row(vi), // - vertices.row(vj), vertices.row(vk)))) { - ev_candidates.emplace_back(ei, vi); - } - } - } - - // Remove duplicates - tbb::parallel_sort(ev_candidates.begin(), ev_candidates.end()); - ev_candidates.erase( - std::unique(ev_candidates.begin(), ev_candidates.end()), - ev_candidates.end()); - - return ev_candidates; - } - - std::vector edge_edge_to_edge_vertex_candidates( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& ee_candidates, - const std::function& is_active) - { - std::vector ev_candidates; - for (const EdgeEdgeCandidate& ee : ee_candidates) { - for (int i = 0; i < 2; i++) { - const int ei = i == 0 ? ee.edge0_id : ee.edge1_id; - const int ej = i == 0 ? ee.edge1_id : ee.edge0_id; - - const int ei0 = mesh.edges()(ei, 0); - const int ei1 = mesh.edges()(ei, 1); - - for (int j = 0; j < 2; j++) { - const int vj = mesh.edges()(ej, j); - if (is_active(point_edge_distance( - vertices.row(vj), // - vertices.row(ei0), vertices.row(ei1)))) { - ev_candidates.emplace_back(ei, vj); - } - } - } - } - - // Remove duplicates - tbb::parallel_sort(ev_candidates.begin(), ev_candidates.end()); - ev_candidates.erase( - std::unique(ev_candidates.begin(), ev_candidates.end()), - ev_candidates.end()); - - return ev_candidates; - } -} // namespace - -void NormalCollisions::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const double dhat, - const double dmin, - const BroadPhaseMethod broad_phase_method) -{ - assert(vertices.rows() == mesh.num_vertices()); - - double inflation_radius = (dhat + dmin) / 2; - - Candidates candidates; - candidates.build(mesh, vertices, inflation_radius, broad_phase_method); - - this->build(candidates, mesh, vertices, dhat, dmin); -} - -void NormalCollisions::build( - const Candidates& candidates, - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const double dhat, - const double dmin) -{ - assert(vertices.rows() == mesh.num_vertices()); - - clear(); - - // Cull the candidates by measuring the distance and dropping those that are - // greater than dhat. - const double offset_sqr = (dmin + dhat) * (dmin + dhat); - auto is_active = [&](double distance_sqr) { - return distance_sqr < offset_sqr; - }; - - tbb::enumerable_thread_specific storage( - use_area_weighting(), enable_shape_derivatives()); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), candidates.vv_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local().add_vertex_vertex_collisions( - mesh, vertices, candidates.vv_candidates, is_active, r.begin(), - r.end()); - }); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), candidates.ev_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local().add_edge_vertex_collisions( - mesh, vertices, candidates.ev_candidates, is_active, r.begin(), - r.end()); - }); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), candidates.ee_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local().add_edge_edge_collisions( - mesh, vertices, candidates.ee_candidates, is_active, r.begin(), - r.end()); - }); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), candidates.fv_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local().add_face_vertex_collisions( - mesh, vertices, candidates.fv_candidates, is_active, r.begin(), - r.end()); - }); - - if (use_improved_max_approximator()) { - if (candidates.ev_candidates.size() > 0) { - // Convert edge-vertex to vertex-vertex - const std::vector vv_candidates = - edge_vertex_to_vertex_vertex_candidates( - mesh, vertices, candidates.ev_candidates, is_active); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), vv_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local() - .add_edge_vertex_negative_vertex_vertex_collisions( - mesh, vertices, vv_candidates, r.begin(), r.end()); - }); - } - - if (candidates.ee_candidates.size() > 0) { - // Convert edge-edge to edge-vertex - const auto ev_candidates = edge_edge_to_edge_vertex_candidates( - mesh, vertices, candidates.ee_candidates, is_active); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), ev_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local() - .add_edge_edge_negative_edge_vertex_collisions( - mesh, vertices, ev_candidates, r.begin(), r.end()); - }); - } - - if (candidates.fv_candidates.size() > 0) { - // Convert face-vertex to edge-vertex - const std::vector ev_candidates = - face_vertex_to_edge_vertex_candidates( - mesh, vertices, candidates.fv_candidates, is_active); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), ev_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local() - .add_face_vertex_negative_edge_vertex_collisions( - mesh, vertices, ev_candidates, r.begin(), r.end()); - }); - - // Convert face-vertex to vertex-vertex - const std::vector vv_candidates = - face_vertex_to_vertex_vertex_candidates( - mesh, vertices, candidates.fv_candidates, is_active); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), vv_candidates.size()), - [&](const tbb::blocked_range& r) { - storage.local() - .add_face_vertex_positive_vertex_vertex_collisions( - mesh, vertices, vv_candidates, r.begin(), r.end()); - }); - } - } - - // ------------------------------------------------------------------------- - - NormalCollisionsBuilder::merge(storage, *this); - - // logger().debug(to_string(mesh, vertices)); - - for (size_t ci = 0; ci < size(); ci++) { - NormalCollision& collision = (*this)[ci]; - collision.dmin = dmin; - } -} - -void NormalCollisions::set_use_area_weighting(const bool use_area_weighting) -{ - if (!empty() && use_area_weighting != m_use_area_weighting) { - logger().warn("Setting use_area_weighting after building collisions. " - "Re-build collisions for this to have an effect."); - } - - if (!use_area_weighting && use_improved_max_approximator()) { - logger().warn( - "Disabling area weighting while using the improved max approximator may lead to incorrect results."); - } - - m_use_area_weighting = use_area_weighting; -} - -void NormalCollisions::set_use_improved_max_approximator( - const bool use_improved_max_approximator) -{ - if (!empty() - && use_improved_max_approximator != m_use_improved_max_approximator) { - logger().warn( - "Setting use_improved_max_approximator after building collisions. " - "Re-build collisions for this to have an effect."); - } - - if (!use_area_weighting() && use_improved_max_approximator) { - logger().warn( - "Enabling the improved max approximator while not using area weighting may lead to incorrect results."); - } - - m_use_improved_max_approximator = use_improved_max_approximator; -} - -void NormalCollisions::set_enable_shape_derivatives( - const bool enable_shape_derivatives) -{ - if (!empty() && enable_shape_derivatives != m_enable_shape_derivatives) { - logger().warn( - "Setting enable_shape_derivatives after building collisions. " - "Re-build collisions for this to have an effect."); - } - - m_enable_shape_derivatives = enable_shape_derivatives; -} - -// ============================================================================ - -// NOTE: Actually distance squared -double NormalCollisions::compute_minimum_distance( - const CollisionMesh& mesh, const Eigen::MatrixXd& vertices) const -{ - assert(vertices.rows() == mesh.num_vertices()); - - if (empty()) { - return std::numeric_limits::infinity(); - } - - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - - return tbb::parallel_reduce( - tbb::blocked_range(0, size()), - std::numeric_limits::infinity(), - [&](tbb::blocked_range r, double partial_min_dist) -> double { - for (size_t i = r.begin(); i < r.end(); i++) { - const double dist = (*this)[i].compute_distance( - (*this)[i].dof(vertices, edges, faces)); - - if (dist < partial_min_dist) { - partial_min_dist = dist; - } - } - return partial_min_dist; - }, - [](double a, double b) { return std::min(a, b); }); -} - -// ============================================================================ - -size_t NormalCollisions::size() const -{ - return vv_collisions.size() + ev_collisions.size() + ee_collisions.size() - + fv_collisions.size() + pv_collisions.size(); -} - -bool NormalCollisions::empty() const -{ - return vv_collisions.empty() && ev_collisions.empty() - && ee_collisions.empty() && fv_collisions.empty() - && pv_collisions.empty(); -} - -void NormalCollisions::clear() -{ - vv_collisions.clear(); - ev_collisions.clear(); - ee_collisions.clear(); - fv_collisions.clear(); - pv_collisions.clear(); -} - -NormalCollision& NormalCollisions::operator[](size_t i) -{ - if (i < vv_collisions.size()) { - return vv_collisions[i]; - } - i -= vv_collisions.size(); - if (i < ev_collisions.size()) { - return ev_collisions[i]; - } - i -= ev_collisions.size(); - if (i < ee_collisions.size()) { - return ee_collisions[i]; - } - i -= ee_collisions.size(); - if (i < fv_collisions.size()) { - return fv_collisions[i]; - } - i -= fv_collisions.size(); - if (i < pv_collisions.size()) { - return pv_collisions[i]; - } - throw std::out_of_range("Collision index is out of range!"); -} - -const NormalCollision& NormalCollisions::operator[](size_t i) const -{ - if (i < vv_collisions.size()) { - return vv_collisions[i]; - } - i -= vv_collisions.size(); - if (i < ev_collisions.size()) { - return ev_collisions[i]; - } - i -= ev_collisions.size(); - if (i < ee_collisions.size()) { - return ee_collisions[i]; - } - i -= ee_collisions.size(); - if (i < fv_collisions.size()) { - return fv_collisions[i]; - } - i -= fv_collisions.size(); - if (i < pv_collisions.size()) { - return pv_collisions[i]; - } - throw std::out_of_range("Collision index is out of range!"); -} - -bool NormalCollisions::is_vertex_vertex(size_t i) const -{ - return i < vv_collisions.size(); -} - -bool NormalCollisions::is_edge_vertex(size_t i) const -{ - return i >= vv_collisions.size() - && i < vv_collisions.size() + ev_collisions.size(); -} - -bool NormalCollisions::is_edge_edge(size_t i) const -{ - return i >= vv_collisions.size() + ev_collisions.size() - && i - < vv_collisions.size() + ev_collisions.size() + ee_collisions.size(); -} - -bool NormalCollisions::is_face_vertex(size_t i) const -{ - return i - >= vv_collisions.size() + ev_collisions.size() + ee_collisions.size() - && i < vv_collisions.size() + ev_collisions.size() - + ee_collisions.size() + fv_collisions.size(); -} - -bool NormalCollisions::is_plane_vertex(size_t i) const -{ - return i >= vv_collisions.size() + ev_collisions.size() - + ee_collisions.size() + fv_collisions.size() - && i < vv_collisions.size() + ev_collisions.size() - + ee_collisions.size() + fv_collisions.size() - + pv_collisions.size(); -} - -std::string NormalCollisions::to_string( - const CollisionMesh& mesh, const Eigen::MatrixXd& vertices) const -{ - std::stringstream ss; - for (const auto& vv : vv_collisions) { - ss << "\n" - << fmt::format( - "vv: {} {}, w: {:g}, d: {:g}", - std::min(vv.vertex0_id, vv.vertex1_id), - std::max(vv.vertex0_id, vv.vertex1_id), vv.weight, - vv.compute_distance( - vv.dof(vertices, mesh.edges(), mesh.faces()))); - } - for (const auto& ev : ev_collisions) { - ss << "\n" - << fmt::format( - "ev: {}=({}, {}) {}, w: {:g}, d: {:g}", ev.edge_id, - mesh.edges()(ev.edge_id, 0), mesh.edges()(ev.edge_id, 1), - ev.vertex_id, ev.weight, - ev.compute_distance( - ev.dof(vertices, mesh.edges(), mesh.faces()))); - } - for (const auto& ee : ee_collisions) { - const long min_ei = std::min(ee.edge0_id, ee.edge1_id); - const long max_ei = std::max(ee.edge0_id, ee.edge1_id); - ss << "\n" - << fmt::format( - "ee: {}=({}, {}) {}=({}, {}), w: {:g}, dtype: {}, d: {:g}", - min_ei, mesh.edges()(min_ei, 0), mesh.edges()(min_ei, 1), - max_ei, mesh.edges()(max_ei, 0), mesh.edges()(max_ei, 1), - ee.weight, int(ee.dtype), - ee.compute_distance( - ee.dof(vertices, mesh.edges(), mesh.faces()))); - } - for (const auto& fv : fv_collisions) { - ss << "\n" - << fmt::format( - "fv: {}=({}, {}, {}) {}, w: {:g}, d: {:g}", fv.face_id, - mesh.faces()(fv.face_id, 0), mesh.faces()(fv.face_id, 1), - mesh.faces()(fv.face_id, 2), fv.vertex_id, fv.weight, - fv.compute_distance( - fv.dof(vertices, mesh.edges(), mesh.faces()))); - } - return ss.str(); -} - -} // namespace ipc +#include "normal_collisions.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include // std::out_of_range + +namespace ipc { + +namespace { + /// @brief Convert element-vertex candidates to vertex-vertex candidates + /// @param elements Elements matrix of the mesh + /// @param vertices Vertex positions of the mesh + /// @param ev_candidates Element-vertex candidates + /// @param is_active Function to determine if a candidate is active + /// @return Vertex-vertex candidates + template + std::vector + element_vertex_to_vertex_vertex_candidates( + const Eigen::MatrixXi& elements, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const std::function& is_active) + { + std::vector vv_candidates; + for (const auto& [ei, vi, mat_pair] : candidates) { + for (int j = 0; j < elements.cols(); j++) { + const int vj = elements(ei, j); + if (is_active(point_point_distance( + vertices.row(vi), vertices.row(vj)))) { + vv_candidates.emplace_back(vi, vj); + } + } + } + + // Remove duplicates + tbb::parallel_sort(vv_candidates.begin(), vv_candidates.end()); + vv_candidates.erase( + std::unique(vv_candidates.begin(), vv_candidates.end()), + vv_candidates.end()); + + return vv_candidates; + } + + std::vector edge_vertex_to_vertex_vertex_candidates( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& ev_candidates, + const std::function& is_active) + { + return element_vertex_to_vertex_vertex_candidates( + mesh.edges(), vertices, ev_candidates, is_active); + } + + std::vector face_vertex_to_vertex_vertex_candidates( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& fv_candidates, + const std::function& is_active) + { + return element_vertex_to_vertex_vertex_candidates( + mesh.faces(), vertices, fv_candidates, is_active); + } + + std::vector face_vertex_to_edge_vertex_candidates( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& fv_candidates, + const std::function& is_active) + { + std::vector ev_candidates; + for (const auto& [fi, vi, mat_pair] : fv_candidates) { + for (int j = 0; j < 3; j++) { + const int ei = mesh.faces_to_edges()(fi, j); + const int vj = mesh.edges()(ei, 0); + const int vk = mesh.edges()(ei, 1); + if (is_active(point_edge_distance( + vertices.row(vi), // + vertices.row(vj), vertices.row(vk)))) { + ev_candidates.emplace_back(ei, vi); + } + } + } + + // Remove duplicates + tbb::parallel_sort(ev_candidates.begin(), ev_candidates.end()); + ev_candidates.erase( + std::unique(ev_candidates.begin(), ev_candidates.end()), + ev_candidates.end()); + + return ev_candidates; + } + + std::vector edge_edge_to_edge_vertex_candidates( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& ee_candidates, + const std::function& is_active) + { + std::vector ev_candidates; + for (const EdgeEdgeCandidate& ee : ee_candidates) { + for (int i = 0; i < 2; i++) { + const int ei = i == 0 ? ee.edge0_id : ee.edge1_id; + const int ej = i == 0 ? ee.edge1_id : ee.edge0_id; + + const int ei0 = mesh.edges()(ei, 0); + const int ei1 = mesh.edges()(ei, 1); + + for (int j = 0; j < 2; j++) { + const int vj = mesh.edges()(ej, j); + if (is_active(point_edge_distance( + vertices.row(vj), // + vertices.row(ei0), vertices.row(ei1)))) { + ev_candidates.emplace_back(ei, vj); + } + } + } + } + + // Remove duplicates + tbb::parallel_sort(ev_candidates.begin(), ev_candidates.end()); + ev_candidates.erase( + std::unique(ev_candidates.begin(), ev_candidates.end()), + ev_candidates.end()); + + return ev_candidates; + } +} // namespace + +void NormalCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const double dhat, + const double dmin, + const BroadPhaseMethod broad_phase_method) +{ + assert(vertices.rows() == mesh.num_vertices()); + + double inflation_radius = (dhat + dmin) / 2; + + Candidates candidates; + candidates.build(mesh, vertices, inflation_radius, broad_phase_method); + + this->build(candidates, mesh, vertices, dhat, dmin); +} + +void NormalCollisions::build( + const Candidates& candidates, + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const double dhat, + const double dmin) +{ + assert(vertices.rows() == mesh.num_vertices()); + + clear(); + + // Cull the candidates by measuring the distance and dropping those that are + // greater than dhat. + const double offset_sqr = (dmin + dhat) * (dmin + dhat); + auto is_active = [&](double distance_sqr) { + return distance_sqr < offset_sqr; + }; + + tbb::enumerable_thread_specific storage( + use_area_weighting(), enable_shape_derivatives()); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), candidates.vv_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local().add_vertex_vertex_collisions( + mesh, vertices, candidates.vv_candidates, is_active, r.begin(), + r.end()); + }); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), candidates.ev_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local().add_edge_vertex_collisions( + mesh, vertices, candidates.ev_candidates, is_active, r.begin(), + r.end()); + }); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), candidates.ee_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local().add_edge_edge_collisions( + mesh, vertices, candidates.ee_candidates, is_active, r.begin(), + r.end()); + }); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), candidates.fv_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local().add_face_vertex_collisions( + mesh, vertices, candidates.fv_candidates, is_active, r.begin(), + r.end()); + }); + + if (use_improved_max_approximator()) { + if (candidates.ev_candidates.size() > 0) { + // Convert edge-vertex to vertex-vertex + const std::vector vv_candidates = + edge_vertex_to_vertex_vertex_candidates( + mesh, vertices, candidates.ev_candidates, is_active); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), vv_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local() + .add_edge_vertex_negative_vertex_vertex_collisions( + mesh, vertices, vv_candidates, r.begin(), r.end()); + }); + } + + if (candidates.ee_candidates.size() > 0) { + // Convert edge-edge to edge-vertex + const auto ev_candidates = edge_edge_to_edge_vertex_candidates( + mesh, vertices, candidates.ee_candidates, is_active); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), ev_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local() + .add_edge_edge_negative_edge_vertex_collisions( + mesh, vertices, ev_candidates, r.begin(), r.end()); + }); + } + + if (candidates.fv_candidates.size() > 0) { + // Convert face-vertex to edge-vertex + const std::vector ev_candidates = + face_vertex_to_edge_vertex_candidates( + mesh, vertices, candidates.fv_candidates, is_active); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), ev_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local() + .add_face_vertex_negative_edge_vertex_collisions( + mesh, vertices, ev_candidates, r.begin(), r.end()); + }); + + // Convert face-vertex to vertex-vertex + const std::vector vv_candidates = + face_vertex_to_vertex_vertex_candidates( + mesh, vertices, candidates.fv_candidates, is_active); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), vv_candidates.size()), + [&](const tbb::blocked_range& r) { + storage.local() + .add_face_vertex_positive_vertex_vertex_collisions( + mesh, vertices, vv_candidates, r.begin(), r.end()); + }); + } + } + + // ------------------------------------------------------------------------- + + NormalCollisionsBuilder::merge(storage, *this); + + // logger().debug(to_string(mesh, vertices)); + + for (size_t ci = 0; ci < size(); ci++) { + NormalCollision& collision = (*this)[ci]; + collision.dmin = dmin; + } +} + +void NormalCollisions::set_use_area_weighting(const bool use_area_weighting) +{ + if (!empty() && use_area_weighting != m_use_area_weighting) { + logger().warn("Setting use_area_weighting after building collisions. " + "Re-build collisions for this to have an effect."); + } + + if (!use_area_weighting && use_improved_max_approximator()) { + logger().warn( + "Disabling area weighting while using the improved max approximator may lead to incorrect results."); + } + + m_use_area_weighting = use_area_weighting; +} + +void NormalCollisions::set_use_improved_max_approximator( + const bool use_improved_max_approximator) +{ + if (!empty() + && use_improved_max_approximator != m_use_improved_max_approximator) { + logger().warn( + "Setting use_improved_max_approximator after building collisions. " + "Re-build collisions for this to have an effect."); + } + + if (!use_area_weighting() && use_improved_max_approximator) { + logger().warn( + "Enabling the improved max approximator while not using area weighting may lead to incorrect results."); + } + + m_use_improved_max_approximator = use_improved_max_approximator; +} + +void NormalCollisions::set_enable_shape_derivatives( + const bool enable_shape_derivatives) +{ + if (!empty() && enable_shape_derivatives != m_enable_shape_derivatives) { + logger().warn( + "Setting enable_shape_derivatives after building collisions. " + "Re-build collisions for this to have an effect."); + } + + m_enable_shape_derivatives = enable_shape_derivatives; +} + +// ============================================================================ + +// NOTE: Actually distance squared +double NormalCollisions::compute_minimum_distance( + const CollisionMesh& mesh, const Eigen::MatrixXd& vertices) const +{ + assert(vertices.rows() == mesh.num_vertices()); + + if (empty()) { + return std::numeric_limits::infinity(); + } + + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + + return tbb::parallel_reduce( + tbb::blocked_range(0, size()), + std::numeric_limits::infinity(), + [&](tbb::blocked_range r, double partial_min_dist) -> double { + for (size_t i = r.begin(); i < r.end(); i++) { + const double dist = (*this)[i].compute_distance( + (*this)[i].dof(vertices, edges, faces)); + + if (dist < partial_min_dist) { + partial_min_dist = dist; + } + } + return partial_min_dist; + }, + [](double a, double b) { return std::min(a, b); }); +} + +// ============================================================================ + +size_t NormalCollisions::size() const +{ + return vv_collisions.size() + ev_collisions.size() + ee_collisions.size() + + fv_collisions.size() + pv_collisions.size(); +} + +bool NormalCollisions::empty() const +{ + return vv_collisions.empty() && ev_collisions.empty() + && ee_collisions.empty() && fv_collisions.empty() + && pv_collisions.empty(); +} + +void NormalCollisions::clear() +{ + vv_collisions.clear(); + ev_collisions.clear(); + ee_collisions.clear(); + fv_collisions.clear(); + pv_collisions.clear(); +} + +NormalCollision& NormalCollisions::operator[](size_t i) +{ + if (i < vv_collisions.size()) { + return vv_collisions[i]; + } + i -= vv_collisions.size(); + if (i < ev_collisions.size()) { + return ev_collisions[i]; + } + i -= ev_collisions.size(); + if (i < ee_collisions.size()) { + return ee_collisions[i]; + } + i -= ee_collisions.size(); + if (i < fv_collisions.size()) { + return fv_collisions[i]; + } + i -= fv_collisions.size(); + if (i < pv_collisions.size()) { + return pv_collisions[i]; + } + throw std::out_of_range("Collision index is out of range!"); +} + +const NormalCollision& NormalCollisions::operator[](size_t i) const +{ + if (i < vv_collisions.size()) { + return vv_collisions[i]; + } + i -= vv_collisions.size(); + if (i < ev_collisions.size()) { + return ev_collisions[i]; + } + i -= ev_collisions.size(); + if (i < ee_collisions.size()) { + return ee_collisions[i]; + } + i -= ee_collisions.size(); + if (i < fv_collisions.size()) { + return fv_collisions[i]; + } + i -= fv_collisions.size(); + if (i < pv_collisions.size()) { + return pv_collisions[i]; + } + throw std::out_of_range("Collision index is out of range!"); +} + +bool NormalCollisions::is_vertex_vertex(size_t i) const +{ + return i < vv_collisions.size(); +} + +bool NormalCollisions::is_edge_vertex(size_t i) const +{ + return i >= vv_collisions.size() + && i < vv_collisions.size() + ev_collisions.size(); +} + +bool NormalCollisions::is_edge_edge(size_t i) const +{ + return i >= vv_collisions.size() + ev_collisions.size() + && i + < vv_collisions.size() + ev_collisions.size() + ee_collisions.size(); +} + +bool NormalCollisions::is_face_vertex(size_t i) const +{ + return i + >= vv_collisions.size() + ev_collisions.size() + ee_collisions.size() + && i < vv_collisions.size() + ev_collisions.size() + + ee_collisions.size() + fv_collisions.size(); +} + +bool NormalCollisions::is_plane_vertex(size_t i) const +{ + return i >= vv_collisions.size() + ev_collisions.size() + + ee_collisions.size() + fv_collisions.size() + && i < vv_collisions.size() + ev_collisions.size() + + ee_collisions.size() + fv_collisions.size() + + pv_collisions.size(); +} + +std::string NormalCollisions::to_string( + const CollisionMesh& mesh, const Eigen::MatrixXd& vertices) const +{ + std::stringstream ss; + for (const auto& vv : vv_collisions) { + ss << "\n" + << fmt::format( + "vv: {} {}, w: {:g}, d: {:g}", + std::min(vv.vertex0_id, vv.vertex1_id), + std::max(vv.vertex0_id, vv.vertex1_id), vv.weight, + vv.compute_distance( + vv.dof(vertices, mesh.edges(), mesh.faces()))); + } + for (const auto& ev : ev_collisions) { + ss << "\n" + << fmt::format( + "ev: {}=({}, {}) {}, w: {:g}, d: {:g}", ev.edge_id, + mesh.edges()(ev.edge_id, 0), mesh.edges()(ev.edge_id, 1), + ev.vertex_id, ev.weight, + ev.compute_distance( + ev.dof(vertices, mesh.edges(), mesh.faces()))); + } + for (const auto& ee : ee_collisions) { + const long min_ei = std::min(ee.edge0_id, ee.edge1_id); + const long max_ei = std::max(ee.edge0_id, ee.edge1_id); + ss << "\n" + << fmt::format( + "ee: {}=({}, {}) {}=({}, {}), w: {:g}, dtype: {}, d: {:g}", + min_ei, mesh.edges()(min_ei, 0), mesh.edges()(min_ei, 1), + max_ei, mesh.edges()(max_ei, 0), mesh.edges()(max_ei, 1), + ee.weight, int(ee.dtype), + ee.compute_distance( + ee.dof(vertices, mesh.edges(), mesh.faces()))); + } + for (const auto& fv : fv_collisions) { + ss << "\n" + << fmt::format( + "fv: {}=({}, {}, {}) {}, w: {:g}, d: {:g}", fv.face_id, + mesh.faces()(fv.face_id, 0), mesh.faces()(fv.face_id, 1), + mesh.faces()(fv.face_id, 2), fv.vertex_id, fv.weight, + fv.compute_distance( + fv.dof(vertices, mesh.edges(), mesh.faces()))); + } + return ss.str(); +} + +} // namespace ipc diff --git a/src/ipc/collisions/normal/normal_collisions_builder.cpp b/src/ipc/collisions/normal/normal_collisions_builder.cpp index 81c19a797..44fa67d92 100644 --- a/src/ipc/collisions/normal/normal_collisions_builder.cpp +++ b/src/ipc/collisions/normal/normal_collisions_builder.cpp @@ -1,664 +1,664 @@ -#include "normal_collisions_builder.hpp" - -#include -#include -#include -#include -#include -#include - -namespace ipc { - -NormalCollisionsBuilder::NormalCollisionsBuilder( - const bool _use_area_weighting, const bool _enable_shape_derivatives) - : use_area_weighting(_use_area_weighting) - , enable_shape_derivatives(_enable_shape_derivatives) -{ -} - -// ============================================================================ - -void NormalCollisionsBuilder::add_vertex_vertex_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const std::function& is_active, - const size_t start_i, - const size_t end_i) -{ - for (size_t i = start_i; i < end_i; i++) { - const auto& [vi, vj, mat_pair] = candidates[i]; - - const double distance = - point_point_distance(vertices.row(vi), vertices.row(vj)); - point_point_distance(vertices.row(vi), vertices.row(vj)); - if (!is_active(distance)) { - continue; - } - - // ÷ 2 to handle double counting. Sum vertex areas because duplicate - // vertex-vertex candidates were removed. - const double weight = use_area_weighting - ? (0.5 * (mesh.vertex_area(vi) + mesh.vertex_area(vj))) - : 1; - - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = use_area_weighting - ? (0.5 - * (mesh.vertex_area_gradient(vi) - + mesh.vertex_area_gradient(vj))) - : Eigen::SparseVector(vertices.size()); - } - - VertexVertexNormalCollision vv(vi, vj, weight, weight_gradient); - vv_to_id.emplace(vv, vv_collisions.size()); - vv_collisions.push_back(vv); - } -} - -void NormalCollisionsBuilder::add_edge_vertex_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const std::function& is_active, - const size_t start_i, - const size_t end_i) -{ - for (size_t i = start_i; i < end_i; i++) { - const auto& [ei, vi, mat_pair] = candidates[i]; - const auto [v, e0, e1, _] = - candidates[i].vertices(vertices, mesh.edges(), mesh.faces()); - const PointEdgeDistanceType dtype = point_edge_distance_type(v, e0, e1); - const double distance_sqr = point_edge_distance(v, e0, e1, dtype); - - if (!is_active(distance_sqr)) - continue; - - // ÷ 2 to handle double counting for correct integration - const double weight = - use_area_weighting ? (0.5 * mesh.vertex_area(vi)) : 1; - - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = use_area_weighting - ? (0.5 * mesh.vertex_area_gradient(vi)) - : Eigen::SparseVector(vertices.size()); - } - - add_edge_vertex_collision( - mesh, candidates[i], dtype, weight, weight_gradient); - } -} - -void NormalCollisionsBuilder::add_edge_vertex_collision( - const CollisionMesh& mesh, - const EdgeVertexCandidate& candidate, - const PointEdgeDistanceType dtype, - const double weight, - const Eigen::SparseVector& weight_gradient) -{ - const auto& [ei, vi, mat_pair] = candidate; - - switch (dtype) { - case PointEdgeDistanceType::P_E0: - add_vertex_vertex_collision( - vi, mesh.edges()(ei, 0), weight, weight_gradient); - break; - - case PointEdgeDistanceType::P_E1: - add_vertex_vertex_collision( - vi, mesh.edges()(ei, 1), weight, weight_gradient); - break; - - case PointEdgeDistanceType::P_E: - add_edge_vertex_collision(ei, vi, weight, weight_gradient); - break; - - case PointEdgeDistanceType::AUTO: - default: - assert(false); - break; - } -} - -void NormalCollisionsBuilder::add_edge_edge_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const std::function& is_active, - const size_t start_i, - const size_t end_i) -{ - for (size_t i = start_i; i < end_i; i++) { - const auto& [eai, ebi, mat_pair] = candidates[i]; - - const auto [ea0i, ea1i, eb0i, eb1i] = - candidates[i].vertex_ids(mesh.edges(), mesh.faces()); - - const auto [ea0, ea1, eb0, eb1] = - candidates[i].vertices(vertices, mesh.edges(), mesh.faces()); - - const EdgeEdgeDistanceType actual_dtype = - edge_edge_distance_type(ea0, ea1, eb0, eb1); - - const double distance_sqr = - edge_edge_distance(ea0, ea1, eb0, eb1, actual_dtype); - - if (!is_active(distance_sqr)) - continue; - - const double eps_x = edge_edge_mollifier_threshold( - mesh.rest_positions().row(ea0i), mesh.rest_positions().row(ea1i), - mesh.rest_positions().row(eb0i), mesh.rest_positions().row(eb1i)); - - const double ee_cross_norm_sqr = - edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1); - - // NOTE: This may not actually be the distance type, but all EE - // pairs requiring mollification must be mollified later. - const EdgeEdgeDistanceType dtype = ee_cross_norm_sqr < eps_x - ? EdgeEdgeDistanceType::EA_EB - : actual_dtype; - - // ÷ 4 to handle double counting and PT + EE for correct integration. - // Sum edge areas because duplicate edge candidates were removed. - const double weight = use_area_weighting - ? (0.25 * (mesh.edge_area(eai) + mesh.edge_area(ebi))) - : 1; - - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = use_area_weighting - ? (0.25 - * (mesh.edge_area_gradient(eai) - + mesh.edge_area_gradient(ebi))) - : Eigen::SparseVector(vertices.size()); - } - - switch (dtype) { - case EdgeEdgeDistanceType::EA0_EB0: - add_vertex_vertex_collision(ea0i, eb0i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA0_EB1: - add_vertex_vertex_collision(ea0i, eb1i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA1_EB0: - add_vertex_vertex_collision(ea1i, eb0i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA1_EB1: - add_vertex_vertex_collision(ea1i, eb1i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA_EB0: - add_edge_vertex_collision(eai, eb0i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA_EB1: - add_edge_vertex_collision(eai, eb1i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA0_EB: - add_edge_vertex_collision(ebi, ea0i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA1_EB: - add_edge_vertex_collision(ebi, ea1i, weight, weight_gradient); - break; - - case EdgeEdgeDistanceType::EA_EB: - ee_collisions.emplace_back( - eai, ebi, eps_x, weight, weight_gradient, actual_dtype); - ee_to_id.emplace(ee_collisions.back(), ee_collisions.size() - 1); - break; - - case EdgeEdgeDistanceType::AUTO: - default: - assert(false); - break; - } - } -} - -void NormalCollisionsBuilder::add_face_vertex_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const std::function& is_active, - const size_t start_i, - const size_t end_i) -{ - for (size_t i = start_i; i < end_i; i++) { - const auto& [fi, vi, mat_pair] = candidates[i]; - const long f0i = mesh.faces()(fi, 0), f1i = mesh.faces()(fi, 1), - f2i = mesh.faces()(fi, 2); - - const auto [v, f0, f1, f2] = - candidates[i].vertices(vertices, mesh.edges(), mesh.faces()); - - // Compute distance type - const PointTriangleDistanceType dtype = - point_triangle_distance_type(v, f0, f1, f2); - const double distance_sqr = - point_triangle_distance(v, f0, f1, f2, dtype); - - if (!is_active(distance_sqr)) - continue; - - // ÷ 4 to handle double counting and PT + EE for correct integration - const double weight = - use_area_weighting ? (0.25 * mesh.vertex_area(vi)) : 1; - - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = use_area_weighting - ? (0.25 * mesh.vertex_area_gradient(vi)) - : Eigen::SparseVector(vertices.size()); - } - - switch (dtype) { - case PointTriangleDistanceType::P_T0: - add_vertex_vertex_collision(vi, f0i, weight, weight_gradient); - break; - - case PointTriangleDistanceType::P_T1: - add_vertex_vertex_collision(vi, f1i, weight, weight_gradient); - break; - - case PointTriangleDistanceType::P_T2: - add_vertex_vertex_collision(vi, f2i, weight, weight_gradient); - break; - - case PointTriangleDistanceType::P_E0: - add_edge_vertex_collision( - mesh.faces_to_edges()(fi, 0), vi, weight, weight_gradient); - break; - - case PointTriangleDistanceType::P_E1: - add_edge_vertex_collision( - mesh.faces_to_edges()(fi, 1), vi, weight, weight_gradient); - break; - - case PointTriangleDistanceType::P_E2: - add_edge_vertex_collision( - mesh.faces_to_edges()(fi, 2), vi, weight, weight_gradient); - break; - - case PointTriangleDistanceType::P_T: - fv_collisions.emplace_back(fi, vi, weight, weight_gradient); - break; - - case PointTriangleDistanceType::AUTO: - default: - assert(false); - break; - } - } -} - -// ============================================================================ - -void NormalCollisionsBuilder::add_edge_vertex_negative_vertex_vertex_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const size_t start_i, - const size_t end_i) -{ - const auto add_weight = [&](const size_t vi, const size_t vj, - double& weight, - Eigen::SparseVector& weight_gradient) { - const auto& incident_vertices = mesh.vertex_vertex_adjacencies()[vj]; - const int incident_edge_amt = incident_vertices.size() - - int(incident_vertices.find(vi) != incident_vertices.end()); - - if (incident_edge_amt > 1) { - // ÷ 2 to handle double counting for correct integration - weight += (1 - incident_edge_amt) - * (use_area_weighting ? (0.5 * mesh.vertex_area(vi)) : 1); - - if (enable_shape_derivatives && use_area_weighting) { - weight_gradient += 0.5 * (1 - incident_edge_amt) - * mesh.vertex_area_gradient(vi); - } - } - }; - - for (size_t i = start_i; i < end_i; i++) { - const auto& [vi, vj, mat_pair] = candidates[i]; - assert(vi != vj); - - double weight = 0; - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = Eigen::SparseVector(vertices.size()); - } - - add_weight(vi, vj, weight, weight_gradient); - add_weight(vj, vi, weight, weight_gradient); - - if (weight != 0) { - add_vertex_vertex_collision(vi, vj, weight, weight_gradient); - } - } -} - -void NormalCollisionsBuilder::add_face_vertex_positive_vertex_vertex_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const size_t start_i, - const size_t end_i) -{ - const auto add_weight = [&](const size_t vi, const size_t vj, - double& weight, - Eigen::SparseVector& weight_gradient) { - const auto& incident_vertices = mesh.vertex_vertex_adjacencies()[vj]; - if (mesh.is_vertex_on_boundary(vj) - || incident_vertices.find(vi) != incident_vertices.end()) { - return; // Skip boundary vertices and incident vertices - } - - // ÷ 4 to handle double counting and PT + EE for correct integration. - weight += use_area_weighting ? (0.25 * mesh.vertex_area(vi)) : 1; - - if (enable_shape_derivatives && use_area_weighting) { - weight_gradient += 0.25 * mesh.vertex_area_gradient(vi); - } - }; - - for (size_t i = start_i; i < end_i; i++) { - const auto& [vi, vj, mat_pair] = candidates[i]; - assert(vi != vj); - - double weight = 0; - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = Eigen::SparseVector(vertices.size()); - } - - add_weight(vi, vj, weight, weight_gradient); - add_weight(vj, vi, weight, weight_gradient); - - if (weight != 0) { - add_vertex_vertex_collision(vi, vj, weight, weight_gradient); - } - } -} - -void NormalCollisionsBuilder::add_face_vertex_negative_edge_vertex_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const size_t start_i, - const size_t end_i) -{ - for (size_t i = start_i; i < end_i; i++) { - const auto& [ei, vi, mat_pair] = candidates[i]; - assert(vi != mesh.edges()(ei, 0) && vi != mesh.edges()(ei, 1)); - - const auto& incident_vertices = mesh.edge_vertex_adjacencies()[ei]; - const int incident_triangle_amt = incident_vertices.size() - - int(incident_vertices.find(vi) != incident_vertices.end()); - - if (incident_triangle_amt > 1) { - // ÷ 4 to handle double counting and PT + EE for correct integration - const double weight = (1 - incident_triangle_amt) - * (use_area_weighting ? (0.25 * mesh.vertex_area(vi)) : 1); - - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = use_area_weighting - ? (0.25 * (1 - incident_triangle_amt) - * mesh.vertex_area_gradient(vi)) - : Eigen::SparseVector(vertices.size()); - } - - add_edge_vertex_collision( - mesh, candidates[i], - point_edge_distance_type( - vertices.row(vi), vertices.row(mesh.edges()(ei, 0)), - vertices.row(mesh.edges()(ei, 1))), - weight, weight_gradient); - } - } -} - -void NormalCollisionsBuilder::add_edge_edge_negative_edge_vertex_collisions( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const std::vector& candidates, - const size_t start_i, - const size_t end_i) -{ - // Notation: (ea, p) ∈ C, ea = (ea0, ea1) ∈ E, p ∈ eb = (p, q) ∈ E - - for (size_t i = start_i; i < end_i; i++) { - const auto& [ea, p, mat_pair] = candidates[i]; - const int ea0 = mesh.edges()(ea, 0), ea1 = mesh.edges()(ea, 1); - assert(p != ea0 && p != ea1); - - // ÷ 4 to handle double counting and PT + EE for correct integration - const double weight = - use_area_weighting ? (-0.25 * mesh.edge_area(ea)) : -1; - Eigen::SparseVector weight_gradient; - if (enable_shape_derivatives) { - weight_gradient = use_area_weighting - ? (-0.25 * mesh.edge_area_gradient(ea)) - : Eigen::SparseVector(vertices.size()); - } - - const PointEdgeDistanceType dtype = point_edge_distance_type( - vertices.row(p), vertices.row(ea0), vertices.row(ea1)); - - int nonmollified_incident_edge_amt = 0; - - const auto& incident_edges = mesh.vertex_edge_adjacencies()[p]; - for (const int eb : incident_edges) { - const int eb0 = mesh.edges()(eb, 0), eb1 = mesh.edges()(eb, 1); - const int q = mesh.edges()(eb, int(p == eb0)); - assert(p != q); - if (q == ea0 || q == ea1) { - continue; - } - - const double eps_x = edge_edge_mollifier_threshold( - mesh.rest_positions().row(ea0), mesh.rest_positions().row(ea1), - mesh.rest_positions().row(eb0), mesh.rest_positions().row(eb1)); - - const double ee_cross_norm_sqr = edge_edge_cross_squarednorm( - vertices.row(ea0), vertices.row(ea1), vertices.row(eb0), - vertices.row(eb1)); - - if (ee_cross_norm_sqr >= eps_x) { - nonmollified_incident_edge_amt++; - continue; - } - - // Add mollified EE collision with specified distance type - // Convert the PE distance type to an EE distance type - EdgeEdgeDistanceType ee_dtype = EdgeEdgeDistanceType::AUTO; - switch (dtype) { - case PointEdgeDistanceType::P_E0: - ee_dtype = p == eb0 ? EdgeEdgeDistanceType::EA0_EB0 - : EdgeEdgeDistanceType::EA0_EB1; - break; - case PointEdgeDistanceType::P_E1: - ee_dtype = p == eb0 ? EdgeEdgeDistanceType::EA1_EB0 - : EdgeEdgeDistanceType::EA1_EB1; - break; - case PointEdgeDistanceType::P_E: - ee_dtype = p == eb0 ? EdgeEdgeDistanceType::EA_EB0 - : EdgeEdgeDistanceType::EA_EB1; - break; - default: - assert(false); - break; - } - - add_edge_edge_collision( - ea, eb, eps_x, weight, weight_gradient, ee_dtype); - } - - if (nonmollified_incident_edge_amt == 1) { - continue; // no collision to add because (ρ(x) - 1) = 0 - } - // if nonmollified_incident_edge_amt == 0, then we need to explicitly - // add a positive collision. - add_edge_vertex_collision( - mesh, candidates[i], dtype, - (nonmollified_incident_edge_amt - 1) * weight, - (nonmollified_incident_edge_amt - 1) * weight_gradient); - } -} - -// ============================================================================ - -void NormalCollisionsBuilder::add_vertex_vertex_collision( - const VertexVertexNormalCollision& vv_collision, - unordered_map& vv_to_id, - std::vector& vv_collisions) -{ - auto found_item = vv_to_id.find(vv_collision); - if (found_item != vv_to_id.end()) { - // collision already exists, so increase weight - vv_collisions[found_item->second].weight += vv_collision.weight; - vv_collisions[found_item->second].weight_gradient += - vv_collision.weight_gradient; - } else { - // New collision, so add it to the end of vv_collisions - vv_to_id.emplace(vv_collision, vv_collisions.size()); - vv_collisions.push_back(vv_collision); - } -} - -void NormalCollisionsBuilder::add_edge_vertex_collision( - const EdgeVertexNormalCollision& ev_collision, - unordered_map& ev_to_id, - std::vector& ev_collisions) -{ - auto found_item = ev_to_id.find(ev_collision); - if (found_item != ev_to_id.end()) { - // collision already exists, so increase weight - ev_collisions[found_item->second].weight += ev_collision.weight; - ev_collisions[found_item->second].weight_gradient += - ev_collision.weight_gradient; - } else { - // New collision, so add it to the end of ev_collisions - ev_to_id.emplace(ev_collision, ev_collisions.size()); - ev_collisions.push_back(ev_collision); - } -} - -void NormalCollisionsBuilder::add_edge_edge_collision( - const EdgeEdgeNormalCollision& ee_collision, - unordered_map& ee_to_id, - std::vector& ee_collisions) -{ - auto found_item = ee_to_id.find(ee_collision); - if (found_item != ee_to_id.end()) { - // collision already exists, so increase weight - assert(ee_collision == ee_collisions[found_item->second]); - ee_collisions[found_item->second].weight += ee_collision.weight; - ee_collisions[found_item->second].weight_gradient += - ee_collision.weight_gradient; - } else { - // New collision, so add it to the end of ee_collisions - ee_to_id.emplace(ee_collision, ee_collisions.size()); - ee_collisions.push_back(ee_collision); - } -} - -// ============================================================================ - -void NormalCollisionsBuilder::merge( - const tbb::enumerable_thread_specific& - local_storage, - NormalCollisions& merged_collisions) -{ - unordered_map vv_to_id; - unordered_map ev_to_id; - unordered_map ee_to_id; - auto& vv_collisions = merged_collisions.vv_collisions; - auto& ev_collisions = merged_collisions.ev_collisions; - auto& ee_collisions = merged_collisions.ee_collisions; - auto& fv_collisions = merged_collisions.fv_collisions; - - // size up the hash items - size_t n_vv = 0, n_ev = 0, n_ee = 0, n_fv = 0; - for (const auto& storage : local_storage) { - // This is an conservative estimate - n_vv += storage.vv_collisions.size(); - n_ev += storage.ev_collisions.size(); - n_ee += storage.ee_collisions.size(); - n_fv += storage.fv_collisions.size(); - } - vv_collisions.reserve(n_vv); - ev_collisions.reserve(n_ev); - ee_collisions.reserve(n_ee); - fv_collisions.reserve(n_fv); - - // merge - for (const auto& builder : local_storage) { - if (vv_collisions.empty()) { - vv_to_id = builder.vv_to_id; - vv_collisions = builder.vv_collisions; - } else { - for (const auto& vv : builder.vv_collisions) { - add_vertex_vertex_collision(vv, vv_to_id, vv_collisions); - } - } - - if (ev_collisions.empty()) { - ev_to_id = builder.ev_to_id; - ev_collisions = builder.ev_collisions; - } else { - for (const auto& ev : builder.ev_collisions) { - add_edge_vertex_collision(ev, ev_to_id, ev_collisions); - } - } - - if (ee_collisions.empty()) { - ee_to_id = builder.ee_to_id; - ee_collisions = builder.ee_collisions; - } else { - for (const auto& ee : builder.ee_collisions) { - add_edge_edge_collision(ee, ee_to_id, ee_collisions); - } - } - - fv_collisions.insert( - fv_collisions.end(), builder.fv_collisions.begin(), - builder.fv_collisions.end()); - } - - // If positive and negative vertex-vertex collisions cancel out, remove - // them. This can happen when edge-vertex collisions reduce to - // vertex-vertex collisions. This will avoid unnecessary computation. - vv_collisions.erase( - std::remove_if( - vv_collisions.begin(), vv_collisions.end(), - [&](const VertexVertexNormalCollision& vv) { - return vv.weight == 0; - }), - vv_collisions.end()); - // Same for edge-vertex collisions. - ev_collisions.erase( - std::remove_if( - ev_collisions.begin(), ev_collisions.end(), - [&](const EdgeVertexNormalCollision& ev) { - return ev.weight == 0; - }), - ev_collisions.end()); - // Same for edge-edge collisions. - ee_collisions.erase( - std::remove_if( - ee_collisions.begin(), ee_collisions.end(), - [&](const EdgeEdgeNormalCollision& ee) { return ee.weight == 0; }), - ee_collisions.end()); -} - +#include "normal_collisions_builder.hpp" + +#include +#include +#include +#include +#include +#include + +namespace ipc { + +NormalCollisionsBuilder::NormalCollisionsBuilder( + const bool _use_area_weighting, const bool _enable_shape_derivatives) + : use_area_weighting(_use_area_weighting) + , enable_shape_derivatives(_enable_shape_derivatives) +{ +} + +// ============================================================================ + +void NormalCollisionsBuilder::add_vertex_vertex_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const std::function& is_active, + const size_t start_i, + const size_t end_i) +{ + for (size_t i = start_i; i < end_i; i++) { + const auto& [vi, vj, mat_pair] = candidates[i]; + + const double distance = + point_point_distance(vertices.row(vi), vertices.row(vj)); + point_point_distance(vertices.row(vi), vertices.row(vj)); + if (!is_active(distance)) { + continue; + } + + // ÷ 2 to handle double counting. Sum vertex areas because duplicate + // vertex-vertex candidates were removed. + const double weight = use_area_weighting + ? (0.5 * (mesh.vertex_area(vi) + mesh.vertex_area(vj))) + : 1; + + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = use_area_weighting + ? (0.5 + * (mesh.vertex_area_gradient(vi) + + mesh.vertex_area_gradient(vj))) + : Eigen::SparseVector(vertices.size()); + } + + VertexVertexNormalCollision vv(vi, vj, weight, weight_gradient); + vv_to_id.emplace(vv, vv_collisions.size()); + vv_collisions.push_back(vv); + } +} + +void NormalCollisionsBuilder::add_edge_vertex_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const std::function& is_active, + const size_t start_i, + const size_t end_i) +{ + for (size_t i = start_i; i < end_i; i++) { + const auto& [ei, vi, mat_pair] = candidates[i]; + const auto [v, e0, e1, _] = + candidates[i].vertices(vertices, mesh.edges(), mesh.faces()); + const PointEdgeDistanceType dtype = point_edge_distance_type(v, e0, e1); + const double distance_sqr = point_edge_distance(v, e0, e1, dtype); + + if (!is_active(distance_sqr)) + continue; + + // ÷ 2 to handle double counting for correct integration + const double weight = + use_area_weighting ? (0.5 * mesh.vertex_area(vi)) : 1; + + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = use_area_weighting + ? (0.5 * mesh.vertex_area_gradient(vi)) + : Eigen::SparseVector(vertices.size()); + } + + add_edge_vertex_collision( + mesh, candidates[i], dtype, weight, weight_gradient); + } +} + +void NormalCollisionsBuilder::add_edge_vertex_collision( + const CollisionMesh& mesh, + const EdgeVertexCandidate& candidate, + const PointEdgeDistanceType dtype, + const double weight, + const Eigen::SparseVector& weight_gradient) +{ + const auto& [ei, vi, mat_pair] = candidate; + + switch (dtype) { + case PointEdgeDistanceType::P_E0: + add_vertex_vertex_collision( + vi, mesh.edges()(ei, 0), weight, weight_gradient); + break; + + case PointEdgeDistanceType::P_E1: + add_vertex_vertex_collision( + vi, mesh.edges()(ei, 1), weight, weight_gradient); + break; + + case PointEdgeDistanceType::P_E: + add_edge_vertex_collision(ei, vi, weight, weight_gradient); + break; + + case PointEdgeDistanceType::AUTO: + default: + assert(false); + break; + } +} + +void NormalCollisionsBuilder::add_edge_edge_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const std::function& is_active, + const size_t start_i, + const size_t end_i) +{ + for (size_t i = start_i; i < end_i; i++) { + const auto& [eai, ebi, mat_pair] = candidates[i]; + + const auto [ea0i, ea1i, eb0i, eb1i] = + candidates[i].vertex_ids(mesh.edges(), mesh.faces()); + + const auto [ea0, ea1, eb0, eb1] = + candidates[i].vertices(vertices, mesh.edges(), mesh.faces()); + + const EdgeEdgeDistanceType actual_dtype = + edge_edge_distance_type(ea0, ea1, eb0, eb1); + + const double distance_sqr = + edge_edge_distance(ea0, ea1, eb0, eb1, actual_dtype); + + if (!is_active(distance_sqr)) + continue; + + const double eps_x = edge_edge_mollifier_threshold( + mesh.rest_positions().row(ea0i), mesh.rest_positions().row(ea1i), + mesh.rest_positions().row(eb0i), mesh.rest_positions().row(eb1i)); + + const double ee_cross_norm_sqr = + edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1); + + // NOTE: This may not actually be the distance type, but all EE + // pairs requiring mollification must be mollified later. + const EdgeEdgeDistanceType dtype = ee_cross_norm_sqr < eps_x + ? EdgeEdgeDistanceType::EA_EB + : actual_dtype; + + // ÷ 4 to handle double counting and PT + EE for correct integration. + // Sum edge areas because duplicate edge candidates were removed. + const double weight = use_area_weighting + ? (0.25 * (mesh.edge_area(eai) + mesh.edge_area(ebi))) + : 1; + + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = use_area_weighting + ? (0.25 + * (mesh.edge_area_gradient(eai) + + mesh.edge_area_gradient(ebi))) + : Eigen::SparseVector(vertices.size()); + } + + switch (dtype) { + case EdgeEdgeDistanceType::EA0_EB0: + add_vertex_vertex_collision(ea0i, eb0i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA0_EB1: + add_vertex_vertex_collision(ea0i, eb1i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA1_EB0: + add_vertex_vertex_collision(ea1i, eb0i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA1_EB1: + add_vertex_vertex_collision(ea1i, eb1i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA_EB0: + add_edge_vertex_collision(eai, eb0i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA_EB1: + add_edge_vertex_collision(eai, eb1i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA0_EB: + add_edge_vertex_collision(ebi, ea0i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA1_EB: + add_edge_vertex_collision(ebi, ea1i, weight, weight_gradient); + break; + + case EdgeEdgeDistanceType::EA_EB: + ee_collisions.emplace_back( + eai, ebi, eps_x, weight, weight_gradient, actual_dtype); + ee_to_id.emplace(ee_collisions.back(), ee_collisions.size() - 1); + break; + + case EdgeEdgeDistanceType::AUTO: + default: + assert(false); + break; + } + } +} + +void NormalCollisionsBuilder::add_face_vertex_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const std::function& is_active, + const size_t start_i, + const size_t end_i) +{ + for (size_t i = start_i; i < end_i; i++) { + const auto& [fi, vi, mat_pair] = candidates[i]; + const long f0i = mesh.faces()(fi, 0), f1i = mesh.faces()(fi, 1), + f2i = mesh.faces()(fi, 2); + + const auto [v, f0, f1, f2] = + candidates[i].vertices(vertices, mesh.edges(), mesh.faces()); + + // Compute distance type + const PointTriangleDistanceType dtype = + point_triangle_distance_type(v, f0, f1, f2); + const double distance_sqr = + point_triangle_distance(v, f0, f1, f2, dtype); + + if (!is_active(distance_sqr)) + continue; + + // ÷ 4 to handle double counting and PT + EE for correct integration + const double weight = + use_area_weighting ? (0.25 * mesh.vertex_area(vi)) : 1; + + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = use_area_weighting + ? (0.25 * mesh.vertex_area_gradient(vi)) + : Eigen::SparseVector(vertices.size()); + } + + switch (dtype) { + case PointTriangleDistanceType::P_T0: + add_vertex_vertex_collision(vi, f0i, weight, weight_gradient); + break; + + case PointTriangleDistanceType::P_T1: + add_vertex_vertex_collision(vi, f1i, weight, weight_gradient); + break; + + case PointTriangleDistanceType::P_T2: + add_vertex_vertex_collision(vi, f2i, weight, weight_gradient); + break; + + case PointTriangleDistanceType::P_E0: + add_edge_vertex_collision( + mesh.faces_to_edges()(fi, 0), vi, weight, weight_gradient); + break; + + case PointTriangleDistanceType::P_E1: + add_edge_vertex_collision( + mesh.faces_to_edges()(fi, 1), vi, weight, weight_gradient); + break; + + case PointTriangleDistanceType::P_E2: + add_edge_vertex_collision( + mesh.faces_to_edges()(fi, 2), vi, weight, weight_gradient); + break; + + case PointTriangleDistanceType::P_T: + fv_collisions.emplace_back(fi, vi, weight, weight_gradient); + break; + + case PointTriangleDistanceType::AUTO: + default: + assert(false); + break; + } + } +} + +// ============================================================================ + +void NormalCollisionsBuilder::add_edge_vertex_negative_vertex_vertex_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const size_t start_i, + const size_t end_i) +{ + const auto add_weight = [&](const size_t vi, const size_t vj, + double& weight, + Eigen::SparseVector& weight_gradient) { + const auto& incident_vertices = mesh.vertex_vertex_adjacencies()[vj]; + const int incident_edge_amt = incident_vertices.size() + - int(incident_vertices.find(vi) != incident_vertices.end()); + + if (incident_edge_amt > 1) { + // ÷ 2 to handle double counting for correct integration + weight += (1 - incident_edge_amt) + * (use_area_weighting ? (0.5 * mesh.vertex_area(vi)) : 1); + + if (enable_shape_derivatives && use_area_weighting) { + weight_gradient += 0.5 * (1 - incident_edge_amt) + * mesh.vertex_area_gradient(vi); + } + } + }; + + for (size_t i = start_i; i < end_i; i++) { + const auto& [vi, vj, mat_pair] = candidates[i]; + assert(vi != vj); + + double weight = 0; + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = Eigen::SparseVector(vertices.size()); + } + + add_weight(vi, vj, weight, weight_gradient); + add_weight(vj, vi, weight, weight_gradient); + + if (weight != 0) { + add_vertex_vertex_collision(vi, vj, weight, weight_gradient); + } + } +} + +void NormalCollisionsBuilder::add_face_vertex_positive_vertex_vertex_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const size_t start_i, + const size_t end_i) +{ + const auto add_weight = [&](const size_t vi, const size_t vj, + double& weight, + Eigen::SparseVector& weight_gradient) { + const auto& incident_vertices = mesh.vertex_vertex_adjacencies()[vj]; + if (mesh.is_vertex_on_boundary(vj) + || incident_vertices.find(vi) != incident_vertices.end()) { + return; // Skip boundary vertices and incident vertices + } + + // ÷ 4 to handle double counting and PT + EE for correct integration. + weight += use_area_weighting ? (0.25 * mesh.vertex_area(vi)) : 1; + + if (enable_shape_derivatives && use_area_weighting) { + weight_gradient += 0.25 * mesh.vertex_area_gradient(vi); + } + }; + + for (size_t i = start_i; i < end_i; i++) { + const auto& [vi, vj, mat_pair] = candidates[i]; + assert(vi != vj); + + double weight = 0; + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = Eigen::SparseVector(vertices.size()); + } + + add_weight(vi, vj, weight, weight_gradient); + add_weight(vj, vi, weight, weight_gradient); + + if (weight != 0) { + add_vertex_vertex_collision(vi, vj, weight, weight_gradient); + } + } +} + +void NormalCollisionsBuilder::add_face_vertex_negative_edge_vertex_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const size_t start_i, + const size_t end_i) +{ + for (size_t i = start_i; i < end_i; i++) { + const auto& [ei, vi, mat_pair] = candidates[i]; + assert(vi != mesh.edges()(ei, 0) && vi != mesh.edges()(ei, 1)); + + const auto& incident_vertices = mesh.edge_vertex_adjacencies()[ei]; + const int incident_triangle_amt = incident_vertices.size() + - int(incident_vertices.find(vi) != incident_vertices.end()); + + if (incident_triangle_amt > 1) { + // ÷ 4 to handle double counting and PT + EE for correct integration + const double weight = (1 - incident_triangle_amt) + * (use_area_weighting ? (0.25 * mesh.vertex_area(vi)) : 1); + + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = use_area_weighting + ? (0.25 * (1 - incident_triangle_amt) + * mesh.vertex_area_gradient(vi)) + : Eigen::SparseVector(vertices.size()); + } + + add_edge_vertex_collision( + mesh, candidates[i], + point_edge_distance_type( + vertices.row(vi), vertices.row(mesh.edges()(ei, 0)), + vertices.row(mesh.edges()(ei, 1))), + weight, weight_gradient); + } + } +} + +void NormalCollisionsBuilder::add_edge_edge_negative_edge_vertex_collisions( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const std::vector& candidates, + const size_t start_i, + const size_t end_i) +{ + // Notation: (ea, p) ∈ C, ea = (ea0, ea1) ∈ E, p ∈ eb = (p, q) ∈ E + + for (size_t i = start_i; i < end_i; i++) { + const auto& [ea, p, mat_pair] = candidates[i]; + const int ea0 = mesh.edges()(ea, 0), ea1 = mesh.edges()(ea, 1); + assert(p != ea0 && p != ea1); + + // ÷ 4 to handle double counting and PT + EE for correct integration + const double weight = + use_area_weighting ? (-0.25 * mesh.edge_area(ea)) : -1; + Eigen::SparseVector weight_gradient; + if (enable_shape_derivatives) { + weight_gradient = use_area_weighting + ? (-0.25 * mesh.edge_area_gradient(ea)) + : Eigen::SparseVector(vertices.size()); + } + + const PointEdgeDistanceType dtype = point_edge_distance_type( + vertices.row(p), vertices.row(ea0), vertices.row(ea1)); + + int nonmollified_incident_edge_amt = 0; + + const auto& incident_edges = mesh.vertex_edge_adjacencies()[p]; + for (const int eb : incident_edges) { + const int eb0 = mesh.edges()(eb, 0), eb1 = mesh.edges()(eb, 1); + const int q = mesh.edges()(eb, int(p == eb0)); + assert(p != q); + if (q == ea0 || q == ea1) { + continue; + } + + const double eps_x = edge_edge_mollifier_threshold( + mesh.rest_positions().row(ea0), mesh.rest_positions().row(ea1), + mesh.rest_positions().row(eb0), mesh.rest_positions().row(eb1)); + + const double ee_cross_norm_sqr = edge_edge_cross_squarednorm( + vertices.row(ea0), vertices.row(ea1), vertices.row(eb0), + vertices.row(eb1)); + + if (ee_cross_norm_sqr >= eps_x) { + nonmollified_incident_edge_amt++; + continue; + } + + // Add mollified EE collision with specified distance type + // Convert the PE distance type to an EE distance type + EdgeEdgeDistanceType ee_dtype = EdgeEdgeDistanceType::AUTO; + switch (dtype) { + case PointEdgeDistanceType::P_E0: + ee_dtype = p == eb0 ? EdgeEdgeDistanceType::EA0_EB0 + : EdgeEdgeDistanceType::EA0_EB1; + break; + case PointEdgeDistanceType::P_E1: + ee_dtype = p == eb0 ? EdgeEdgeDistanceType::EA1_EB0 + : EdgeEdgeDistanceType::EA1_EB1; + break; + case PointEdgeDistanceType::P_E: + ee_dtype = p == eb0 ? EdgeEdgeDistanceType::EA_EB0 + : EdgeEdgeDistanceType::EA_EB1; + break; + default: + assert(false); + break; + } + + add_edge_edge_collision( + ea, eb, eps_x, weight, weight_gradient, ee_dtype); + } + + if (nonmollified_incident_edge_amt == 1) { + continue; // no collision to add because (ρ(x) - 1) = 0 + } + // if nonmollified_incident_edge_amt == 0, then we need to explicitly + // add a positive collision. + add_edge_vertex_collision( + mesh, candidates[i], dtype, + (nonmollified_incident_edge_amt - 1) * weight, + (nonmollified_incident_edge_amt - 1) * weight_gradient); + } +} + +// ============================================================================ + +void NormalCollisionsBuilder::add_vertex_vertex_collision( + const VertexVertexNormalCollision& vv_collision, + unordered_map& vv_to_id, + std::vector& vv_collisions) +{ + auto found_item = vv_to_id.find(vv_collision); + if (found_item != vv_to_id.end()) { + // collision already exists, so increase weight + vv_collisions[found_item->second].weight += vv_collision.weight; + vv_collisions[found_item->second].weight_gradient += + vv_collision.weight_gradient; + } else { + // New collision, so add it to the end of vv_collisions + vv_to_id.emplace(vv_collision, vv_collisions.size()); + vv_collisions.push_back(vv_collision); + } +} + +void NormalCollisionsBuilder::add_edge_vertex_collision( + const EdgeVertexNormalCollision& ev_collision, + unordered_map& ev_to_id, + std::vector& ev_collisions) +{ + auto found_item = ev_to_id.find(ev_collision); + if (found_item != ev_to_id.end()) { + // collision already exists, so increase weight + ev_collisions[found_item->second].weight += ev_collision.weight; + ev_collisions[found_item->second].weight_gradient += + ev_collision.weight_gradient; + } else { + // New collision, so add it to the end of ev_collisions + ev_to_id.emplace(ev_collision, ev_collisions.size()); + ev_collisions.push_back(ev_collision); + } +} + +void NormalCollisionsBuilder::add_edge_edge_collision( + const EdgeEdgeNormalCollision& ee_collision, + unordered_map& ee_to_id, + std::vector& ee_collisions) +{ + auto found_item = ee_to_id.find(ee_collision); + if (found_item != ee_to_id.end()) { + // collision already exists, so increase weight + assert(ee_collision == ee_collisions[found_item->second]); + ee_collisions[found_item->second].weight += ee_collision.weight; + ee_collisions[found_item->second].weight_gradient += + ee_collision.weight_gradient; + } else { + // New collision, so add it to the end of ee_collisions + ee_to_id.emplace(ee_collision, ee_collisions.size()); + ee_collisions.push_back(ee_collision); + } +} + +// ============================================================================ + +void NormalCollisionsBuilder::merge( + const tbb::enumerable_thread_specific& + local_storage, + NormalCollisions& merged_collisions) +{ + unordered_map vv_to_id; + unordered_map ev_to_id; + unordered_map ee_to_id; + auto& vv_collisions = merged_collisions.vv_collisions; + auto& ev_collisions = merged_collisions.ev_collisions; + auto& ee_collisions = merged_collisions.ee_collisions; + auto& fv_collisions = merged_collisions.fv_collisions; + + // size up the hash items + size_t n_vv = 0, n_ev = 0, n_ee = 0, n_fv = 0; + for (const auto& storage : local_storage) { + // This is an conservative estimate + n_vv += storage.vv_collisions.size(); + n_ev += storage.ev_collisions.size(); + n_ee += storage.ee_collisions.size(); + n_fv += storage.fv_collisions.size(); + } + vv_collisions.reserve(n_vv); + ev_collisions.reserve(n_ev); + ee_collisions.reserve(n_ee); + fv_collisions.reserve(n_fv); + + // merge + for (const auto& builder : local_storage) { + if (vv_collisions.empty()) { + vv_to_id = builder.vv_to_id; + vv_collisions = builder.vv_collisions; + } else { + for (const auto& vv : builder.vv_collisions) { + add_vertex_vertex_collision(vv, vv_to_id, vv_collisions); + } + } + + if (ev_collisions.empty()) { + ev_to_id = builder.ev_to_id; + ev_collisions = builder.ev_collisions; + } else { + for (const auto& ev : builder.ev_collisions) { + add_edge_vertex_collision(ev, ev_to_id, ev_collisions); + } + } + + if (ee_collisions.empty()) { + ee_to_id = builder.ee_to_id; + ee_collisions = builder.ee_collisions; + } else { + for (const auto& ee : builder.ee_collisions) { + add_edge_edge_collision(ee, ee_to_id, ee_collisions); + } + } + + fv_collisions.insert( + fv_collisions.end(), builder.fv_collisions.begin(), + builder.fv_collisions.end()); + } + + // If positive and negative vertex-vertex collisions cancel out, remove + // them. This can happen when edge-vertex collisions reduce to + // vertex-vertex collisions. This will avoid unnecessary computation. + vv_collisions.erase( + std::remove_if( + vv_collisions.begin(), vv_collisions.end(), + [&](const VertexVertexNormalCollision& vv) { + return vv.weight == 0; + }), + vv_collisions.end()); + // Same for edge-vertex collisions. + ev_collisions.erase( + std::remove_if( + ev_collisions.begin(), ev_collisions.end(), + [&](const EdgeVertexNormalCollision& ev) { + return ev.weight == 0; + }), + ev_collisions.end()); + // Same for edge-edge collisions. + ee_collisions.erase( + std::remove_if( + ee_collisions.begin(), ee_collisions.end(), + [&](const EdgeEdgeNormalCollision& ee) { return ee.weight == 0; }), + ee_collisions.end()); +} + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/collisions/tangential/edge_edge.cpp b/src/ipc/collisions/tangential/edge_edge.cpp index 0d5670bee..ce3a39b08 100644 --- a/src/ipc/collisions/tangential/edge_edge.cpp +++ b/src/ipc/collisions/tangential/edge_edge.cpp @@ -1,102 +1,102 @@ -#include "edge_edge.hpp" - -#include -#include -#include -#include - -namespace ipc { - -EdgeEdgeTangentialCollision::EdgeEdgeTangentialCollision( - const EdgeEdgeNormalCollision& collision) - : EdgeEdgeCandidate(collision.edge0_id, collision.edge1_id) -{ - this->weight = collision.weight; - this->weight_gradient = collision.weight_gradient; -} - -EdgeEdgeTangentialCollision::EdgeEdgeTangentialCollision( - const EdgeEdgeNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness) - : EdgeEdgeTangentialCollision(collision) -{ - TangentialCollision::init( - collision, positions, normal_potential, normal_stiffness); -} - -// ============================================================================ - -MatrixMax EdgeEdgeTangentialCollision::compute_tangent_basis( - const VectorMax12d& positions) const -{ - - assert(positions.size() == ndof()); - return edge_edge_tangent_basis( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -MatrixMax -EdgeEdgeTangentialCollision::compute_tangent_basis_jacobian( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return edge_edge_tangent_basis_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -// ============================================================================ - -VectorMax2d EdgeEdgeTangentialCollision::compute_closest_point( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return edge_edge_closest_point( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -MatrixMax -EdgeEdgeTangentialCollision::compute_closest_point_jacobian( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return edge_edge_closest_point_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -// ============================================================================ - -VectorMax3d EdgeEdgeTangentialCollision::relative_velocity( - const VectorMax12d& velocities) const -{ - assert(velocities.size() == 12); - return edge_edge_relative_velocity( - velocities.head<3>(), velocities.segment<3>(dim()), - velocities.segment<3>(2 * dim()), velocities.tail<3>(), closest_point); -} - -MatrixMax EdgeEdgeTangentialCollision::relative_velocity_matrix( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 2); - return edge_edge_relative_velocity_matrix(dim(), _closest_point); -} - -MatrixMax -EdgeEdgeTangentialCollision::relative_velocity_matrix_jacobian( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 2); - return edge_edge_relative_velocity_matrix_jacobian(dim(), _closest_point); -} - -std::pair EdgeEdgeTangentialCollision::material_pair_ids() const { - return this->m_pair_ids; -} - -} // namespace ipc +#include "edge_edge.hpp" + +#include +#include +#include +#include + +namespace ipc { + +EdgeEdgeTangentialCollision::EdgeEdgeTangentialCollision( + const EdgeEdgeNormalCollision& collision) + : EdgeEdgeCandidate(collision.edge0_id, collision.edge1_id) +{ + this->weight = collision.weight; + this->weight_gradient = collision.weight_gradient; +} + +EdgeEdgeTangentialCollision::EdgeEdgeTangentialCollision( + const EdgeEdgeNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness) + : EdgeEdgeTangentialCollision(collision) +{ + TangentialCollision::init( + collision, positions, normal_potential, normal_stiffness); +} + +// ============================================================================ + +MatrixMax EdgeEdgeTangentialCollision::compute_tangent_basis( + const VectorMax12d& positions) const +{ + + assert(positions.size() == ndof()); + return edge_edge_tangent_basis( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +MatrixMax +EdgeEdgeTangentialCollision::compute_tangent_basis_jacobian( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return edge_edge_tangent_basis_jacobian( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +// ============================================================================ + +VectorMax2d EdgeEdgeTangentialCollision::compute_closest_point( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return edge_edge_closest_point( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +MatrixMax +EdgeEdgeTangentialCollision::compute_closest_point_jacobian( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return edge_edge_closest_point_jacobian( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +// ============================================================================ + +VectorMax3d EdgeEdgeTangentialCollision::relative_velocity( + const VectorMax12d& velocities) const +{ + assert(velocities.size() == 12); + return edge_edge_relative_velocity( + velocities.head<3>(), velocities.segment<3>(dim()), + velocities.segment<3>(2 * dim()), velocities.tail<3>(), closest_point); +} + +MatrixMax EdgeEdgeTangentialCollision::relative_velocity_matrix( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 2); + return edge_edge_relative_velocity_matrix(dim(), _closest_point); +} + +MatrixMax +EdgeEdgeTangentialCollision::relative_velocity_matrix_jacobian( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 2); + return edge_edge_relative_velocity_matrix_jacobian(dim(), _closest_point); +} + +std::pair EdgeEdgeTangentialCollision::material_pair_ids() const { + return this->m_pair_ids; +} + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_edge.hpp b/src/ipc/collisions/tangential/edge_edge.hpp index 8cd194d79..79a1c920d 100644 --- a/src/ipc/collisions/tangential/edge_edge.hpp +++ b/src/ipc/collisions/tangential/edge_edge.hpp @@ -1,56 +1,56 @@ -#pragma once - -#include -#include -#include - -namespace ipc { - -class EdgeEdgeTangentialCollision : public EdgeEdgeCandidate, - public TangentialCollision { -public: - using EdgeEdgeCandidate::EdgeEdgeCandidate; - - EdgeEdgeTangentialCollision(const EdgeEdgeNormalCollision& collision); - - EdgeEdgeTangentialCollision( - const EdgeEdgeNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness); - -protected: - EdgeEdgeDistanceType known_dtype() const override - { - // The distance type is known because mollified PP and PE were skipped. - return EdgeEdgeDistanceType::EA_EB; - } - - MatrixMax - compute_tangent_basis(const VectorMax12d& positions) const override; - - MatrixMax compute_tangent_basis_jacobian( - const VectorMax12d& positions) const override; - - VectorMax2d - compute_closest_point(const VectorMax12d& positions) const override; - - MatrixMax compute_closest_point_jacobian( - const VectorMax12d& positions) const override; - - VectorMax3d - relative_velocity(const VectorMax12d& velocities) const override; - - using TangentialCollision::relative_velocity_matrix; - - MatrixMax - relative_velocity_matrix(const VectorMax2d& closest_point) const override; - - MatrixMax relative_velocity_matrix_jacobian( - const VectorMax2d& closest_point) const override; - - std::pair material_pair_ids() const override; - -}; - -} // namespace ipc +#pragma once + +#include +#include +#include + +namespace ipc { + +class EdgeEdgeTangentialCollision : public EdgeEdgeCandidate, + public TangentialCollision { +public: + using EdgeEdgeCandidate::EdgeEdgeCandidate; + + EdgeEdgeTangentialCollision(const EdgeEdgeNormalCollision& collision); + + EdgeEdgeTangentialCollision( + const EdgeEdgeNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness); + +protected: + EdgeEdgeDistanceType known_dtype() const override + { + // The distance type is known because mollified PP and PE were skipped. + return EdgeEdgeDistanceType::EA_EB; + } + + MatrixMax + compute_tangent_basis(const VectorMax12d& positions) const override; + + MatrixMax compute_tangent_basis_jacobian( + const VectorMax12d& positions) const override; + + VectorMax2d + compute_closest_point(const VectorMax12d& positions) const override; + + MatrixMax compute_closest_point_jacobian( + const VectorMax12d& positions) const override; + + VectorMax3d + relative_velocity(const VectorMax12d& velocities) const override; + + using TangentialCollision::relative_velocity_matrix; + + MatrixMax + relative_velocity_matrix(const VectorMax2d& closest_point) const override; + + MatrixMax relative_velocity_matrix_jacobian( + const VectorMax2d& closest_point) const override; + + std::pair material_pair_ids() const override; + +}; + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_vertex.cpp b/src/ipc/collisions/tangential/edge_vertex.cpp index 9e9f63db2..227f5d21c 100644 --- a/src/ipc/collisions/tangential/edge_vertex.cpp +++ b/src/ipc/collisions/tangential/edge_vertex.cpp @@ -1,106 +1,106 @@ -#include "edge_vertex.hpp" - -#include -#include -#include -#include - -namespace ipc { - -EdgeVertexTangentialCollision::EdgeVertexTangentialCollision( - const EdgeVertexNormalCollision& collision) - : EdgeVertexCandidate(collision.edge_id, collision.vertex_id) -{ - this->weight = collision.weight; - this->weight_gradient = collision.weight_gradient; -} - -EdgeVertexTangentialCollision::EdgeVertexTangentialCollision( - const EdgeVertexNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness) - : EdgeVertexTangentialCollision(collision) -{ - TangentialCollision::init( - collision, positions, normal_potential, normal_stiffness); -} - -// ============================================================================ - -MatrixMax EdgeVertexTangentialCollision::compute_tangent_basis( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_edge_tangent_basis( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())); -} - -MatrixMax -EdgeVertexTangentialCollision::compute_tangent_basis_jacobian( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_edge_tangent_basis_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())); -} - -// ============================================================================ - -VectorMax2d EdgeVertexTangentialCollision::compute_closest_point( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - VectorMax2d alpha(1); - alpha[0] = point_edge_closest_point( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())); - return alpha; -} - -MatrixMax -EdgeVertexTangentialCollision::compute_closest_point_jacobian( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_edge_closest_point_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())) - .transpose(); -} - -// ============================================================================ - -VectorMax3d EdgeVertexTangentialCollision::relative_velocity( - const VectorMax12d& velocities) const -{ - assert(velocities.size() == ndof()); - return point_edge_relative_velocity( - velocities.head(dim()), velocities.segment(dim(), dim()), - velocities.tail(dim()), closest_point[0]); -} - -MatrixMax -EdgeVertexTangentialCollision::relative_velocity_matrix( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 1); - return point_edge_relative_velocity_matrix(dim(), _closest_point[0]); -} - -MatrixMax -EdgeVertexTangentialCollision::relative_velocity_matrix_jacobian( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 1); - return point_edge_relative_velocity_matrix_jacobian( - dim(), _closest_point[0]); -} - -std::pair EdgeVertexTangentialCollision::material_pair_ids() const { - return this->m_pair_ids; -} - -} // namespace ipc +#include "edge_vertex.hpp" + +#include +#include +#include +#include + +namespace ipc { + +EdgeVertexTangentialCollision::EdgeVertexTangentialCollision( + const EdgeVertexNormalCollision& collision) + : EdgeVertexCandidate(collision.edge_id, collision.vertex_id) +{ + this->weight = collision.weight; + this->weight_gradient = collision.weight_gradient; +} + +EdgeVertexTangentialCollision::EdgeVertexTangentialCollision( + const EdgeVertexNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness) + : EdgeVertexTangentialCollision(collision) +{ + TangentialCollision::init( + collision, positions, normal_potential, normal_stiffness); +} + +// ============================================================================ + +MatrixMax EdgeVertexTangentialCollision::compute_tangent_basis( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_edge_tangent_basis( + positions.head(dim()), positions.segment(dim(), dim()), + positions.tail(dim())); +} + +MatrixMax +EdgeVertexTangentialCollision::compute_tangent_basis_jacobian( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_edge_tangent_basis_jacobian( + positions.head(dim()), positions.segment(dim(), dim()), + positions.tail(dim())); +} + +// ============================================================================ + +VectorMax2d EdgeVertexTangentialCollision::compute_closest_point( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + VectorMax2d alpha(1); + alpha[0] = point_edge_closest_point( + positions.head(dim()), positions.segment(dim(), dim()), + positions.tail(dim())); + return alpha; +} + +MatrixMax +EdgeVertexTangentialCollision::compute_closest_point_jacobian( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_edge_closest_point_jacobian( + positions.head(dim()), positions.segment(dim(), dim()), + positions.tail(dim())) + .transpose(); +} + +// ============================================================================ + +VectorMax3d EdgeVertexTangentialCollision::relative_velocity( + const VectorMax12d& velocities) const +{ + assert(velocities.size() == ndof()); + return point_edge_relative_velocity( + velocities.head(dim()), velocities.segment(dim(), dim()), + velocities.tail(dim()), closest_point[0]); +} + +MatrixMax +EdgeVertexTangentialCollision::relative_velocity_matrix( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 1); + return point_edge_relative_velocity_matrix(dim(), _closest_point[0]); +} + +MatrixMax +EdgeVertexTangentialCollision::relative_velocity_matrix_jacobian( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 1); + return point_edge_relative_velocity_matrix_jacobian( + dim(), _closest_point[0]); +} + +std::pair EdgeVertexTangentialCollision::material_pair_ids() const { + return this->m_pair_ids; +} + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_vertex.hpp b/src/ipc/collisions/tangential/edge_vertex.hpp index 910c8ee04..0d139024d 100644 --- a/src/ipc/collisions/tangential/edge_vertex.hpp +++ b/src/ipc/collisions/tangential/edge_vertex.hpp @@ -1,49 +1,49 @@ -#pragma once - -#include -#include -#include - -namespace ipc { - -class EdgeVertexTangentialCollision : public EdgeVertexCandidate, - public TangentialCollision { -public: - using EdgeVertexCandidate::EdgeVertexCandidate; - - EdgeVertexTangentialCollision(const EdgeVertexNormalCollision& collision); - - EdgeVertexTangentialCollision( - const EdgeVertexNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness); - -protected: - MatrixMax - compute_tangent_basis(const VectorMax12d& positions) const override; - - MatrixMax compute_tangent_basis_jacobian( - const VectorMax12d& positions) const override; - - VectorMax2d - compute_closest_point(const VectorMax12d& positions) const override; - - MatrixMax compute_closest_point_jacobian( - const VectorMax12d& positions) const override; - - VectorMax3d - relative_velocity(const VectorMax12d& velocities) const override; - - using TangentialCollision::relative_velocity_matrix; - - MatrixMax - relative_velocity_matrix(const VectorMax2d& closest_point) const override; - - MatrixMax relative_velocity_matrix_jacobian( - const VectorMax2d& closest_point) const override; - - std::pair material_pair_ids() const override; -}; - -} // namespace ipc +#pragma once + +#include +#include +#include + +namespace ipc { + +class EdgeVertexTangentialCollision : public EdgeVertexCandidate, + public TangentialCollision { +public: + using EdgeVertexCandidate::EdgeVertexCandidate; + + EdgeVertexTangentialCollision(const EdgeVertexNormalCollision& collision); + + EdgeVertexTangentialCollision( + const EdgeVertexNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness); + +protected: + MatrixMax + compute_tangent_basis(const VectorMax12d& positions) const override; + + MatrixMax compute_tangent_basis_jacobian( + const VectorMax12d& positions) const override; + + VectorMax2d + compute_closest_point(const VectorMax12d& positions) const override; + + MatrixMax compute_closest_point_jacobian( + const VectorMax12d& positions) const override; + + VectorMax3d + relative_velocity(const VectorMax12d& velocities) const override; + + using TangentialCollision::relative_velocity_matrix; + + MatrixMax + relative_velocity_matrix(const VectorMax2d& closest_point) const override; + + MatrixMax relative_velocity_matrix_jacobian( + const VectorMax2d& closest_point) const override; + + std::pair material_pair_ids() const override; +}; + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/face_vertex.cpp b/src/ipc/collisions/tangential/face_vertex.cpp index 1ee2ed058..d8bccf2a4 100644 --- a/src/ipc/collisions/tangential/face_vertex.cpp +++ b/src/ipc/collisions/tangential/face_vertex.cpp @@ -1,103 +1,103 @@ -#include "face_vertex.hpp" - -#include -#include -#include -#include - -namespace ipc { - -FaceVertexTangentialCollision::FaceVertexTangentialCollision( - const FaceVertexNormalCollision& collision) - : FaceVertexCandidate(collision.face_id, collision.vertex_id) -{ - this->weight = collision.weight; - this->weight_gradient = collision.weight_gradient; -} - -FaceVertexTangentialCollision::FaceVertexTangentialCollision( - const FaceVertexNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness) - : FaceVertexTangentialCollision(collision) -{ - TangentialCollision::init( - collision, positions, normal_potential, normal_stiffness); -} - -// ============================================================================ - -MatrixMax FaceVertexTangentialCollision::compute_tangent_basis( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_triangle_tangent_basis( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -MatrixMax -FaceVertexTangentialCollision::compute_tangent_basis_jacobian( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_triangle_tangent_basis_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -// ============================================================================ - -VectorMax2d FaceVertexTangentialCollision::compute_closest_point( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_triangle_closest_point( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -MatrixMax -FaceVertexTangentialCollision::compute_closest_point_jacobian( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_triangle_closest_point_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); -} - -// ============================================================================ - -VectorMax3d FaceVertexTangentialCollision::relative_velocity( - const VectorMax12d& velocities) const -{ - assert(velocities.size() == 12); - return point_triangle_relative_velocity( - velocities.head<3>(), velocities.segment<3>(dim()), - velocities.segment<3>(2 * dim()), velocities.tail<3>(), closest_point); -} - -MatrixMax -FaceVertexTangentialCollision::relative_velocity_matrix( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 2); - return point_triangle_relative_velocity_matrix(dim(), _closest_point); -} - -MatrixMax -FaceVertexTangentialCollision::relative_velocity_matrix_jacobian( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 2); - return point_triangle_relative_velocity_matrix_jacobian( - dim(), _closest_point); -} - -std::pair FaceVertexTangentialCollision::material_pair_ids() const { - return this->m_pair_ids; -} - -} // namespace ipc +#include "face_vertex.hpp" + +#include +#include +#include +#include + +namespace ipc { + +FaceVertexTangentialCollision::FaceVertexTangentialCollision( + const FaceVertexNormalCollision& collision) + : FaceVertexCandidate(collision.face_id, collision.vertex_id) +{ + this->weight = collision.weight; + this->weight_gradient = collision.weight_gradient; +} + +FaceVertexTangentialCollision::FaceVertexTangentialCollision( + const FaceVertexNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness) + : FaceVertexTangentialCollision(collision) +{ + TangentialCollision::init( + collision, positions, normal_potential, normal_stiffness); +} + +// ============================================================================ + +MatrixMax FaceVertexTangentialCollision::compute_tangent_basis( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_triangle_tangent_basis( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +MatrixMax +FaceVertexTangentialCollision::compute_tangent_basis_jacobian( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_triangle_tangent_basis_jacobian( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +// ============================================================================ + +VectorMax2d FaceVertexTangentialCollision::compute_closest_point( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_triangle_closest_point( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +MatrixMax +FaceVertexTangentialCollision::compute_closest_point_jacobian( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_triangle_closest_point_jacobian( + positions.head(dim()), positions.segment(dim(), dim()), + positions.segment(2 * dim(), dim()), positions.tail(dim())); +} + +// ============================================================================ + +VectorMax3d FaceVertexTangentialCollision::relative_velocity( + const VectorMax12d& velocities) const +{ + assert(velocities.size() == 12); + return point_triangle_relative_velocity( + velocities.head<3>(), velocities.segment<3>(dim()), + velocities.segment<3>(2 * dim()), velocities.tail<3>(), closest_point); +} + +MatrixMax +FaceVertexTangentialCollision::relative_velocity_matrix( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 2); + return point_triangle_relative_velocity_matrix(dim(), _closest_point); +} + +MatrixMax +FaceVertexTangentialCollision::relative_velocity_matrix_jacobian( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 2); + return point_triangle_relative_velocity_matrix_jacobian( + dim(), _closest_point); +} + +std::pair FaceVertexTangentialCollision::material_pair_ids() const { + return this->m_pair_ids; +} + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/face_vertex.hpp b/src/ipc/collisions/tangential/face_vertex.hpp index 073bf5f8a..8a37febf8 100644 --- a/src/ipc/collisions/tangential/face_vertex.hpp +++ b/src/ipc/collisions/tangential/face_vertex.hpp @@ -1,50 +1,50 @@ -#pragma once - -#include -#include -#include - -namespace ipc { - -class FaceVertexTangentialCollision : public FaceVertexCandidate, - public TangentialCollision { -public: - using FaceVertexCandidate::FaceVertexCandidate; - - FaceVertexTangentialCollision(const FaceVertexNormalCollision& collision); - - FaceVertexTangentialCollision( - const FaceVertexNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness); - -protected: - MatrixMax - compute_tangent_basis(const VectorMax12d& positions) const override; - - MatrixMax compute_tangent_basis_jacobian( - const VectorMax12d& positions) const override; - - VectorMax2d - compute_closest_point(const VectorMax12d& positions) const override; - - MatrixMax compute_closest_point_jacobian( - const VectorMax12d& positions) const override; - - VectorMax3d - relative_velocity(const VectorMax12d& velocities) const override; - - using TangentialCollision::relative_velocity_matrix; - - MatrixMax - relative_velocity_matrix(const VectorMax2d& closest_point) const override; - - MatrixMax relative_velocity_matrix_jacobian( - const VectorMax2d& closest_point) const override; - - std::pair material_pair_ids() const override; - -}; - -} // namespace ipc +#pragma once + +#include +#include +#include + +namespace ipc { + +class FaceVertexTangentialCollision : public FaceVertexCandidate, + public TangentialCollision { +public: + using FaceVertexCandidate::FaceVertexCandidate; + + FaceVertexTangentialCollision(const FaceVertexNormalCollision& collision); + + FaceVertexTangentialCollision( + const FaceVertexNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness); + +protected: + MatrixMax + compute_tangent_basis(const VectorMax12d& positions) const override; + + MatrixMax compute_tangent_basis_jacobian( + const VectorMax12d& positions) const override; + + VectorMax2d + compute_closest_point(const VectorMax12d& positions) const override; + + MatrixMax compute_closest_point_jacobian( + const VectorMax12d& positions) const override; + + VectorMax3d + relative_velocity(const VectorMax12d& velocities) const override; + + using TangentialCollision::relative_velocity_matrix; + + MatrixMax + relative_velocity_matrix(const VectorMax2d& closest_point) const override; + + MatrixMax relative_velocity_matrix_jacobian( + const VectorMax2d& closest_point) const override; + + std::pair material_pair_ids() const override; + +}; + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collision.hpp b/src/ipc/collisions/tangential/tangential_collision.hpp index 4f65bff70..ba582da76 100644 --- a/src/ipc/collisions/tangential/tangential_collision.hpp +++ b/src/ipc/collisions/tangential/tangential_collision.hpp @@ -1,118 +1,118 @@ -#pragma once - -#include -#include -#include -#include - -namespace ipc { - -class TangentialCollision : virtual public CollisionStencil { -protected: - /// @brief Initialize the collision. - /// @param collision NormalCollision stencil. - /// @param positions Collision stencil's vertex positions. - /// @param normal_potential Normal potential used for normal force. - /// @param normal_stiffness Normal potential stiffness. - void init( - const NormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness); - -public: - virtual ~TangentialCollision() = default; - - /// @brief Get the dimension of the collision. - int dim() const { return tangent_basis.rows(); } - - /// @brief Get the number of degrees of freedom for the collision. - int ndof() const { return dim() * num_vertices(); }; - - // -- Abstract methods ----------------------------------------------------- - - /// @brief Compute the tangent basis of the collision. - /// @param positions Collision stencil's vertex positions. - /// @return Tangent basis of the collision. - virtual MatrixMax - compute_tangent_basis(const VectorMax12d& positions) const = 0; - - /// @brief Compute the Jacobian of the tangent basis of the collision. - /// @param positions Collision stencil's vertex positions. - /// @return Jacobian of the tangent basis of the collision. - virtual MatrixMax - compute_tangent_basis_jacobian(const VectorMax12d& positions) const = 0; - - /// @brief Compute the barycentric coordinates of the closest point. - /// @param positions Collision stencil's vertex positions. - /// @return Barycentric coordinates of the closest point. - virtual VectorMax2d - compute_closest_point(const VectorMax12d& positions) const = 0; - - /// @brief Compute the Jacobian of the barycentric coordinates of the closest point. - /// @param positions Collision stencil's vertex positions. - /// @return Jacobian of the barycentric coordinates of the closest point. - virtual MatrixMax - compute_closest_point_jacobian(const VectorMax12d& positions) const = 0; - - /// @brief Compute the relative velocity of the collision. - /// @param velocities Collision stencil's vertex velocities. - /// @return Relative velocity of the collision. - virtual VectorMax3d - relative_velocity(const VectorMax12d& velocities) const = 0; - - /// @brief Construct the premultiplier matrix for the relative velocity. - /// @note Uses the cached closest point. - /// @return A matrix M such that `relative_velocity = M * velocities`. - virtual MatrixMax relative_velocity_matrix() const - { - return relative_velocity_matrix(closest_point); - } - - /// @brief Construct the premultiplier matrix for the relative velocity. - /// @param closest_point Barycentric coordinates of the closest point. - /// @return A matrix M such that `relative_velocity = M * velocities`. - virtual MatrixMax - relative_velocity_matrix(const VectorMax2d& closest_point) const = 0; - - /// @brief Construct the Jacobian of the relative velocity premultiplier wrt the closest points. - /// @param closest_point Barycentric coordinates of the closest point. - /// @return Jacobian of the relative velocity premultiplier wrt the closest points. - virtual MatrixMax relative_velocity_matrix_jacobian( - const VectorMax2d& closest_point) const = 0; - - /// @brief Get the material pair IDs of the collision. - /// @return Material pair IDs of the collision. - virtual std::pair material_pair_ids() const = 0; - -public: - - /// @brief Normal force magnitude - double normal_force_magnitude; - - /// @brief Ratio between normal and tangential forces (e.g., global friction coefficient) - double mu; - - /// @brief Ratio between normal and tangential forces (e.g., static friction coefficient) - double s_mu = -1; - - /// @brief Ratio between normal and tangential forces (e.g., kinetic friction coefficient) - double k_mu = -1; - - /// @brief Weight - double weight = 1; - - /// @brief Material pair IDs - std::pair m_pair_ids = {-1, -1}; - - /// @brief Gradient of weight with respect to all DOF - Eigen::SparseVector weight_gradient; - - /// @brief Barycentric coordinates of the closest point(s) - VectorMax2d closest_point; - - /// @brief Tangent basis of the collision (max size 3×2) - MatrixMax tangent_basis; -}; - -} // namespace ipc +#pragma once + +#include +#include +#include +#include + +namespace ipc { + +class TangentialCollision : virtual public CollisionStencil { +protected: + /// @brief Initialize the collision. + /// @param collision NormalCollision stencil. + /// @param positions Collision stencil's vertex positions. + /// @param normal_potential Normal potential used for normal force. + /// @param normal_stiffness Normal potential stiffness. + void init( + const NormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness); + +public: + virtual ~TangentialCollision() = default; + + /// @brief Get the dimension of the collision. + int dim() const { return tangent_basis.rows(); } + + /// @brief Get the number of degrees of freedom for the collision. + int ndof() const { return dim() * num_vertices(); }; + + // -- Abstract methods ----------------------------------------------------- + + /// @brief Compute the tangent basis of the collision. + /// @param positions Collision stencil's vertex positions. + /// @return Tangent basis of the collision. + virtual MatrixMax + compute_tangent_basis(const VectorMax12d& positions) const = 0; + + /// @brief Compute the Jacobian of the tangent basis of the collision. + /// @param positions Collision stencil's vertex positions. + /// @return Jacobian of the tangent basis of the collision. + virtual MatrixMax + compute_tangent_basis_jacobian(const VectorMax12d& positions) const = 0; + + /// @brief Compute the barycentric coordinates of the closest point. + /// @param positions Collision stencil's vertex positions. + /// @return Barycentric coordinates of the closest point. + virtual VectorMax2d + compute_closest_point(const VectorMax12d& positions) const = 0; + + /// @brief Compute the Jacobian of the barycentric coordinates of the closest point. + /// @param positions Collision stencil's vertex positions. + /// @return Jacobian of the barycentric coordinates of the closest point. + virtual MatrixMax + compute_closest_point_jacobian(const VectorMax12d& positions) const = 0; + + /// @brief Compute the relative velocity of the collision. + /// @param velocities Collision stencil's vertex velocities. + /// @return Relative velocity of the collision. + virtual VectorMax3d + relative_velocity(const VectorMax12d& velocities) const = 0; + + /// @brief Construct the premultiplier matrix for the relative velocity. + /// @note Uses the cached closest point. + /// @return A matrix M such that `relative_velocity = M * velocities`. + virtual MatrixMax relative_velocity_matrix() const + { + return relative_velocity_matrix(closest_point); + } + + /// @brief Construct the premultiplier matrix for the relative velocity. + /// @param closest_point Barycentric coordinates of the closest point. + /// @return A matrix M such that `relative_velocity = M * velocities`. + virtual MatrixMax + relative_velocity_matrix(const VectorMax2d& closest_point) const = 0; + + /// @brief Construct the Jacobian of the relative velocity premultiplier wrt the closest points. + /// @param closest_point Barycentric coordinates of the closest point. + /// @return Jacobian of the relative velocity premultiplier wrt the closest points. + virtual MatrixMax relative_velocity_matrix_jacobian( + const VectorMax2d& closest_point) const = 0; + + /// @brief Get the material pair IDs of the collision. + /// @return Material pair IDs of the collision. + virtual std::pair material_pair_ids() const = 0; + +public: + + /// @brief Normal force magnitude + double normal_force_magnitude; + + /// @brief Ratio between normal and tangential forces (e.g., global friction coefficient) + double mu; + + /// @brief Ratio between normal and tangential forces (e.g., static friction coefficient) + double s_mu = -1; + + /// @brief Ratio between normal and tangential forces (e.g., kinetic friction coefficient) + double k_mu = -1; + + /// @brief Weight + double weight = 1; + + /// @brief Material pair IDs + std::pair m_pair_ids = {-1, -1}; + + /// @brief Gradient of weight with respect to all DOF + Eigen::SparseVector weight_gradient; + + /// @brief Barycentric coordinates of the closest point(s) + VectorMax2d closest_point; + + /// @brief Tangent basis of the collision (max size 3×2) + MatrixMax tangent_basis; +}; + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collisions.cpp b/src/ipc/collisions/tangential/tangential_collisions.cpp index 6201d54ee..b6f05673c 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.cpp +++ b/src/ipc/collisions/tangential/tangential_collisions.cpp @@ -1,518 +1,343 @@ -#include "tangential_collisions.hpp" - -#include -#include - -#include -#include -#include - -#include // std::out_of_range - -namespace ipc { - -void TangentialCollisions::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const NormalPotential& normal_potential, - const double normal_stiffness, - const Eigen::VectorXd& mus, - const std::function& blend_mu, - const BlendType blend_type) - -{ - assert(mus.size() == vertices.rows()); - - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - - clear(); - - const auto& C_vv = collisions.vv_collisions; - const auto& C_ev = collisions.ev_collisions; - const auto& C_ee = collisions.ee_collisions; - const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - - FC_vv.reserve(C_vv.size()); - for (const auto& c_vv : C_vv) { - FC_vv.emplace_back( - c_vv, c_vv.dof(vertices, edges, faces), normal_potential, - normal_stiffness); - const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); - - FC_vv.back().mu = blend_mu(mus(v0i), mus(v1i), blend_type); - FC_vv.back().s_mu = -1; - FC_vv.back().k_mu = -1; - } - - FC_ev.reserve(C_ev.size()); - for (const auto& c_ev : C_ev) { - FC_ev.emplace_back( - c_ev, c_ev.dof(vertices, edges, faces), normal_potential, - normal_stiffness); - const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); - - const double edge_mu = - (mus(e1i) - mus(e0i)) * FC_ev.back().closest_point[0] + mus(e0i); - FC_ev.back().mu = blend_mu(edge_mu, mus(vi), blend_type); - FC_ev.back().s_mu = -1; - FC_ev.back().k_mu = -1; - } - - FC_ee.reserve(C_ee.size()); - for (const auto& c_ee : C_ee) { - const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); - const Eigen::Vector3d ea0 = vertices.row(ea0i); - const Eigen::Vector3d ea1 = vertices.row(ea1i); - const Eigen::Vector3d eb0 = vertices.row(eb0i); - const Eigen::Vector3d eb1 = vertices.row(eb1i); - - // Skip EE collisions that are close to parallel - if (edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1) < c_ee.eps_x) { - continue; - } - - FC_ee.emplace_back( - c_ee, c_ee.dof(vertices, edges, faces), normal_potential, - normal_stiffness); - - double ea_mu = - (mus(ea1i) - mus(ea0i)) * FC_ee.back().closest_point[0] + mus(ea0i); - double eb_mu = - (mus(eb1i) - mus(eb0i)) * FC_ee.back().closest_point[1] + mus(eb0i); - FC_ee.back().mu = blend_mu(ea_mu, eb_mu, blend_type); - FC_ee.back().s_mu = -1; - FC_ee.back().k_mu = -1; - } - - FC_fv.reserve(C_fv.size()); - for (const auto& c_fv : C_fv) { - FC_fv.emplace_back( - c_fv, c_fv.dof(vertices, edges, faces), normal_potential, - normal_stiffness); - const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); - - double face_mu = mus(f0i) - + FC_fv.back().closest_point[0] * (mus(f1i) - mus(f0i)) - + FC_fv.back().closest_point[1] * (mus(f2i) - mus(f0i)); - FC_fv.back().mu = blend_mu(face_mu, mus(vi), blend_type); - FC_fv.back().s_mu = -1; - FC_fv.back().k_mu = -1; - } -} - - -void TangentialCollisions::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const NormalPotential& normal_potential, - double barrier_stiffness, - double mu, - double s_mu, - double k_mu) -{ - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - clear(); - - auto setFrictionParams = [](auto& collision, double g_mu, double g_s_mu, double g_k_mu) { - collision.mu = g_mu; - collision.s_mu = g_s_mu; - collision.k_mu = g_k_mu; - }; - - const auto& C_vv = collisions.vv_collisions; - const auto& C_ev = collisions.ev_collisions; - const auto& C_ee = collisions.ee_collisions; - const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - - FC_vv.reserve(C_vv.size()); - for (const auto& c_vv : C_vv) { - FC_vv.emplace_back( - c_vv, c_vv.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); - setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); - } - - FC_ev.reserve(C_ev.size()); - for (const auto& c_ev : C_ev) { - FC_ev.emplace_back( - c_ev, c_ev.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); - setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); - } - - FC_ee.reserve(C_ee.size()); - for (const auto& c_ee : C_ee) { - const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); - const Eigen::Vector3d ea0 = vertices.row(ea0i); - const Eigen::Vector3d ea1 = vertices.row(ea1i); - const Eigen::Vector3d eb0 = vertices.row(eb0i); - const Eigen::Vector3d eb1 = vertices.row(eb1i); - - // Skip EE collisions that are close to parallel - if (edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1) < c_ee.eps_x) { - continue; - } - - FC_ee.emplace_back( - c_ee, c_ee.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - - setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); - } - - FC_fv.reserve(C_fv.size()); - for (const auto& c_fv : C_fv) { - FC_fv.emplace_back( - c_fv, c_fv.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); - - setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); - } -} - -void TangentialCollisions::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const NormalPotential& normal_potential, - double barrier_stiffness, - double mu, - double s_mu, - double k_mu, - const std::map, MaterialPairFriction>& material_pair_friction) -{ - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - const std::vector& mat_ids = mesh.mat_ids(); - clear(); - - auto getMaterialFriction = [&](int mat_id1, int mat_id2) -> const MaterialPairFriction* { - auto pair_key = std::make_pair(std::min(mat_id1, mat_id2), std::max(mat_id1, mat_id2)); - return material_pair_friction.count(pair_key) ? &material_pair_friction.at(pair_key) : nullptr; - }; - - auto setFrictionParams = [](auto& collision, double mu, double s_mu, double k_mu) { - collision.mu = mu; - collision.s_mu = s_mu; - collision.k_mu = k_mu; - }; - - const auto& C_vv = collisions.vv_collisions; - const auto& C_ev = collisions.ev_collisions; - const auto& C_ee = collisions.ee_collisions; - const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - - FC_vv.reserve(C_vv.size()); - for (const auto& c_vv : C_vv) { - FC_vv.emplace_back( - c_vv, c_vv.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[v0i], mat_ids[v1i]); - if (friction) { - setFrictionParams(FC_vv.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); - } - } - - FC_ev.reserve(C_ev.size()); - for (const auto& c_ev : C_ev) { - FC_ev.emplace_back( - c_ev, c_ev.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[e0i]); - if (friction) { - setFrictionParams(FC_ev.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); - } - } - - FC_ee.reserve(C_ee.size()); - for (const auto& c_ee : C_ee) { - const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); - - if (edge_edge_cross_squarednorm(vertices.row(ea0i), vertices.row(ea1i), vertices.row(eb0i), vertices.row(eb1i)) < c_ee.eps_x) { - continue; - } - - FC_ee.emplace_back( - c_ee, c_ee.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[ea0i], mat_ids[eb0i]); - if (friction) { - setFrictionParams(FC_ee.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); - } - } - - FC_fv.reserve(C_fv.size()); - for (const auto& c_fv : C_fv) { - FC_fv.emplace_back( - c_fv, c_fv.dof(vertices, edges, faces), normal_potential, - barrier_stiffness); - const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[f0i]); - if (friction) { - setFrictionParams(FC_fv.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); - } - } -} - - -void TangentialCollisions::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const BarrierPotential& barrier_potential, - double barrier_stiffness, - double mu, - double s_mu, - double k_mu) -{ - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - clear(); - - auto setFrictionParams = [](auto& collision, double g_mu, double g_s_mu, double g_k_mu) { - collision.mu = g_mu; - collision.s_mu = g_s_mu; - collision.k_mu = g_k_mu; - }; - - const auto& C_vv = collisions.vv_collisions; - const auto& C_ev = collisions.ev_collisions; - const auto& C_ee = collisions.ee_collisions; - const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - - FC_vv.reserve(C_vv.size()); - for (const auto& c_vv : C_vv) { - FC_vv.emplace_back( - c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); - setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); - } - - FC_ev.reserve(C_ev.size()); - for (const auto& c_ev : C_ev) { - FC_ev.emplace_back( - c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); - setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); - } - - FC_ee.reserve(C_ee.size()); - for (const auto& c_ee : C_ee) { - const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); - const Eigen::Vector3d ea0 = vertices.row(ea0i); - const Eigen::Vector3d ea1 = vertices.row(ea1i); - const Eigen::Vector3d eb0 = vertices.row(eb0i); - const Eigen::Vector3d eb1 = vertices.row(eb1i); - - // Skip EE collisions that are close to parallel - if (edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1) < c_ee.eps_x) { - continue; - } - - FC_ee.emplace_back( - c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - - setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); - } - - FC_fv.reserve(C_fv.size()); - for (const auto& c_fv : C_fv) { - FC_fv.emplace_back( - c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); - - setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); - } -} - -void TangentialCollisions::build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const BarrierPotential& barrier_potential, - double barrier_stiffness, - double mu, - double s_mu, - double k_mu, - const std::map, MaterialPairFriction>& material_pair_friction) -{ - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - const std::vector& mat_ids = mesh.mat_ids(); - clear(); - - auto getMaterialFriction = [&](int mat_id1, int mat_id2) -> const MaterialPairFriction* { - auto pair_key = std::make_pair(std::min(mat_id1, mat_id2), std::max(mat_id1, mat_id2)); - return material_pair_friction.count(pair_key) ? &material_pair_friction.at(pair_key) : nullptr; - }; - - auto setFrictionParams = [](auto& collision, double mu, double s_mu, double k_mu) { - collision.mu = mu; - collision.s_mu = s_mu; - collision.k_mu = k_mu; - }; - - const auto& C_vv = collisions.vv_collisions; - const auto& C_ev = collisions.ev_collisions; - const auto& C_ee = collisions.ee_collisions; - const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; - - FC_vv.reserve(C_vv.size()); - for (const auto& c_vv : C_vv) { - FC_vv.emplace_back( - c_vv, c_vv.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[v0i], mat_ids[v1i]); - if (friction) { - setFrictionParams(FC_vv.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); - } - } - - FC_ev.reserve(C_ev.size()); - for (const auto& c_ev : C_ev) { - FC_ev.emplace_back( - c_ev, c_ev.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[e0i]); - if (friction) { - setFrictionParams(FC_ev.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); - } - } - - FC_ee.reserve(C_ee.size()); - for (const auto& c_ee : C_ee) { - const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); - - if (edge_edge_cross_squarednorm(vertices.row(ea0i), vertices.row(ea1i), vertices.row(eb0i), vertices.row(eb1i)) < c_ee.eps_x) { - continue; - } - - FC_ee.emplace_back( - c_ee, c_ee.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[ea0i], mat_ids[eb0i]); - if (friction) { - setFrictionParams(FC_ee.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); - } - } - - FC_fv.reserve(C_fv.size()); - for (const auto& c_fv : C_fv) { - FC_fv.emplace_back( - c_fv, c_fv.dof(vertices, edges, faces), barrier_potential, - barrier_stiffness); - const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); - - const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[f0i]); - if (friction) { - setFrictionParams(FC_fv.back(), mu, friction->s_mu, friction->k_mu); - } else { - setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); - } - } -} - -// ============================================================================ - -size_t TangentialCollisions::size() const -{ - return vv_collisions.size() + ev_collisions.size() + ee_collisions.size() - + fv_collisions.size(); -} - -bool TangentialCollisions::empty() const -{ - return vv_collisions.empty() && ev_collisions.empty() - && ee_collisions.empty() && fv_collisions.empty(); -} - -void TangentialCollisions::clear() -{ - vv_collisions.clear(); - ev_collisions.clear(); - ee_collisions.clear(); - fv_collisions.clear(); -} - -TangentialCollision& TangentialCollisions::operator[](size_t i) -{ - if (i < vv_collisions.size()) { - return vv_collisions[i]; - } - i -= vv_collisions.size(); - if (i < ev_collisions.size()) { - return ev_collisions[i]; - } - i -= ev_collisions.size(); - if (i < ee_collisions.size()) { - return ee_collisions[i]; - } - i -= ee_collisions.size(); - if (i < fv_collisions.size()) { - return fv_collisions[i]; - } - throw std::out_of_range("Friction collision index is out of range!"); -} - -const TangentialCollision& TangentialCollisions::operator[](size_t i) const -{ - if (i < vv_collisions.size()) { - return vv_collisions[i]; - } - i -= vv_collisions.size(); - if (i < ev_collisions.size()) { - return ev_collisions[i]; - } - i -= ev_collisions.size(); - if (i < ee_collisions.size()) { - return ee_collisions[i]; - } - i -= ee_collisions.size(); - if (i < fv_collisions.size()) { - return fv_collisions[i]; - } - throw std::out_of_range("Friction collision index is out of range!"); -} - -} // namespace ipc +#include "tangential_collisions.hpp" + +#include +#include + +#include +#include +#include + +#include // std::out_of_range + +namespace ipc { + +void TangentialCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + const double normal_stiffness, + const Eigen::VectorXd& mus, + const std::function& blend_mu, + const BlendType blend_type) + +{ + assert(mus.size() == vertices.rows()); + + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + + clear(); + + const auto& C_vv = collisions.vv_collisions; + const auto& C_ev = collisions.ev_collisions; + const auto& C_ee = collisions.ee_collisions; + const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + FC_vv.reserve(C_vv.size()); + for (const auto& c_vv : C_vv) { + FC_vv.emplace_back( + c_vv, c_vv.dof(vertices, edges, faces), normal_potential, + normal_stiffness); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + + FC_vv.back().mu = blend_mu(mus(v0i), mus(v1i), blend_type); + FC_vv.back().s_mu = -1; + FC_vv.back().k_mu = -1; + } + + FC_ev.reserve(C_ev.size()); + for (const auto& c_ev : C_ev) { + FC_ev.emplace_back( + c_ev, c_ev.dof(vertices, edges, faces), normal_potential, + normal_stiffness); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + + const double edge_mu = + (mus(e1i) - mus(e0i)) * FC_ev.back().closest_point[0] + mus(e0i); + FC_ev.back().mu = blend_mu(edge_mu, mus(vi), blend_type); + FC_ev.back().s_mu = -1; + FC_ev.back().k_mu = -1; + } + + FC_ee.reserve(C_ee.size()); + for (const auto& c_ee : C_ee) { + const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); + const Eigen::Vector3d ea0 = vertices.row(ea0i); + const Eigen::Vector3d ea1 = vertices.row(ea1i); + const Eigen::Vector3d eb0 = vertices.row(eb0i); + const Eigen::Vector3d eb1 = vertices.row(eb1i); + + // Skip EE collisions that are close to parallel + if (edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1) < c_ee.eps_x) { + continue; + } + + FC_ee.emplace_back( + c_ee, c_ee.dof(vertices, edges, faces), normal_potential, + normal_stiffness); + + double ea_mu = + (mus(ea1i) - mus(ea0i)) * FC_ee.back().closest_point[0] + mus(ea0i); + double eb_mu = + (mus(eb1i) - mus(eb0i)) * FC_ee.back().closest_point[1] + mus(eb0i); + FC_ee.back().mu = blend_mu(ea_mu, eb_mu, blend_type); + FC_ee.back().s_mu = -1; + FC_ee.back().k_mu = -1; + } + + FC_fv.reserve(C_fv.size()); + for (const auto& c_fv : C_fv) { + FC_fv.emplace_back( + c_fv, c_fv.dof(vertices, edges, faces), normal_potential, + normal_stiffness); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + + double face_mu = mus(f0i) + + FC_fv.back().closest_point[0] * (mus(f1i) - mus(f0i)) + + FC_fv.back().closest_point[1] * (mus(f2i) - mus(f0i)); + FC_fv.back().mu = blend_mu(face_mu, mus(vi), blend_type); + FC_fv.back().s_mu = -1; + FC_fv.back().k_mu = -1; + } +} + + +void TangentialCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu) +{ + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + clear(); + + auto setFrictionParams = [](auto& collision, double g_mu, double g_s_mu, double g_k_mu) { + collision.mu = g_mu; + collision.s_mu = g_s_mu; + collision.k_mu = g_k_mu; + }; + + const auto& C_vv = collisions.vv_collisions; + const auto& C_ev = collisions.ev_collisions; + const auto& C_ee = collisions.ee_collisions; + const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + FC_vv.reserve(C_vv.size()); + for (const auto& c_vv : C_vv) { + FC_vv.emplace_back( + c_vv, c_vv.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); + } + + FC_ev.reserve(C_ev.size()); + for (const auto& c_ev : C_ev) { + FC_ev.emplace_back( + c_ev, c_ev.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); + } + + FC_ee.reserve(C_ee.size()); + for (const auto& c_ee : C_ee) { + const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); + const Eigen::Vector3d ea0 = vertices.row(ea0i); + const Eigen::Vector3d ea1 = vertices.row(ea1i); + const Eigen::Vector3d eb0 = vertices.row(eb0i); + const Eigen::Vector3d eb1 = vertices.row(eb1i); + + // Skip EE collisions that are close to parallel + if (edge_edge_cross_squarednorm(ea0, ea1, eb0, eb1) < c_ee.eps_x) { + continue; + } + + FC_ee.emplace_back( + c_ee, c_ee.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + + setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); + } + + FC_fv.reserve(C_fv.size()); + for (const auto& c_fv : C_fv) { + FC_fv.emplace_back( + c_fv, c_fv.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + + setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); + } +} + +void TangentialCollisions::build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu, + const std::map, MaterialPairFriction>& material_pair_friction) +{ + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + const std::vector& mat_ids = mesh.mat_ids(); + clear(); + + auto getMaterialFriction = [&](int mat_id1, int mat_id2) -> const MaterialPairFriction* { + auto pair_key = std::make_pair(std::min(mat_id1, mat_id2), std::max(mat_id1, mat_id2)); + return material_pair_friction.count(pair_key) ? &material_pair_friction.at(pair_key) : nullptr; + }; + + auto setFrictionParams = [](auto& collision, double mu, double s_mu, double k_mu) { + collision.mu = mu; + collision.s_mu = s_mu; + collision.k_mu = k_mu; + }; + + const auto& C_vv = collisions.vv_collisions; + const auto& C_ev = collisions.ev_collisions; + const auto& C_ee = collisions.ee_collisions; + const auto& C_fv = collisions.fv_collisions; + auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + FC_vv.reserve(C_vv.size()); + for (const auto& c_vv : C_vv) { + FC_vv.emplace_back( + c_vv, c_vv.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[v0i], mat_ids[v1i]); + if (friction) { + setFrictionParams(FC_vv.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); + } + } + + FC_ev.reserve(C_ev.size()); + for (const auto& c_ev : C_ev) { + FC_ev.emplace_back( + c_ev, c_ev.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[e0i]); + if (friction) { + setFrictionParams(FC_ev.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); + } + } + + FC_ee.reserve(C_ee.size()); + for (const auto& c_ee : C_ee) { + const auto& [ea0i, ea1i, eb0i, eb1i] = c_ee.vertex_ids(edges, faces); + + if (edge_edge_cross_squarednorm(vertices.row(ea0i), vertices.row(ea1i), vertices.row(eb0i), vertices.row(eb1i)) < c_ee.eps_x) { + continue; + } + + FC_ee.emplace_back( + c_ee, c_ee.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[ea0i], mat_ids[eb0i]); + if (friction) { + setFrictionParams(FC_ee.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); + } + } + + FC_fv.reserve(C_fv.size()); + for (const auto& c_fv : C_fv) { + FC_fv.emplace_back( + c_fv, c_fv.dof(vertices, edges, faces), normal_potential, + barrier_stiffness); + const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + + const MaterialPairFriction* friction = getMaterialFriction(mat_ids[vi], mat_ids[f0i]); + if (friction) { + setFrictionParams(FC_fv.back(), mu, friction->s_mu, friction->k_mu); + } else { + setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); + } + } +} + +// ============================================================================ + +size_t TangentialCollisions::size() const +{ + return vv_collisions.size() + ev_collisions.size() + ee_collisions.size() + + fv_collisions.size(); +} + +bool TangentialCollisions::empty() const +{ + return vv_collisions.empty() && ev_collisions.empty() + && ee_collisions.empty() && fv_collisions.empty(); +} + +void TangentialCollisions::clear() +{ + vv_collisions.clear(); + ev_collisions.clear(); + ee_collisions.clear(); + fv_collisions.clear(); +} + +TangentialCollision& TangentialCollisions::operator[](size_t i) +{ + if (i < vv_collisions.size()) { + return vv_collisions[i]; + } + i -= vv_collisions.size(); + if (i < ev_collisions.size()) { + return ev_collisions[i]; + } + i -= ev_collisions.size(); + if (i < ee_collisions.size()) { + return ee_collisions[i]; + } + i -= ee_collisions.size(); + if (i < fv_collisions.size()) { + return fv_collisions[i]; + } + throw std::out_of_range("Friction collision index is out of range!"); +} + +const TangentialCollision& TangentialCollisions::operator[](size_t i) const +{ + if (i < vv_collisions.size()) { + return vv_collisions[i]; + } + i -= vv_collisions.size(); + if (i < ev_collisions.size()) { + return ev_collisions[i]; + } + i -= ev_collisions.size(); + if (i < ee_collisions.size()) { + return ee_collisions[i]; + } + i -= ee_collisions.size(); + if (i < fv_collisions.size()) { + return fv_collisions[i]; + } + throw std::out_of_range("Friction collision index is out of range!"); +} + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collisions.hpp b/src/ipc/collisions/tangential/tangential_collisions.hpp index 1f6028037..65180af9c 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.hpp +++ b/src/ipc/collisions/tangential/tangential_collisions.hpp @@ -1,134 +1,134 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -namespace ipc { - -class TangentialCollisions { -public: - /// @brief The type of the collisions. - using value_type = TangentialCollision; - - /// @brief Blend type enum for selecting the method of blending friction coefficients. - enum class BlendType { - AVG, - MIN, - MAX, - PRODUCT, - HARMONIC_MEAN, - GEOMETRIC_MEAN - }; - - /// @brief The friction coefficients for a pair of materials. - struct MaterialPairFriction { - double s_mu; - double k_mu; - }; - -public: - TangentialCollisions() = default; - - void build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const NormalPotential& normal_potential, - double normal_stiffness, - double mu) - { - this->build( - mesh, vertices, collisions, normal_potential, normal_stiffness, - Eigen::VectorXd::Constant(vertices.rows(), mu)); - } - - void build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const NormalPotential& normal_potential, - const double normal_stiffness, - const Eigen::VectorXd& mus, - const std::function& blend_mu = default_blend_mu, - const BlendType blend_type = BlendType::AVG); - - void build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const NormalPotential& normal_potential, - double barrier_stiffness, - double mu, - double s_mu, - double k_mu); - - void build( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const NormalCollisions& collisions, - const NormalPotential& normal_potential, - double barrier_stiffness, - double mu, - double s_mu, - double k_mu, - const std::map, MaterialPairFriction>& material_pair_friction); - - // ------------------------------------------------------------------------ - - /// @brief Get the number of friction collisions. - size_t size() const; - - /// @brief Get if the friction collisions are empty. - bool empty() const; - - /// @brief Clear the friction collisions. - void clear(); - - /// @brief Get a reference to collision at index i. - TangentialCollision& operator[](const size_t i); - - /// @brief Get a const reference to collision at index i. - const TangentialCollision& operator[](const size_t i) const; - - static double default_blend_mu(double mu0, double mu1, BlendType type) - { - switch (type) { - case BlendType::MIN: - return std::min(mu0, mu1); - case BlendType::MAX: - return std::max(mu0, mu1); - case BlendType::PRODUCT: - return mu0 * mu1; - case BlendType::HARMONIC_MEAN: - return 2 * (mu0 * mu1) / (mu0 + mu1); - case BlendType::GEOMETRIC_MEAN: - return std::sqrt(mu0 * mu1); - case BlendType::AVG: - default: - return (mu0 + mu1) / 2; - } - } - -public: - /// @brief Vertex-vertex tangential collisions. - std::vector vv_collisions; - /// @brief Edge-vertex tangential collisions. - std::vector ev_collisions; - /// @brief Edge-edge tangential collisions. - std::vector ee_collisions; - /// @brief Face-vertex tangential collisions. - std::vector fv_collisions; -}; - -} // namespace ipc +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace ipc { + +class TangentialCollisions { +public: + /// @brief The type of the collisions. + using value_type = TangentialCollision; + + /// @brief Blend type enum for selecting the method of blending friction coefficients. + enum class BlendType { + AVG, + MIN, + MAX, + PRODUCT, + HARMONIC_MEAN, + GEOMETRIC_MEAN + }; + + /// @brief The friction coefficients for a pair of materials. + struct MaterialPairFriction { + double s_mu; + double k_mu; + }; + +public: + TangentialCollisions() = default; + + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + double normal_stiffness, + double mu) + { + this->build( + mesh, vertices, collisions, normal_potential, normal_stiffness, + Eigen::VectorXd::Constant(vertices.rows(), mu)); + } + + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + const double normal_stiffness, + const Eigen::VectorXd& mus, + const std::function& blend_mu = default_blend_mu, + const BlendType blend_type = BlendType::AVG); + + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu); + + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu, + const std::map, MaterialPairFriction>& material_pair_friction); + + // ------------------------------------------------------------------------ + + /// @brief Get the number of friction collisions. + size_t size() const; + + /// @brief Get if the friction collisions are empty. + bool empty() const; + + /// @brief Clear the friction collisions. + void clear(); + + /// @brief Get a reference to collision at index i. + TangentialCollision& operator[](const size_t i); + + /// @brief Get a const reference to collision at index i. + const TangentialCollision& operator[](const size_t i) const; + + static double default_blend_mu(double mu0, double mu1, BlendType type) + { + switch (type) { + case BlendType::MIN: + return std::min(mu0, mu1); + case BlendType::MAX: + return std::max(mu0, mu1); + case BlendType::PRODUCT: + return mu0 * mu1; + case BlendType::HARMONIC_MEAN: + return 2 * (mu0 * mu1) / (mu0 + mu1); + case BlendType::GEOMETRIC_MEAN: + return std::sqrt(mu0 * mu1); + case BlendType::AVG: + default: + return (mu0 + mu1) / 2; + } + } + +public: + /// @brief Vertex-vertex tangential collisions. + std::vector vv_collisions; + /// @brief Edge-vertex tangential collisions. + std::vector ev_collisions; + /// @brief Edge-edge tangential collisions. + std::vector ee_collisions; + /// @brief Face-vertex tangential collisions. + std::vector fv_collisions; +}; + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/vertex_vertex.cpp b/src/ipc/collisions/tangential/vertex_vertex.cpp index cd6da0328..90ac13572 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.cpp +++ b/src/ipc/collisions/tangential/vertex_vertex.cpp @@ -1,93 +1,93 @@ -#include "vertex_vertex.hpp" - -#include -#include -#include -#include - -namespace ipc { - -VertexVertexTangentialCollision::VertexVertexTangentialCollision( - const VertexVertexNormalCollision& collision) - : VertexVertexCandidate(collision.vertex0_id, collision.vertex1_id) -{ - this->weight = collision.weight; - this->weight_gradient = collision.weight_gradient; -} - -VertexVertexTangentialCollision::VertexVertexTangentialCollision( - const VertexVertexNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness) - : VertexVertexTangentialCollision(collision) -{ - TangentialCollision::init( - collision, positions, normal_potential, normal_stiffness); -} - -// ============================================================================ - -MatrixMax VertexVertexTangentialCollision::compute_tangent_basis( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_point_tangent_basis( - positions.head(dim()), positions.tail(dim())); -} - -MatrixMax -VertexVertexTangentialCollision::compute_tangent_basis_jacobian( - const VectorMax12d& positions) const -{ - assert(positions.size() == ndof()); - return point_point_tangent_basis_jacobian( - positions.head(dim()), positions.tail(dim())); -} - -// ============================================================================ - -VectorMax2d VertexVertexTangentialCollision::compute_closest_point( - const VectorMax12d& positions) const -{ - return VectorMax2d(); -} - -MatrixMax -VertexVertexTangentialCollision::compute_closest_point_jacobian( - const VectorMax12d& positions) const -{ - return MatrixMax(); -} - -// ============================================================================ - -VectorMax3d VertexVertexTangentialCollision::relative_velocity( - const VectorMax12d& velocities) const -{ - assert(velocities.size() == ndof()); - return point_point_relative_velocity( - velocities.head(dim()), velocities.tail(dim())); -} - -MatrixMax -VertexVertexTangentialCollision::relative_velocity_matrix( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 0); - return point_point_relative_velocity_matrix(dim()); -} - -MatrixMax -VertexVertexTangentialCollision::relative_velocity_matrix_jacobian( - const VectorMax2d& _closest_point) const -{ - assert(_closest_point.size() == 0); - return point_point_relative_velocity_matrix_jacobian(dim()); -} - -std::pair VertexVertexTangentialCollision::material_pair_ids() const { - return this->m_pair_ids; -} - -} // namespace ipc +#include "vertex_vertex.hpp" + +#include +#include +#include +#include + +namespace ipc { + +VertexVertexTangentialCollision::VertexVertexTangentialCollision( + const VertexVertexNormalCollision& collision) + : VertexVertexCandidate(collision.vertex0_id, collision.vertex1_id) +{ + this->weight = collision.weight; + this->weight_gradient = collision.weight_gradient; +} + +VertexVertexTangentialCollision::VertexVertexTangentialCollision( + const VertexVertexNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness) + : VertexVertexTangentialCollision(collision) +{ + TangentialCollision::init( + collision, positions, normal_potential, normal_stiffness); +} + +// ============================================================================ + +MatrixMax VertexVertexTangentialCollision::compute_tangent_basis( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_point_tangent_basis( + positions.head(dim()), positions.tail(dim())); +} + +MatrixMax +VertexVertexTangentialCollision::compute_tangent_basis_jacobian( + const VectorMax12d& positions) const +{ + assert(positions.size() == ndof()); + return point_point_tangent_basis_jacobian( + positions.head(dim()), positions.tail(dim())); +} + +// ============================================================================ + +VectorMax2d VertexVertexTangentialCollision::compute_closest_point( + const VectorMax12d& positions) const +{ + return VectorMax2d(); +} + +MatrixMax +VertexVertexTangentialCollision::compute_closest_point_jacobian( + const VectorMax12d& positions) const +{ + return MatrixMax(); +} + +// ============================================================================ + +VectorMax3d VertexVertexTangentialCollision::relative_velocity( + const VectorMax12d& velocities) const +{ + assert(velocities.size() == ndof()); + return point_point_relative_velocity( + velocities.head(dim()), velocities.tail(dim())); +} + +MatrixMax +VertexVertexTangentialCollision::relative_velocity_matrix( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 0); + return point_point_relative_velocity_matrix(dim()); +} + +MatrixMax +VertexVertexTangentialCollision::relative_velocity_matrix_jacobian( + const VectorMax2d& _closest_point) const +{ + assert(_closest_point.size() == 0); + return point_point_relative_velocity_matrix_jacobian(dim()); +} + +std::pair VertexVertexTangentialCollision::material_pair_ids() const { + return this->m_pair_ids; +} + +} // namespace ipc diff --git a/src/ipc/collisions/tangential/vertex_vertex.hpp b/src/ipc/collisions/tangential/vertex_vertex.hpp index 7e86c9f32..04ac943fb 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.hpp +++ b/src/ipc/collisions/tangential/vertex_vertex.hpp @@ -1,50 +1,50 @@ -#pragma once - -#include -#include -#include - -namespace ipc { - -class VertexVertexTangentialCollision : public VertexVertexCandidate, - public TangentialCollision { -public: - using VertexVertexCandidate::VertexVertexCandidate; - - VertexVertexTangentialCollision( - const VertexVertexNormalCollision& collision); - - VertexVertexTangentialCollision( - const VertexVertexNormalCollision& collision, - const VectorMax12d& positions, - const NormalPotential& normal_potential, - const double normal_stiffness); - -protected: - MatrixMax - compute_tangent_basis(const VectorMax12d& positions) const override; - - MatrixMax compute_tangent_basis_jacobian( - const VectorMax12d& positions) const override; - - VectorMax2d - compute_closest_point(const VectorMax12d& positions) const override; - - MatrixMax compute_closest_point_jacobian( - const VectorMax12d& positions) const override; - - VectorMax3d - relative_velocity(const VectorMax12d& velocities) const override; - - using TangentialCollision::relative_velocity_matrix; - - MatrixMax - relative_velocity_matrix(const VectorMax2d& closest_point) const override; - - MatrixMax relative_velocity_matrix_jacobian( - const VectorMax2d& closest_point) const override; - - std::pair material_pair_ids() const override; -}; - -} // namespace ipc +#pragma once + +#include +#include +#include + +namespace ipc { + +class VertexVertexTangentialCollision : public VertexVertexCandidate, + public TangentialCollision { +public: + using VertexVertexCandidate::VertexVertexCandidate; + + VertexVertexTangentialCollision( + const VertexVertexNormalCollision& collision); + + VertexVertexTangentialCollision( + const VertexVertexNormalCollision& collision, + const VectorMax12d& positions, + const NormalPotential& normal_potential, + const double normal_stiffness); + +protected: + MatrixMax + compute_tangent_basis(const VectorMax12d& positions) const override; + + MatrixMax compute_tangent_basis_jacobian( + const VectorMax12d& positions) const override; + + VectorMax2d + compute_closest_point(const VectorMax12d& positions) const override; + + MatrixMax compute_closest_point_jacobian( + const VectorMax12d& positions) const override; + + VectorMax3d + relative_velocity(const VectorMax12d& velocities) const override; + + using TangentialCollision::relative_velocity_matrix; + + MatrixMax + relative_velocity_matrix(const VectorMax2d& closest_point) const override; + + MatrixMax relative_velocity_matrix_jacobian( + const VectorMax2d& closest_point) const override; + + std::pair material_pair_ids() const override; +}; + +} // namespace ipc diff --git a/src/ipc/friction/smooth_friction_mollifier.cpp b/src/ipc/friction/smooth_friction_mollifier.cpp index a1d2fcbc1..b3517d3b1 100644 --- a/src/ipc/friction/smooth_friction_mollifier.cpp +++ b/src/ipc/friction/smooth_friction_mollifier.cpp @@ -1,116 +1,116 @@ -// smooth_friction_mollifier.cpp - -#include "smooth_friction_mollifier.hpp" - -#include -#include - -namespace ipc { - -double smooth_friction_f0(const double y, const double eps_v) -{ - assert(eps_v > 0); - if (std::abs(y) >= eps_v) { - return y; - } - return y * y * (1 - y / (3 * eps_v)) / eps_v + eps_v / 3; -} - -double smooth_friction_f1(const double y, const double eps_v) -{ - assert(eps_v > 0); - if (std::abs(y) >= eps_v) { - return 1; - } - return y * (2 - y / eps_v) / eps_v; -} - -double smooth_friction_f2(const double y, const double eps_v) -{ - assert(eps_v > 0); - if (std::abs(y) >= eps_v) { - return 0; - } - return (2 - 2 * y / eps_v) / eps_v; -} - -double smooth_friction_f1_over_x(const double y, const double eps_v) -{ - assert(eps_v > 0); - if (std::abs(y) >= eps_v) { - return 1 / y; - } - return (2 - y / eps_v) / eps_v; -} - -double smooth_friction_f2_x_minus_f1_over_x3(const double y, const double eps_v) -{ - assert(eps_v > 0); - if (std::abs(y) >= eps_v) { - return -1 / (y * y * y); - } - return -1 / (y * eps_v * eps_v); -} - -double smooth_friction_mus(const double y, const double eps_v, const double mu_s, const double mu_k) -{ - assert(eps_v > 0); - assert(mu_s > 0); - assert(mu_k > 0); - - double abs_y = std::abs(y); - - if (abs_y >= eps_v) { - return mu_k; - } - - double normalized_y = abs_y / eps_v; - // Cubic Hermite polynomial for smooth transition between mu_s and mu_k - double transition = 3.0 * std::pow(normalized_y, 2) - 2.0 * std::pow(normalized_y, 3); - return (mu_k - mu_s) * transition + mu_s; -} - -double smooth_friction_f0_mus(const double y, const double eps_v, const double mu_s, const double mu_k) -{ - double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); - double f0 = smooth_friction_f0(y, eps_v); - return mu * f0; -} - -double smooth_friction_f1_mus(const double y, const double eps_v, const double mu_s, const double mu_k) -{ - double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); - double f1 = smooth_friction_f1(y, eps_v); - return mu * f1; -} - -double smooth_friction_f2_mus(const double y, const double eps_v, const double mu_s, const double mu_k) -{ - double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); - double f2 = smooth_friction_f2(y, eps_v); - return mu * f2; -} - -double smooth_friction_f1_over_x_mus(const double y, const double eps_v, const double mu_s, const double mu_k) -{ - if (y == 0.0) { - return smooth_friction_mus(y, eps_v, mu_s, mu_k) * (2.0 / eps_v); - } - - double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); - double f1_over_x = smooth_friction_f1_over_x(y, eps_v); - return mu * f1_over_x; -} - -double smooth_friction_f2_x_minus_f1_over_x3_mus(const double y, const double eps_v, const double mu_s, const double mu_k) -{ - if (y == 0.0) { - return smooth_friction_mus(y, eps_v, mu_s, mu_k) * (-1.0 / (eps_v * eps_v)); - } - - double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); - double f2_x_minus_f1_over_x3 = smooth_friction_f2_x_minus_f1_over_x3(y, eps_v); - return mu * f2_x_minus_f1_over_x3; -} - -} // namespace ipc +// smooth_friction_mollifier.cpp + +#include "smooth_friction_mollifier.hpp" + +#include +#include + +namespace ipc { + +double smooth_friction_f0(const double y, const double eps_v) +{ + assert(eps_v > 0); + if (std::abs(y) >= eps_v) { + return y; + } + return y * y * (1 - y / (3 * eps_v)) / eps_v + eps_v / 3; +} + +double smooth_friction_f1(const double y, const double eps_v) +{ + assert(eps_v > 0); + if (std::abs(y) >= eps_v) { + return 1; + } + return y * (2 - y / eps_v) / eps_v; +} + +double smooth_friction_f2(const double y, const double eps_v) +{ + assert(eps_v > 0); + if (std::abs(y) >= eps_v) { + return 0; + } + return (2 - 2 * y / eps_v) / eps_v; +} + +double smooth_friction_f1_over_x(const double y, const double eps_v) +{ + assert(eps_v > 0); + if (std::abs(y) >= eps_v) { + return 1 / y; + } + return (2 - y / eps_v) / eps_v; +} + +double smooth_friction_f2_x_minus_f1_over_x3(const double y, const double eps_v) +{ + assert(eps_v > 0); + if (std::abs(y) >= eps_v) { + return -1 / (y * y * y); + } + return -1 / (y * eps_v * eps_v); +} + +double smooth_friction_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + assert(eps_v > 0); + assert(mu_s > 0); + assert(mu_k > 0); + + double abs_y = std::abs(y); + + if (abs_y >= eps_v) { + return mu_k; + } + + double normalized_y = abs_y / eps_v; + // Cubic Hermite polynomial for smooth transition between mu_s and mu_k + double transition = 3.0 * std::pow(normalized_y, 2) - 2.0 * std::pow(normalized_y, 3); + return (mu_k - mu_s) * transition + mu_s; +} + +double smooth_friction_f0_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f0 = smooth_friction_f0(y, eps_v); + return mu * f0; +} + +double smooth_friction_f1_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f1 = smooth_friction_f1(y, eps_v); + return mu * f1; +} + +double smooth_friction_f2_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f2 = smooth_friction_f2(y, eps_v); + return mu * f2; +} + +double smooth_friction_f1_over_x_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + if (y == 0.0) { + return smooth_friction_mus(y, eps_v, mu_s, mu_k) * (2.0 / eps_v); + } + + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f1_over_x = smooth_friction_f1_over_x(y, eps_v); + return mu * f1_over_x; +} + +double smooth_friction_f2_x_minus_f1_over_x3_mus(const double y, const double eps_v, const double mu_s, const double mu_k) +{ + if (y == 0.0) { + return smooth_friction_mus(y, eps_v, mu_s, mu_k) * (-1.0 / (eps_v * eps_v)); + } + + double mu = smooth_friction_mus(y, eps_v, mu_s, mu_k); + double f2_x_minus_f1_over_x3 = smooth_friction_f2_x_minus_f1_over_x3(y, eps_v); + return mu * f2_x_minus_f1_over_x3; +} + +} // namespace ipc diff --git a/src/ipc/friction/smooth_friction_mollifier.hpp b/src/ipc/friction/smooth_friction_mollifier.hpp index 1e1408c64..8c8b868ca 100644 --- a/src/ipc/friction/smooth_friction_mollifier.hpp +++ b/src/ipc/friction/smooth_friction_mollifier.hpp @@ -1,143 +1,143 @@ -#pragma once - -namespace ipc { - -/// @brief Smooth friction mollifier function. -/// -/// \f\[ -/// f_0(y)= \begin{cases} -/// -\frac{y^3}{3\epsilon_v^2} + \frac{y^2}{\epsilon_v} -/// + \frac{\epsilon_v}{3}, & |y| < \epsilon_v -/// \newline -/// y, & |y| \geq \epsilon_v -/// \end{cases} -/// \f\] -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @return The value of the mollifier function at y. -double smooth_friction_f0(const double y, const double eps_v); - -/// @brief The first derivative of the smooth friction mollifier. -/// -/// \f\[ -/// f_1(y) = f_0'(y) = \begin{cases} -/// -\frac{y^2}{\epsilon_v^2}+\frac{2 y}{\epsilon_v}, & |y| < \epsilon_v -/// \newline 1, & |y| \geq \epsilon_v -/// \end{cases} -/// \f\] -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @return The value of the derivative of the smooth friction mollifier at y. -double smooth_friction_f1(const double y, const double eps_v); - -/// @brief The second derivative of the smooth friction mollifier. -/// -/// \f\[ -/// f_2(y) = f_0''(y) = \begin{cases} -/// -\frac{2 y}{\epsilon_v^2}+\frac{2}{\epsilon_v}, & |y| < \epsilon_v -/// \newline 0, & |y| \geq \epsilon_v -/// \end{cases} -/// \f\] -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @return The value of the second derivative of the smooth friction mollifier at y. -double smooth_friction_f2(const double y, const double eps_v); - -/// @brief Compute the derivative of the smooth friction mollifier divided by y (\f$\frac{f_0'(y)}{y}\f$). -/// -/// \f\[ -/// \frac{f_1(y)}{y} = \begin{cases} -/// -\frac{y}{\epsilon_v^2}+\frac{2}{\epsilon_v}, & |y| < \epsilon_v -/// \newline \frac{1}{y}, & |y| \geq \epsilon_v -/// \end{cases} -/// \f\] -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @return The value of the derivative of smooth_friction_f0 divided by y. -double smooth_friction_f1_over_x(const double y, const double eps_v); - -/// @brief The derivative of f1 times y minus f1 all divided by y cubed. -/// -/// \f\[ -/// \frac{f_1'(y) y - f_1(y)}{y^3} = \begin{cases} -/// -\frac{1}{y \epsilon_v^2}, & |y| < \epsilon_v \newline -/// -\frac{1}{y^3}, & |y| \geq \epsilon_v -/// \end{cases} -/// \f\] -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @return The derivative of f1 times y minus f1 all divided by y cubed. -double -smooth_friction_f2_x_minus_f1_over_x3(const double y, const double eps_v); - -/// @brief Smooth transition of friction coefficient \(\mu(y)\) from static \(\mu_s\) to kinetic \(\mu_k\). -/// -/// \f\[ -/// \mu(y) = \begin{cases} -/// \mu_k, & |y| \geq \epsilon_v \ -/// \newline -/// (\mu_k - \mu_s)(3 \left(\frac{|y|}{\epsilon_v}\right)^2 - 2 \left(\frac{|y|}{\epsilon_v}\right)^3) + \mu_s, & |y| < \epsilon_v -/// \end{cases} -/// \f\] -/// -/// This function ensures a smooth and differentiable transition between static and kinetic friction coefficients. -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction is applied. -/// @param mu_s Static friction coefficient. -/// @param mu_k Kinetic friction coefficient. -/// @return The value of the smooth friction coefficient \(\mu(y)\) at y. -double smooth_friction_mus(const double y, const double eps_v, const double mu_s, const double mu_k); - -/// @brief Computes \(\mu(y) \cdot f_0(y)\). -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @param mu_s Static friction coefficient. -/// @param mu_k Kinetic friction coefficient. -/// @return The value of \(\mu(y) \cdot f_0(y)\) at y. -double smooth_friction_f0_mus(const double y, const double eps_v, const double mu_s, const double mu_k); - -/// @brief Computes \(\mu(y) \cdot f_1(y)\). -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @param mu_s Static friction coefficient. -/// @param mu_k Kinetic friction coefficient. -/// @return The value of \(\mu(y) \cdot f_1(y)\) at y. -double smooth_friction_f1_mus(const double y, const double eps_v, const double mu_s, const double mu_k); - -/// @brief Computes \(\mu(y) \cdot f_2(y)\). -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @param mu_s Static friction coefficient. -/// @param mu_k Kinetic friction coefficient. -/// @return The value of \(\mu(y) \cdot f_2(y)\) at y. -double smooth_friction_f2_mus(const double y, const double eps_v, const double mu_s, const double mu_k); - -/// @brief Computes \(\mu(y) \cdot \frac{f_1(y)}{y}\) with handling for \(y = 0\). -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @param mu_s Static friction coefficient. -/// @param mu_k Kinetic friction coefficient. -/// @return The value of \(\mu(y) \cdot \frac{f_1(y)}{y}\) at y. -double smooth_friction_f1_over_x_mus(const double y, const double eps_v, const double mu_s, const double mu_k); - -/// @brief Computes \(\mu(y) \cdot \frac{f_2(y) \cdot y - f_1(y)}{y^3}\) with handling for \(y = 0\). -/// -/// @param y The tangential relative speed. -/// @param eps_v Velocity threshold below which static friction force is applied. -/// @param mu_s Static friction coefficient. -/// @param mu_k Kinetic friction coefficient. -/// @return The value of \(\mu(y) \cdot \frac{f_2(y) \cdot y - f_1(y)}{y^3}\) at y. -double smooth_friction_f2_x_minus_f1_over_x3_mus(const double y, const double eps_v, const double mu_s, const double mu_k); - - -} // namespace ipc +#pragma once + +namespace ipc { + +/// @brief Smooth friction mollifier function. +/// +/// \f\[ +/// f_0(y)= \begin{cases} +/// -\frac{y^3}{3\epsilon_v^2} + \frac{y^2}{\epsilon_v} +/// + \frac{\epsilon_v}{3}, & |y| < \epsilon_v +/// \newline +/// y, & |y| \geq \epsilon_v +/// \end{cases} +/// \f\] +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @return The value of the mollifier function at y. +double smooth_friction_f0(const double y, const double eps_v); + +/// @brief The first derivative of the smooth friction mollifier. +/// +/// \f\[ +/// f_1(y) = f_0'(y) = \begin{cases} +/// -\frac{y^2}{\epsilon_v^2}+\frac{2 y}{\epsilon_v}, & |y| < \epsilon_v +/// \newline 1, & |y| \geq \epsilon_v +/// \end{cases} +/// \f\] +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @return The value of the derivative of the smooth friction mollifier at y. +double smooth_friction_f1(const double y, const double eps_v); + +/// @brief The second derivative of the smooth friction mollifier. +/// +/// \f\[ +/// f_2(y) = f_0''(y) = \begin{cases} +/// -\frac{2 y}{\epsilon_v^2}+\frac{2}{\epsilon_v}, & |y| < \epsilon_v +/// \newline 0, & |y| \geq \epsilon_v +/// \end{cases} +/// \f\] +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @return The value of the second derivative of the smooth friction mollifier at y. +double smooth_friction_f2(const double y, const double eps_v); + +/// @brief Compute the derivative of the smooth friction mollifier divided by y (\f$\frac{f_0'(y)}{y}\f$). +/// +/// \f\[ +/// \frac{f_1(y)}{y} = \begin{cases} +/// -\frac{y}{\epsilon_v^2}+\frac{2}{\epsilon_v}, & |y| < \epsilon_v +/// \newline \frac{1}{y}, & |y| \geq \epsilon_v +/// \end{cases} +/// \f\] +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @return The value of the derivative of smooth_friction_f0 divided by y. +double smooth_friction_f1_over_x(const double y, const double eps_v); + +/// @brief The derivative of f1 times y minus f1 all divided by y cubed. +/// +/// \f\[ +/// \frac{f_1'(y) y - f_1(y)}{y^3} = \begin{cases} +/// -\frac{1}{y \epsilon_v^2}, & |y| < \epsilon_v \newline +/// -\frac{1}{y^3}, & |y| \geq \epsilon_v +/// \end{cases} +/// \f\] +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @return The derivative of f1 times y minus f1 all divided by y cubed. +double +smooth_friction_f2_x_minus_f1_over_x3(const double y, const double eps_v); + +/// @brief Smooth transition of friction coefficient \(\mu(y)\) from static \(\mu_s\) to kinetic \(\mu_k\). +/// +/// \f\[ +/// \mu(y) = \begin{cases} +/// \mu_k, & |y| \geq \epsilon_v \ +/// \newline +/// (\mu_k - \mu_s)(3 \left(\frac{|y|}{\epsilon_v}\right)^2 - 2 \left(\frac{|y|}{\epsilon_v}\right)^3) + \mu_s, & |y| < \epsilon_v +/// \end{cases} +/// \f\] +/// +/// This function ensures a smooth and differentiable transition between static and kinetic friction coefficients. +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of the smooth friction coefficient \(\mu(y)\) at y. +double smooth_friction_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot f_0(y)\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot f_0(y)\) at y. +double smooth_friction_f0_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot f_1(y)\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot f_1(y)\) at y. +double smooth_friction_f1_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot f_2(y)\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot f_2(y)\) at y. +double smooth_friction_f2_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot \frac{f_1(y)}{y}\) with handling for \(y = 0\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot \frac{f_1(y)}{y}\) at y. +double smooth_friction_f1_over_x_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + +/// @brief Computes \(\mu(y) \cdot \frac{f_2(y) \cdot y - f_1(y)}{y^3}\) with handling for \(y = 0\). +/// +/// @param y The tangential relative speed. +/// @param eps_v Velocity threshold below which static friction force is applied. +/// @param mu_s Static friction coefficient. +/// @param mu_k Kinetic friction coefficient. +/// @return The value of \(\mu(y) \cdot \frac{f_2(y) \cdot y - f_1(y)}{y^3}\) at y. +double smooth_friction_f2_x_minus_f1_over_x3_mus(const double y, const double eps_v, const double mu_s, const double mu_k); + + +} // namespace ipc diff --git a/src/ipc/ipc.cpp b/src/ipc/ipc.cpp index f0c4d553b..fea8b04aa 100644 --- a/src/ipc/ipc.cpp +++ b/src/ipc/ipc.cpp @@ -1,145 +1,145 @@ -#include "ipc.hpp" - -#include -#include -#include -#include - -#ifdef IPC_TOOLKIT_WITH_CUDA -#include -#endif - -#include - -namespace ipc { - -bool is_step_collision_free( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double min_distance, - const BroadPhaseMethod broad_phase_method, - const NarrowPhaseCCD& narrow_phase_ccd) -{ - assert(vertices_t0.rows() == mesh.num_vertices()); - assert(vertices_t1.rows() == mesh.num_vertices()); - - // Broad phase - Candidates candidates; - candidates.build( - mesh, vertices_t0, vertices_t1, - /*inflation_radius=*/0.5 * min_distance, broad_phase_method); - - // Narrow phase - return candidates.is_step_collision_free( - mesh, vertices_t0, vertices_t1, min_distance, narrow_phase_ccd); -} - -// ============================================================================ - -double compute_collision_free_stepsize( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices_t0, - const Eigen::MatrixXd& vertices_t1, - const double min_distance, - const BroadPhaseMethod broad_phase_method, - const NarrowPhaseCCD& narrow_phase_ccd) -{ - assert(vertices_t0.rows() == mesh.num_vertices()); - assert(vertices_t1.rows() == mesh.num_vertices()); - - if (broad_phase_method == BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE) { -#ifdef IPC_TOOLKIT_WITH_CUDA - if (vertices_t0.cols() != 3) { - throw std::runtime_error( - "Sweep and Tiniest Queue is only supported in 3D!"); - } - // TODO: Use correct min_distance - // TODO: Expose tolerance and max_iterations - constexpr double tolerance = TightInclusionCCD::DEFAULT_TOLERANCE; - constexpr long max_iterations = - TightInclusionCCD::DEFAULT_MAX_ITERATIONS; - const double step_size = scalable_ccd::cuda::ipc_ccd_strategy( - vertices_t0, vertices_t1, mesh.edges(), mesh.faces(), - /*min_distance=*/0.0, max_iterations, tolerance); - if (step_size < 1.0) { - return 0.8 * step_size; - } - return 1.0; -#else - throw std::runtime_error( - "GPU Sweep and Tiniest Queue is disabled because CUDA is disabled!"); -#endif - } - - // Broad phase - Candidates candidates; - candidates.build( - mesh, vertices_t0, vertices_t1, /*inflation_radius=*/0.5 * min_distance, - broad_phase_method); - - // Narrow phase - return candidates.compute_collision_free_stepsize( - mesh, vertices_t0, vertices_t1, min_distance, narrow_phase_ccd); -} - -// ============================================================================ - -bool has_intersections( - const CollisionMesh& mesh, - const Eigen::MatrixXd& vertices, - const BroadPhaseMethod broad_phase_method) -{ - assert(vertices.rows() == mesh.num_vertices()); - - const double conservative_inflation_radius = - 1e-6 * world_bbox_diagonal_length(vertices); - - std::shared_ptr broad_phase = - BroadPhase::make_broad_phase(broad_phase_method); - broad_phase->can_vertices_collide = mesh.can_collide; - - broad_phase->build( - vertices, mesh.edges(), mesh.faces(), conservative_inflation_radius); - - if (vertices.cols() == 2) { - // Need to check segment-segment intersections in 2D - std::vector ee_candidates; - - broad_phase->detect_edge_edge_candidates(ee_candidates); - broad_phase->clear(); - - // narrow-phase using igl - igl::predicates::exactinit(); - for (const auto& [ea_id, eb_id, mat_pair] : ee_candidates) { - if (igl::predicates::segment_segment_intersect( - vertices.row(mesh.edges()(ea_id, 0)).head<2>(), - vertices.row(mesh.edges()(ea_id, 1)).head<2>(), - vertices.row(mesh.edges()(eb_id, 0)).head<2>(), - vertices.row(mesh.edges()(eb_id, 1)).head<2>())) { - return true; - } - } - } else { - // Need to check segment-triangle intersections in 3D - assert(vertices.cols() == 3); - - std::vector ef_candidates; - broad_phase->detect_edge_face_candidates(ef_candidates); - broad_phase->clear(); - - for (const auto& [e_id, f_id, mat_pair] : ef_candidates) { - if (is_edge_intersecting_triangle( - vertices.row(mesh.edges()(e_id, 0)), - vertices.row(mesh.edges()(e_id, 1)), - vertices.row(mesh.faces()(f_id, 0)), - vertices.row(mesh.faces()(f_id, 1)), - vertices.row(mesh.faces()(f_id, 2)))) { - return true; - } - } - } - - return false; -} -} // namespace ipc +#include "ipc.hpp" + +#include +#include +#include +#include + +#ifdef IPC_TOOLKIT_WITH_CUDA +#include +#endif + +#include + +namespace ipc { + +bool is_step_collision_free( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double min_distance, + const BroadPhaseMethod broad_phase_method, + const NarrowPhaseCCD& narrow_phase_ccd) +{ + assert(vertices_t0.rows() == mesh.num_vertices()); + assert(vertices_t1.rows() == mesh.num_vertices()); + + // Broad phase + Candidates candidates; + candidates.build( + mesh, vertices_t0, vertices_t1, + /*inflation_radius=*/0.5 * min_distance, broad_phase_method); + + // Narrow phase + return candidates.is_step_collision_free( + mesh, vertices_t0, vertices_t1, min_distance, narrow_phase_ccd); +} + +// ============================================================================ + +double compute_collision_free_stepsize( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices_t0, + const Eigen::MatrixXd& vertices_t1, + const double min_distance, + const BroadPhaseMethod broad_phase_method, + const NarrowPhaseCCD& narrow_phase_ccd) +{ + assert(vertices_t0.rows() == mesh.num_vertices()); + assert(vertices_t1.rows() == mesh.num_vertices()); + + if (broad_phase_method == BroadPhaseMethod::SWEEP_AND_TINIEST_QUEUE) { +#ifdef IPC_TOOLKIT_WITH_CUDA + if (vertices_t0.cols() != 3) { + throw std::runtime_error( + "Sweep and Tiniest Queue is only supported in 3D!"); + } + // TODO: Use correct min_distance + // TODO: Expose tolerance and max_iterations + constexpr double tolerance = TightInclusionCCD::DEFAULT_TOLERANCE; + constexpr long max_iterations = + TightInclusionCCD::DEFAULT_MAX_ITERATIONS; + const double step_size = scalable_ccd::cuda::ipc_ccd_strategy( + vertices_t0, vertices_t1, mesh.edges(), mesh.faces(), + /*min_distance=*/0.0, max_iterations, tolerance); + if (step_size < 1.0) { + return 0.8 * step_size; + } + return 1.0; +#else + throw std::runtime_error( + "GPU Sweep and Tiniest Queue is disabled because CUDA is disabled!"); +#endif + } + + // Broad phase + Candidates candidates; + candidates.build( + mesh, vertices_t0, vertices_t1, /*inflation_radius=*/0.5 * min_distance, + broad_phase_method); + + // Narrow phase + return candidates.compute_collision_free_stepsize( + mesh, vertices_t0, vertices_t1, min_distance, narrow_phase_ccd); +} + +// ============================================================================ + +bool has_intersections( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const BroadPhaseMethod broad_phase_method) +{ + assert(vertices.rows() == mesh.num_vertices()); + + const double conservative_inflation_radius = + 1e-6 * world_bbox_diagonal_length(vertices); + + std::shared_ptr broad_phase = + BroadPhase::make_broad_phase(broad_phase_method); + broad_phase->can_vertices_collide = mesh.can_collide; + + broad_phase->build( + vertices, mesh.edges(), mesh.faces(), conservative_inflation_radius); + + if (vertices.cols() == 2) { + // Need to check segment-segment intersections in 2D + std::vector ee_candidates; + + broad_phase->detect_edge_edge_candidates(ee_candidates); + broad_phase->clear(); + + // narrow-phase using igl + igl::predicates::exactinit(); + for (const auto& [ea_id, eb_id, mat_pair] : ee_candidates) { + if (igl::predicates::segment_segment_intersect( + vertices.row(mesh.edges()(ea_id, 0)).head<2>(), + vertices.row(mesh.edges()(ea_id, 1)).head<2>(), + vertices.row(mesh.edges()(eb_id, 0)).head<2>(), + vertices.row(mesh.edges()(eb_id, 1)).head<2>())) { + return true; + } + } + } else { + // Need to check segment-triangle intersections in 3D + assert(vertices.cols() == 3); + + std::vector ef_candidates; + broad_phase->detect_edge_face_candidates(ef_candidates); + broad_phase->clear(); + + for (const auto& [e_id, f_id, mat_pair] : ef_candidates) { + if (is_edge_intersecting_triangle( + vertices.row(mesh.edges()(e_id, 0)), + vertices.row(mesh.edges()(e_id, 1)), + vertices.row(mesh.faces()(f_id, 0)), + vertices.row(mesh.faces()(f_id, 1)), + vertices.row(mesh.faces()(f_id, 2)))) { + return true; + } + } + } + + return false; +} +} // namespace ipc diff --git a/src/ipc/potentials/friction_potential.cpp b/src/ipc/potentials/friction_potential.cpp index 43b1ac4aa..ffee4ce29 100644 --- a/src/ipc/potentials/friction_potential.cpp +++ b/src/ipc/potentials/friction_potential.cpp @@ -1,43 +1,43 @@ -#include "friction_potential.hpp" - -namespace ipc { - -FrictionPotential::FrictionPotential(const double eps_v) : Super() -{ - set_eps_v(eps_v); -} - -double FrictionPotential::f0(const double x) const -{ - return smooth_friction_f0(x, eps_v()); -} - -double FrictionPotential::f1_over_x(const double x) const -{ - return smooth_friction_f1_over_x(x, eps_v()); -} - -double FrictionPotential::f2_x_minus_f1_over_x3(const double x) const -{ - return smooth_friction_f2_x_minus_f1_over_x3(x, eps_v()); -} - -double FrictionPotential::f0_mus(const double x, const double mu_s, const double mu_k) const -{ - return smooth_friction_mus(x, eps_v(), mu_s, mu_k); - -} - -double FrictionPotential::f1_over_x_mus(const double x, const double mu_s, const double mu_k) const -{ - return smooth_friction_f1_over_x_mus(x, eps_v(), mu_s, mu_k); - -} - -double FrictionPotential::f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const -{ - return smooth_friction_f2_x_minus_f1_over_x3_mus(x, eps_v(), mu_s, mu_k); - -} - +#include "friction_potential.hpp" + +namespace ipc { + +FrictionPotential::FrictionPotential(const double eps_v) : Super() +{ + set_eps_v(eps_v); +} + +double FrictionPotential::f0(const double x) const +{ + return smooth_friction_f0(x, eps_v()); +} + +double FrictionPotential::f1_over_x(const double x) const +{ + return smooth_friction_f1_over_x(x, eps_v()); +} + +double FrictionPotential::f2_x_minus_f1_over_x3(const double x) const +{ + return smooth_friction_f2_x_minus_f1_over_x3(x, eps_v()); +} + +double FrictionPotential::f0_mus(const double x, const double mu_s, const double mu_k) const +{ + return smooth_friction_mus(x, eps_v(), mu_s, mu_k); + +} + +double FrictionPotential::f1_over_x_mus(const double x, const double mu_s, const double mu_k) const +{ + return smooth_friction_f1_over_x_mus(x, eps_v(), mu_s, mu_k); + +} + +double FrictionPotential::f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const +{ + return smooth_friction_f2_x_minus_f1_over_x3_mus(x, eps_v(), mu_s, mu_k); + +} + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/friction_potential.hpp b/src/ipc/potentials/friction_potential.hpp index 00779959c..978a0ed09 100644 --- a/src/ipc/potentials/friction_potential.hpp +++ b/src/ipc/potentials/friction_potential.hpp @@ -1,48 +1,48 @@ -#pragma once - -#include - -namespace ipc { - -/// @brief The friction dissipative potential. -class FrictionPotential : public TangentialPotential { - using Super = TangentialPotential; - -public: - /// @brief Construct a friction potential. - /// @param eps_v The smooth friction mollifier parameter \f$\epsilon_v\f$. - explicit FrictionPotential(const double eps_v); - - /// @brief Get the smooth friction mollifier parameter \f$\epsilon_v\f$. - double eps_v() const { return m_eps_v; } - - /// @brief Set the smooth friction mollifier parameter \f$\epsilon_v\f$. - /// @param eps_v The smooth friction mollifier parameter \f$\epsilon_v\f$. - void set_eps_v(const double eps_v) - { - assert(eps_v > 0); - m_eps_v = eps_v; - } - -protected: - // Friction global mu - double f0(const double x) const override; - double f1_over_x(const double x) const override; - double f2_x_minus_f1_over_x3(const double x) const override; - - // Friction with mu_s and mu_k - double f0_mus(const double x, const double s_mu, const double k_mu) const override; - double f1_over_x_mus(const double x, const double s_mu, const double k_mu) const override; - double f2_x_minus_f1_over_x3_mus(const double x, const double s_mu, const double k_mu) const override; - - - bool is_dynamic(const double speed) const override - { - return speed > eps_v(); - } - - /// @brief The smooth friction mollifier parameter \f$\epsilon_v\f$. - double m_eps_v; -}; - +#pragma once + +#include + +namespace ipc { + +/// @brief The friction dissipative potential. +class FrictionPotential : public TangentialPotential { + using Super = TangentialPotential; + +public: + /// @brief Construct a friction potential. + /// @param eps_v The smooth friction mollifier parameter \f$\epsilon_v\f$. + explicit FrictionPotential(const double eps_v); + + /// @brief Get the smooth friction mollifier parameter \f$\epsilon_v\f$. + double eps_v() const { return m_eps_v; } + + /// @brief Set the smooth friction mollifier parameter \f$\epsilon_v\f$. + /// @param eps_v The smooth friction mollifier parameter \f$\epsilon_v\f$. + void set_eps_v(const double eps_v) + { + assert(eps_v > 0); + m_eps_v = eps_v; + } + +protected: + // Friction global mu + double f0(const double x) const override; + double f1_over_x(const double x) const override; + double f2_x_minus_f1_over_x3(const double x) const override; + + // Friction with mu_s and mu_k + double f0_mus(const double x, const double s_mu, const double k_mu) const override; + double f1_over_x_mus(const double x, const double s_mu, const double k_mu) const override; + double f2_x_minus_f1_over_x3_mus(const double x, const double s_mu, const double k_mu) const override; + + + bool is_dynamic(const double speed) const override + { + return speed > eps_v(); + } + + /// @brief The smooth friction mollifier parameter \f$\epsilon_v\f$. + double m_eps_v; +}; + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/tangential_adhesion_potential.hpp b/src/ipc/potentials/tangential_adhesion_potential.hpp index ff3e60a9f..4b7eda22a 100644 --- a/src/ipc/potentials/tangential_adhesion_potential.hpp +++ b/src/ipc/potentials/tangential_adhesion_potential.hpp @@ -1,54 +1,54 @@ -#pragma once - -#include - -namespace ipc { - -/// @brief The tangential adhesion potential. -class TangentialAdhesionPotential : public TangentialPotential { - using Super = TangentialPotential; - -public: - /// @brief Construct a tangential adhesion potential. - /// @param eps_a The tangential adhesion mollifier parameter \f$\epsilon_a\f$. - explicit TangentialAdhesionPotential(const double eps_a); - - /// @brief Get the tangential adhesion mollifier parameter \f$\epsilon_a\f$. - double eps_a() const { return m_eps_a; } - - /// @brief Set the tangential adhesion mollifier parameter \f$\epsilon_v\f$. - /// @param eps_a The tangential adhesion mollifier parameter \f$\epsilon_v\f$. - void set_eps_a(const double eps_a) - { - assert(eps_a > 0); - m_eps_a = eps_a; - } - -protected: - double f0(const double x) const override; - double f1_over_x(const double x) const override; - double f2_x_minus_f1_over_x3(const double x) const override; - double f0_mus(const double x, const double mu_s, const double mu_k) const override - { - return 0; - } - double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const override - { - return 0; - } - double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const override - { - return 0; - } - - - bool is_dynamic(const double speed) const override - { - return speed > eps_a(); - } - - /// @brief The tangential adhesion mollifier parameter \f$\epsilon_a\f$. - double m_eps_a; -}; - +#pragma once + +#include + +namespace ipc { + +/// @brief The tangential adhesion potential. +class TangentialAdhesionPotential : public TangentialPotential { + using Super = TangentialPotential; + +public: + /// @brief Construct a tangential adhesion potential. + /// @param eps_a The tangential adhesion mollifier parameter \f$\epsilon_a\f$. + explicit TangentialAdhesionPotential(const double eps_a); + + /// @brief Get the tangential adhesion mollifier parameter \f$\epsilon_a\f$. + double eps_a() const { return m_eps_a; } + + /// @brief Set the tangential adhesion mollifier parameter \f$\epsilon_v\f$. + /// @param eps_a The tangential adhesion mollifier parameter \f$\epsilon_v\f$. + void set_eps_a(const double eps_a) + { + assert(eps_a > 0); + m_eps_a = eps_a; + } + +protected: + double f0(const double x) const override; + double f1_over_x(const double x) const override; + double f2_x_minus_f1_over_x3(const double x) const override; + double f0_mus(const double x, const double mu_s, const double mu_k) const override + { + return 0; + } + double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const override + { + return 0; + } + double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const override + { + return 0; + } + + + bool is_dynamic(const double speed) const override + { + return speed > eps_a(); + } + + /// @brief The tangential adhesion mollifier parameter \f$\epsilon_a\f$. + double m_eps_a; +}; + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/tangential_potential.cpp b/src/ipc/potentials/tangential_potential.cpp index ace82b028..7cd551db8 100644 --- a/src/ipc/potentials/tangential_potential.cpp +++ b/src/ipc/potentials/tangential_potential.cpp @@ -1,493 +1,493 @@ -#include "friction_potential.hpp" - -namespace ipc { - -// -- Cumulative methods ------------------------------------------------------- - -Eigen::VectorXd TangentialPotential::force( - const TangentialCollisions& collisions, - const CollisionMesh& mesh, - const Eigen::MatrixXd& rest_positions, - const Eigen::MatrixXd& lagged_displacements, - const Eigen::MatrixXd& velocities, - const NormalPotential& normal_potential, - const double normal_stiffness, - const double dmin, - const bool no_mu) const -{ - if (collisions.empty()) { - return Eigen::VectorXd::Zero(velocities.size()); - } - - const int dim = velocities.cols(); - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - - tbb::combinable storage( - Eigen::VectorXd::Zero(velocities.size())); - - tbb::parallel_for( - tbb::blocked_range(size_t(0), collisions.size()), - [&](const tbb::blocked_range& r) { - Eigen::VectorXd& global_force = storage.local(); - for (size_t i = r.begin(); i < r.end(); i++) { - const auto& collision = collisions[i]; - - const VectorMax12d local_force = force( - collision, collision.dof(rest_positions, edges, faces), - collision.dof(lagged_displacements, edges, faces), - collision.dof(velocities, edges, faces), // - normal_potential, normal_stiffness, dmin, no_mu); - - const std::array vis = - collision.vertex_ids(mesh.edges(), mesh.faces()); - - local_gradient_to_global_gradient( - local_force, vis, dim, global_force); - } - }); - - return storage.combine([](const Eigen::VectorXd& a, - const Eigen::VectorXd& b) { return a + b; }); -} - -Eigen::SparseMatrix TangentialPotential::force_jacobian( - const TangentialCollisions& collisions, - const CollisionMesh& mesh, - const Eigen::MatrixXd& rest_positions, - const Eigen::MatrixXd& lagged_displacements, - const Eigen::MatrixXd& velocities, - const NormalPotential& normal_potential, - const double normal_stiffness, - const DiffWRT wrt, - const double dmin) const -{ - if (collisions.empty()) { - return Eigen::SparseMatrix( - velocities.size(), velocities.size()); - } - - const int dim = velocities.cols(); - const Eigen::MatrixXi& edges = mesh.edges(); - const Eigen::MatrixXi& faces = mesh.faces(); - - tbb::enumerable_thread_specific>> - storage; - - tbb::parallel_for( - tbb::blocked_range(size_t(0), collisions.size()), - [&](const tbb::blocked_range& r) { - auto& jac_triplets = storage.local(); - - for (size_t i = r.begin(); i < r.end(); i++) { - const TangentialCollision& collision = collisions[i]; - - const MatrixMax12d local_force_jacobian = force_jacobian( - collision, collision.dof(rest_positions, edges, faces), - collision.dof(lagged_displacements, edges, faces), - collision.dof(velocities, edges, faces), // - normal_potential, normal_stiffness, wrt, dmin); - - const std::array vis = - collision.vertex_ids(mesh.edges(), mesh.faces()); - - local_hessian_to_global_triplets( - local_force_jacobian, vis, dim, jac_triplets); - } - }); - - Eigen::SparseMatrix jacobian(velocities.size(), velocities.size()); - for (const auto& local_jac_triplets : storage) { - Eigen::SparseMatrix local_jacobian( - velocities.size(), velocities.size()); - local_jacobian.setFromTriplets( - local_jac_triplets.begin(), local_jac_triplets.end()); - jacobian += local_jacobian; - } - - // if wrt == X then compute ∇ₓ w(x) - if (wrt == DiffWRT::REST_POSITIONS) { - for (int i = 0; i < collisions.size(); i++) { - const TangentialCollision& collision = collisions[i]; - assert(collision.weight_gradient.size() == rest_positions.size()); - if (collision.weight_gradient.size() != rest_positions.size()) { - throw std::runtime_error( - "Shape derivative is not computed for friction collision!"); - } - - VectorMax12d local_force = force( - collision, collision.dof(rest_positions, edges, faces), - collision.dof(lagged_displacements, edges, faces), - collision.dof(velocities, edges, faces), // - normal_potential, normal_stiffness, dmin); - assert(collision.weight != 0); - local_force /= collision.weight; - - Eigen::SparseVector force(rest_positions.size()); - force.reserve(local_force.size()); - local_gradient_to_global_gradient( - local_force, collision.vertex_ids(edges, faces), dim, force); - - jacobian += force * collision.weight_gradient.transpose(); - } - } - - return jacobian; -} -// -- Single collision methods ------------------------------------------------- - -double TangentialPotential::operator()( - const TangentialCollision& collision, const VectorMax12d& velocities) const -{ - // μ N(xᵗ) f₀(‖u‖) (where u = T(xᵗ)ᵀv) - - // Compute u = PᵀΓv - const VectorMax2d u = collision.tangent_basis.transpose() - * collision.relative_velocity(velocities); - - return collision.weight * collision.mu * collision.normal_force_magnitude * - ((collision.s_mu > 0 && collision.k_mu > 0) ? - f0_mus(u.norm(), collision.s_mu, collision.k_mu) : - f0(u.norm())); -} - -VectorMax12d TangentialPotential::gradient( - const TangentialCollision& collision, const VectorMax12d& velocities) const -{ - // ∇ₓ μ N(xᵗ) f₀(‖u‖) (where u = T(xᵗ)ᵀv) - // = μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u - - // Compute u = PᵀΓv - const VectorMax2d u = collision.tangent_basis.transpose() - * collision.relative_velocity(velocities); - - // Compute T = ΓᵀP - const MatrixMax T = - collision.relative_velocity_matrix().transpose() - * collision.tangent_basis; - - // Compute f₁(‖u‖)/‖u‖ - const double f1_over_norm_u = (collision.s_mu > 0 && collision.k_mu > 0) ? - f1_over_x_mus(u.norm(), collision.s_mu, collision.k_mu) : - f1_over_x(u.norm()); - - // μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u ∈ ℝⁿ - // (n×2)(2×1) = (n×1) - double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) - ? collision.k_mu - : (collision.s_mu != -1 ? collision.s_mu : collision.mu); - - return T - * ((collision.weight * mu * collision.normal_force_magnitude - * f1_over_norm_u) - * u); -} - -MatrixMax12d TangentialPotential::hessian( - const TangentialCollision& collision, - const VectorMax12d& velocities, - const PSDProjectionMethod project_hessian_to_psd) const -{ - // ∇ₓ μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u (where u = T(xᵗ)ᵀ v) - // = μ N T [(f₂(‖u‖)‖u‖ − f₁(‖u‖))/‖u‖³ uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ - // = μ N T [f₂(‖u‖) uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ - - // Compute u = PᵀΓv - const VectorMax2d u = collision.tangent_basis.transpose() - * collision.relative_velocity(velocities); - - // Compute T = ΓᵀP - const MatrixMax T = - collision.relative_velocity_matrix().transpose() - * collision.tangent_basis; - - // Compute ‖u‖ - const double norm_u = u.norm(); - - // Compute f₁(‖u‖)/‖u‖ - const double f1_over_norm_u = (collision.s_mu > 0 && collision.k_mu > 0) ? - f1_over_x_mus(norm_u, collision.s_mu, collision.k_mu) : - f1_over_x(norm_u); - - // Compute μ N(xᵗ) - double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) - ? collision.k_mu - : (collision.s_mu != -1 ? collision.s_mu : collision.mu); - - const double scale = - collision.weight * mu * collision.normal_force_magnitude; - - MatrixMax12d hess; - if (is_dynamic(norm_u)) { - // f₁(‖u‖) = 1 ⟹ f₂(‖u‖) = 0 - // ⟹ ∇²D(v) = μ N T [-f₁(‖u‖)/‖u‖³ uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ - // = μ N T [-f₁(‖u‖)/‖u‖ uuᵀ/‖u‖² + f₁(‖u‖)/‖u‖ I] Tᵀ - // = μ N T [f₁(‖u‖)/‖u‖ (I - uuᵀ/‖u‖²)] Tᵀ - // ⟹ no PSD projection needed because f₁(‖u‖)/‖u‖ ≥ 0 - if (project_hessian_to_psd != PSDProjectionMethod::NONE && scale <= 0) { - hess.setZero(collision.ndof(), collision.ndof()); // -PSD = NSD ⟹ 0 - } else if (collision.dim() == 2) { - // I - uuᵀ/‖u‖² = 1 - u²/u² = 0 ⟹ ∇²D(v) = 0 - hess.setZero(collision.ndof(), collision.ndof()); - } else { - assert(collision.dim() == 3); - // I - uuᵀ/‖u‖² = ūūᵀ / ‖u‖² (where ū⋅u = 0) - const Eigen::Vector2d u_perp(-u[1], u[0]); - hess = // grouped to reduce number of operations - (T * ((scale * f1_over_norm_u / (norm_u * norm_u)) * u_perp)) - * (u_perp.transpose() * T.transpose()); - } - } else if (norm_u == 0) { - // ∇²D = μ N T [(f₂(‖u‖)‖u‖ − f₁(‖u‖))/‖u‖³ uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ - // lim_{‖u‖→0} ∇²D = μ N T [f₁(‖u‖)/‖u‖ I] Tᵀ - // no PSD projection needed because μ N f₁(‖ū‖)/‖ū‖ ≥ 0 - if (project_hessian_to_psd != PSDProjectionMethod::NONE && scale <= 0) { - hess.setZero(collision.ndof(), collision.ndof()); // -PSD = NSD ⟹ 0 - } else { - hess = scale * f1_over_norm_u * T * T.transpose(); - } - } else { - // ∇²D(v) = μ N T [f₂(‖u‖) uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ - // ⟹ only need to project the inner 2x2 matrix to PSD - double f2 = (collision.s_mu > 0 && collision.k_mu > 0) ? - f2_x_minus_f1_over_x3_mus(norm_u, collision.s_mu, collision.k_mu) : - f2_x_minus_f1_over_x3(norm_u); - - MatrixMax2d inner_hess = f2 * u * u.transpose(); - inner_hess.diagonal().array() += f1_over_norm_u; - inner_hess *= scale; // NOTE: negative scaling will be projected out - inner_hess = project_to_psd(inner_hess, project_hessian_to_psd); - - hess = T * inner_hess * T.transpose(); - } - - return hess; -} - -VectorMax12d TangentialPotential::force( - const TangentialCollision& collision, - const VectorMax12d& rest_positions, // = x - const VectorMax12d& lagged_displacements, // = u - const VectorMax12d& velocities, // = v - const NormalPotential& normal_potential, - const double normal_stiffness, - const double dmin, - const bool no_mu) const -{ - // x is the rest position - // u is the displacment at the begginging of the lagged solve - // v is the current velocity - // - // τ = T(x + u)ᵀv is the tangential sliding velocity - // F(x, u, v) = -μ N(x + u) f₁(‖τ‖)/‖τ‖ T(x + u) τ - assert(rest_positions.size() == lagged_displacements.size()); - assert(rest_positions.size() == velocities.size()); - - // const VectorMax12d x = dof(rest_positions, edges, faces); - // const VectorMax12d u = dof(lagged_displacements, edges, faces); - // const VectorMax12d v = dof(velocities, edges, faces); - - // x: - const VectorMax12d lagged_positions = rest_positions + lagged_displacements; - - // Compute N(x + u) - const double N = normal_potential.force_magnitude( - collision.compute_distance(lagged_positions), dmin, normal_stiffness); - - // Compute P - const MatrixMax P = - collision.compute_tangent_basis(lagged_positions); - - // compute β - const VectorMax2d beta = collision.compute_closest_point(lagged_positions); - - // Compute Γ - const MatrixMax Gamma = - collision.relative_velocity_matrix(beta); - - // Compute T = ΓᵀP - const MatrixMax T = Gamma.transpose() * P; - - // Compute τ = PᵀΓv - const VectorMax2d tau = T.transpose() * velocities; - - // Compute f₁(‖τ‖)/‖τ‖ - - // check if s_mu and k_mu in collision exist - const double tau_norm = tau.norm(); - const double mu = (no_mu ? 1.0 : collision.mu); - double f1_over_norm_tau = (collision.s_mu > 0 && collision.k_mu > 0) ? - f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu) : - f1_over_x(tau_norm); - // F = -μ N f₁(‖τ‖)/‖τ‖ T τ - // NOTE: no_mu -> leave mu out of this function (i.e., assuming mu = 1) - return -collision.weight * mu * N - * f1_over_norm_tau * T * tau; -} - -MatrixMax12d TangentialPotential::force_jacobian( - const TangentialCollision& collision, - const VectorMax12d& rest_positions, // = x - const VectorMax12d& lagged_displacements, // = u - const VectorMax12d& velocities, // = v - const NormalPotential& normal_potential, - const double normal_stiffness, - const DiffWRT wrt, - const double dmin) const -{ - // x is the rest position - // u is the displacment at the begginging of the lagged solve - // v is the current velocity - // - // τ = T(x + u)ᵀv is the tangential sliding velocity - // F(x, u, v) = -μ N(x + u) f₁(‖τ‖)/‖τ‖ T(x + u) τ - // - // Compute ∇F - assert(rest_positions.size() == lagged_displacements.size()); - assert(lagged_displacements.size() == velocities.size()); - const int n = rest_positions.size(); - const int dim = n / collision.num_vertices(); - assert(n % collision.num_vertices() == 0); - - // const VectorMax12d x = dof(rest_positions, edges, faces); - // const VectorMax12d u = dof(lagged_displacements, edges, faces); - // const VectorMax12d v = dof(velocities, edges, faces); - - // x + u: - const VectorMax12d lagged_positions = rest_positions + lagged_displacements; - const bool need_jac_N_or_T = wrt != DiffWRT::VELOCITIES; - - // Compute N - const double N = normal_potential.force_magnitude( - collision.compute_distance(lagged_positions), dmin, normal_stiffness); - - // Compute ∇N - VectorMax12d grad_N; - if (need_jac_N_or_T) { - // ∇ₓN = ∇ᵤN - grad_N = normal_potential.force_magnitude_gradient( - collision.compute_distance(lagged_positions), - collision.compute_distance_gradient(lagged_positions), dmin, - normal_stiffness); - assert(grad_N.array().isFinite().all()); - } - - // Compute P - const MatrixMax P = - collision.compute_tangent_basis(lagged_positions); - - // Compute β - const VectorMax2d beta = collision.compute_closest_point(lagged_positions); - - // Compute Γ - const MatrixMax Gamma = - collision.relative_velocity_matrix(beta); - - // Compute T = ΓᵀP - const MatrixMax T = Gamma.transpose() * P; - - // Compute ∇T - MatrixMax jac_T; - if (need_jac_N_or_T) { - jac_T.resize(n * n, dim - 1); - // ∇T = ∇(ΓᵀP) = ∇ΓᵀP + Γᵀ∇P - const MatrixMax jac_P = - collision.compute_tangent_basis_jacobian(lagged_positions); - for (int i = 0; i < n; i++) { - // ∂T/∂xᵢ += Γᵀ ∂P/∂xᵢ - jac_T.middleRows(i * n, n) = - Gamma.transpose() * jac_P.middleRows(i * dim, dim); - } - - // Vertex-vertex does not have a closest point - if (beta.size()) { - // ∇Γ(β) = ∇ᵦΓ∇β ∈ ℝ^{d×n×n} ≡ ℝ^{nd×n} - const MatrixMax jac_beta = - collision.compute_closest_point_jacobian(lagged_positions); - const MatrixMax jac_Gamma_wrt_beta = - collision.relative_velocity_matrix_jacobian(beta); - - for (int k = 0; k < n; k++) { - for (int b = 0; b < beta.size(); b++) { - jac_T.middleRows(k * n, n) += - jac_Gamma_wrt_beta.transpose().middleCols(b * dim, dim) - * (jac_beta(b, k) * P); - } - } - } - } - - // Compute τ = PᵀΓv - const VectorMax2d tau = P.transpose() * Gamma * velocities; - - // Compute ∇τ = ∇T(x + u)ᵀv + T(x + u)ᵀ∇v - MatrixMax jac_tau; - if (need_jac_N_or_T) { - jac_tau.resize(dim - 1, n); - // Compute ∇T(x + u)ᵀv - for (int i = 0; i < n; i++) { - jac_tau.col(i) = - jac_T.middleRows(i * n, n).transpose() * velocities; - } - } else { - jac_tau = T.transpose(); // Tᵀ ∇ᵥv = Tᵀ - } - - // Compute f₁(‖τ‖)/‖τ‖ - const double tau_norm = tau.norm(); - double f1_over_norm_tau = (collision.s_mu > 0 && collision.k_mu > 0) ? - f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu) : - f1_over_x(tau_norm); - - // Compute ∇(f₁(‖τ‖)/‖τ‖) - VectorMax12d grad_f1_over_norm_tau; - if (tau_norm == 0) { - // lim_{x→0} f₂(x)x² = 0 - grad_f1_over_norm_tau.setZero(n); - } else { - // ∇ (f₁(‖τ‖)/‖τ‖) = (f₂(‖τ‖)‖τ‖ - f₁(‖τ‖)) / ‖τ‖³ τᵀ ∇τ - double f2 = (collision.s_mu > 0 && collision.k_mu > 0) ? - f2_x_minus_f1_over_x3_mus(tau_norm, collision.s_mu, collision.k_mu) : - f2_x_minus_f1_over_x3(tau_norm); - assert(std::isfinite(f2)); - grad_f1_over_norm_tau = f2 * tau.transpose() * jac_tau; - } - - // Premultiplied values - const VectorMax12d T_times_tau = T * tau; - - // ------------------------------------------------------------------------ - // Compute J = ∇F = ∇(-μ N f₁(‖τ‖)/‖τ‖ T τ) - MatrixMax12d J = MatrixMax12d::Zero(n, n); - - // = -μ f₁(‖τ‖)/‖τ‖ (T τ) [∇N]ᵀ - if (need_jac_N_or_T) { - J = f1_over_norm_tau * T_times_tau * grad_N.transpose(); - } - - // + -μ N T τ [∇(f₁(‖τ‖)/‖τ‖)] - J += N * T_times_tau * grad_f1_over_norm_tau.transpose(); - - // + -μ N f₁(‖τ‖)/‖τ‖ [∇T] τ - if (need_jac_N_or_T) { - const VectorMax2d scaled_tau = N * f1_over_norm_tau * tau; - for (int i = 0; i < n; i++) { - // ∂J/∂xᵢ = ∂T/∂xᵢ * τ - J.col(i) += jac_T.middleRows(i * n, n) * scaled_tau; - } - } - - // + -μ N f₁(‖τ‖)/‖τ‖ T [∇τ] - J += N * f1_over_norm_tau * T * jac_tau; - - // NOTE: ∇ₓw(x) is not local to the collision pair (i.e., it involves more - // than the 4 collisioning vertices), so we do not have enough information - // here to compute the gradient. Instead this should be handled outside of - // the function. For a simple multiplicitive model (∑ᵢ wᵢ Fᵢ) this can be - // done easily. - J *= -collision.weight * collision.mu; - - return J; -} - +#include "friction_potential.hpp" + +namespace ipc { + +// -- Cumulative methods ------------------------------------------------------- + +Eigen::VectorXd TangentialPotential::force( + const TangentialCollisions& collisions, + const CollisionMesh& mesh, + const Eigen::MatrixXd& rest_positions, + const Eigen::MatrixXd& lagged_displacements, + const Eigen::MatrixXd& velocities, + const NormalPotential& normal_potential, + const double normal_stiffness, + const double dmin, + const bool no_mu) const +{ + if (collisions.empty()) { + return Eigen::VectorXd::Zero(velocities.size()); + } + + const int dim = velocities.cols(); + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + + tbb::combinable storage( + Eigen::VectorXd::Zero(velocities.size())); + + tbb::parallel_for( + tbb::blocked_range(size_t(0), collisions.size()), + [&](const tbb::blocked_range& r) { + Eigen::VectorXd& global_force = storage.local(); + for (size_t i = r.begin(); i < r.end(); i++) { + const auto& collision = collisions[i]; + + const VectorMax12d local_force = force( + collision, collision.dof(rest_positions, edges, faces), + collision.dof(lagged_displacements, edges, faces), + collision.dof(velocities, edges, faces), // + normal_potential, normal_stiffness, dmin, no_mu); + + const std::array vis = + collision.vertex_ids(mesh.edges(), mesh.faces()); + + local_gradient_to_global_gradient( + local_force, vis, dim, global_force); + } + }); + + return storage.combine([](const Eigen::VectorXd& a, + const Eigen::VectorXd& b) { return a + b; }); +} + +Eigen::SparseMatrix TangentialPotential::force_jacobian( + const TangentialCollisions& collisions, + const CollisionMesh& mesh, + const Eigen::MatrixXd& rest_positions, + const Eigen::MatrixXd& lagged_displacements, + const Eigen::MatrixXd& velocities, + const NormalPotential& normal_potential, + const double normal_stiffness, + const DiffWRT wrt, + const double dmin) const +{ + if (collisions.empty()) { + return Eigen::SparseMatrix( + velocities.size(), velocities.size()); + } + + const int dim = velocities.cols(); + const Eigen::MatrixXi& edges = mesh.edges(); + const Eigen::MatrixXi& faces = mesh.faces(); + + tbb::enumerable_thread_specific>> + storage; + + tbb::parallel_for( + tbb::blocked_range(size_t(0), collisions.size()), + [&](const tbb::blocked_range& r) { + auto& jac_triplets = storage.local(); + + for (size_t i = r.begin(); i < r.end(); i++) { + const TangentialCollision& collision = collisions[i]; + + const MatrixMax12d local_force_jacobian = force_jacobian( + collision, collision.dof(rest_positions, edges, faces), + collision.dof(lagged_displacements, edges, faces), + collision.dof(velocities, edges, faces), // + normal_potential, normal_stiffness, wrt, dmin); + + const std::array vis = + collision.vertex_ids(mesh.edges(), mesh.faces()); + + local_hessian_to_global_triplets( + local_force_jacobian, vis, dim, jac_triplets); + } + }); + + Eigen::SparseMatrix jacobian(velocities.size(), velocities.size()); + for (const auto& local_jac_triplets : storage) { + Eigen::SparseMatrix local_jacobian( + velocities.size(), velocities.size()); + local_jacobian.setFromTriplets( + local_jac_triplets.begin(), local_jac_triplets.end()); + jacobian += local_jacobian; + } + + // if wrt == X then compute ∇ₓ w(x) + if (wrt == DiffWRT::REST_POSITIONS) { + for (int i = 0; i < collisions.size(); i++) { + const TangentialCollision& collision = collisions[i]; + assert(collision.weight_gradient.size() == rest_positions.size()); + if (collision.weight_gradient.size() != rest_positions.size()) { + throw std::runtime_error( + "Shape derivative is not computed for friction collision!"); + } + + VectorMax12d local_force = force( + collision, collision.dof(rest_positions, edges, faces), + collision.dof(lagged_displacements, edges, faces), + collision.dof(velocities, edges, faces), // + normal_potential, normal_stiffness, dmin); + assert(collision.weight != 0); + local_force /= collision.weight; + + Eigen::SparseVector force(rest_positions.size()); + force.reserve(local_force.size()); + local_gradient_to_global_gradient( + local_force, collision.vertex_ids(edges, faces), dim, force); + + jacobian += force * collision.weight_gradient.transpose(); + } + } + + return jacobian; +} +// -- Single collision methods ------------------------------------------------- + +double TangentialPotential::operator()( + const TangentialCollision& collision, const VectorMax12d& velocities) const +{ + // μ N(xᵗ) f₀(‖u‖) (where u = T(xᵗ)ᵀv) + + // Compute u = PᵀΓv + const VectorMax2d u = collision.tangent_basis.transpose() + * collision.relative_velocity(velocities); + + return collision.weight * collision.mu * collision.normal_force_magnitude * + ((collision.s_mu > 0 && collision.k_mu > 0) ? + f0_mus(u.norm(), collision.s_mu, collision.k_mu) : + f0(u.norm())); +} + +VectorMax12d TangentialPotential::gradient( + const TangentialCollision& collision, const VectorMax12d& velocities) const +{ + // ∇ₓ μ N(xᵗ) f₀(‖u‖) (where u = T(xᵗ)ᵀv) + // = μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u + + // Compute u = PᵀΓv + const VectorMax2d u = collision.tangent_basis.transpose() + * collision.relative_velocity(velocities); + + // Compute T = ΓᵀP + const MatrixMax T = + collision.relative_velocity_matrix().transpose() + * collision.tangent_basis; + + // Compute f₁(‖u‖)/‖u‖ + const double f1_over_norm_u = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(u.norm(), collision.s_mu, collision.k_mu) : + f1_over_x(u.norm()); + + // μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u ∈ ℝⁿ + // (n×2)(2×1) = (n×1) + double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) + ? collision.k_mu + : (collision.s_mu != -1 ? collision.s_mu : collision.mu); + + return T + * ((collision.weight * mu * collision.normal_force_magnitude + * f1_over_norm_u) + * u); +} + +MatrixMax12d TangentialPotential::hessian( + const TangentialCollision& collision, + const VectorMax12d& velocities, + const PSDProjectionMethod project_hessian_to_psd) const +{ + // ∇ₓ μ N(xᵗ) f₁(‖u‖)/‖u‖ T(xᵗ) u (where u = T(xᵗ)ᵀ v) + // = μ N T [(f₂(‖u‖)‖u‖ − f₁(‖u‖))/‖u‖³ uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ + // = μ N T [f₂(‖u‖) uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ + + // Compute u = PᵀΓv + const VectorMax2d u = collision.tangent_basis.transpose() + * collision.relative_velocity(velocities); + + // Compute T = ΓᵀP + const MatrixMax T = + collision.relative_velocity_matrix().transpose() + * collision.tangent_basis; + + // Compute ‖u‖ + const double norm_u = u.norm(); + + // Compute f₁(‖u‖)/‖u‖ + const double f1_over_norm_u = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(norm_u, collision.s_mu, collision.k_mu) : + f1_over_x(norm_u); + + // Compute μ N(xᵗ) + double mu = (is_dynamic(u.norm()) && collision.k_mu != -1) + ? collision.k_mu + : (collision.s_mu != -1 ? collision.s_mu : collision.mu); + + const double scale = + collision.weight * mu * collision.normal_force_magnitude; + + MatrixMax12d hess; + if (is_dynamic(norm_u)) { + // f₁(‖u‖) = 1 ⟹ f₂(‖u‖) = 0 + // ⟹ ∇²D(v) = μ N T [-f₁(‖u‖)/‖u‖³ uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ + // = μ N T [-f₁(‖u‖)/‖u‖ uuᵀ/‖u‖² + f₁(‖u‖)/‖u‖ I] Tᵀ + // = μ N T [f₁(‖u‖)/‖u‖ (I - uuᵀ/‖u‖²)] Tᵀ + // ⟹ no PSD projection needed because f₁(‖u‖)/‖u‖ ≥ 0 + if (project_hessian_to_psd != PSDProjectionMethod::NONE && scale <= 0) { + hess.setZero(collision.ndof(), collision.ndof()); // -PSD = NSD ⟹ 0 + } else if (collision.dim() == 2) { + // I - uuᵀ/‖u‖² = 1 - u²/u² = 0 ⟹ ∇²D(v) = 0 + hess.setZero(collision.ndof(), collision.ndof()); + } else { + assert(collision.dim() == 3); + // I - uuᵀ/‖u‖² = ūūᵀ / ‖u‖² (where ū⋅u = 0) + const Eigen::Vector2d u_perp(-u[1], u[0]); + hess = // grouped to reduce number of operations + (T * ((scale * f1_over_norm_u / (norm_u * norm_u)) * u_perp)) + * (u_perp.transpose() * T.transpose()); + } + } else if (norm_u == 0) { + // ∇²D = μ N T [(f₂(‖u‖)‖u‖ − f₁(‖u‖))/‖u‖³ uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ + // lim_{‖u‖→0} ∇²D = μ N T [f₁(‖u‖)/‖u‖ I] Tᵀ + // no PSD projection needed because μ N f₁(‖ū‖)/‖ū‖ ≥ 0 + if (project_hessian_to_psd != PSDProjectionMethod::NONE && scale <= 0) { + hess.setZero(collision.ndof(), collision.ndof()); // -PSD = NSD ⟹ 0 + } else { + hess = scale * f1_over_norm_u * T * T.transpose(); + } + } else { + // ∇²D(v) = μ N T [f₂(‖u‖) uuᵀ + f₁(‖u‖)/‖u‖ I] Tᵀ + // ⟹ only need to project the inner 2x2 matrix to PSD + double f2 = (collision.s_mu > 0 && collision.k_mu > 0) ? + f2_x_minus_f1_over_x3_mus(norm_u, collision.s_mu, collision.k_mu) : + f2_x_minus_f1_over_x3(norm_u); + + MatrixMax2d inner_hess = f2 * u * u.transpose(); + inner_hess.diagonal().array() += f1_over_norm_u; + inner_hess *= scale; // NOTE: negative scaling will be projected out + inner_hess = project_to_psd(inner_hess, project_hessian_to_psd); + + hess = T * inner_hess * T.transpose(); + } + + return hess; +} + +VectorMax12d TangentialPotential::force( + const TangentialCollision& collision, + const VectorMax12d& rest_positions, // = x + const VectorMax12d& lagged_displacements, // = u + const VectorMax12d& velocities, // = v + const NormalPotential& normal_potential, + const double normal_stiffness, + const double dmin, + const bool no_mu) const +{ + // x is the rest position + // u is the displacment at the begginging of the lagged solve + // v is the current velocity + // + // τ = T(x + u)ᵀv is the tangential sliding velocity + // F(x, u, v) = -μ N(x + u) f₁(‖τ‖)/‖τ‖ T(x + u) τ + assert(rest_positions.size() == lagged_displacements.size()); + assert(rest_positions.size() == velocities.size()); + + // const VectorMax12d x = dof(rest_positions, edges, faces); + // const VectorMax12d u = dof(lagged_displacements, edges, faces); + // const VectorMax12d v = dof(velocities, edges, faces); + + // x: + const VectorMax12d lagged_positions = rest_positions + lagged_displacements; + + // Compute N(x + u) + const double N = normal_potential.force_magnitude( + collision.compute_distance(lagged_positions), dmin, normal_stiffness); + + // Compute P + const MatrixMax P = + collision.compute_tangent_basis(lagged_positions); + + // compute β + const VectorMax2d beta = collision.compute_closest_point(lagged_positions); + + // Compute Γ + const MatrixMax Gamma = + collision.relative_velocity_matrix(beta); + + // Compute T = ΓᵀP + const MatrixMax T = Gamma.transpose() * P; + + // Compute τ = PᵀΓv + const VectorMax2d tau = T.transpose() * velocities; + + // Compute f₁(‖τ‖)/‖τ‖ + + // check if s_mu and k_mu in collision exist + const double tau_norm = tau.norm(); + const double mu = (no_mu ? 1.0 : collision.mu); + double f1_over_norm_tau = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu) : + f1_over_x(tau_norm); + // F = -μ N f₁(‖τ‖)/‖τ‖ T τ + // NOTE: no_mu -> leave mu out of this function (i.e., assuming mu = 1) + return -collision.weight * mu * N + * f1_over_norm_tau * T * tau; +} + +MatrixMax12d TangentialPotential::force_jacobian( + const TangentialCollision& collision, + const VectorMax12d& rest_positions, // = x + const VectorMax12d& lagged_displacements, // = u + const VectorMax12d& velocities, // = v + const NormalPotential& normal_potential, + const double normal_stiffness, + const DiffWRT wrt, + const double dmin) const +{ + // x is the rest position + // u is the displacment at the begginging of the lagged solve + // v is the current velocity + // + // τ = T(x + u)ᵀv is the tangential sliding velocity + // F(x, u, v) = -μ N(x + u) f₁(‖τ‖)/‖τ‖ T(x + u) τ + // + // Compute ∇F + assert(rest_positions.size() == lagged_displacements.size()); + assert(lagged_displacements.size() == velocities.size()); + const int n = rest_positions.size(); + const int dim = n / collision.num_vertices(); + assert(n % collision.num_vertices() == 0); + + // const VectorMax12d x = dof(rest_positions, edges, faces); + // const VectorMax12d u = dof(lagged_displacements, edges, faces); + // const VectorMax12d v = dof(velocities, edges, faces); + + // x + u: + const VectorMax12d lagged_positions = rest_positions + lagged_displacements; + const bool need_jac_N_or_T = wrt != DiffWRT::VELOCITIES; + + // Compute N + const double N = normal_potential.force_magnitude( + collision.compute_distance(lagged_positions), dmin, normal_stiffness); + + // Compute ∇N + VectorMax12d grad_N; + if (need_jac_N_or_T) { + // ∇ₓN = ∇ᵤN + grad_N = normal_potential.force_magnitude_gradient( + collision.compute_distance(lagged_positions), + collision.compute_distance_gradient(lagged_positions), dmin, + normal_stiffness); + assert(grad_N.array().isFinite().all()); + } + + // Compute P + const MatrixMax P = + collision.compute_tangent_basis(lagged_positions); + + // Compute β + const VectorMax2d beta = collision.compute_closest_point(lagged_positions); + + // Compute Γ + const MatrixMax Gamma = + collision.relative_velocity_matrix(beta); + + // Compute T = ΓᵀP + const MatrixMax T = Gamma.transpose() * P; + + // Compute ∇T + MatrixMax jac_T; + if (need_jac_N_or_T) { + jac_T.resize(n * n, dim - 1); + // ∇T = ∇(ΓᵀP) = ∇ΓᵀP + Γᵀ∇P + const MatrixMax jac_P = + collision.compute_tangent_basis_jacobian(lagged_positions); + for (int i = 0; i < n; i++) { + // ∂T/∂xᵢ += Γᵀ ∂P/∂xᵢ + jac_T.middleRows(i * n, n) = + Gamma.transpose() * jac_P.middleRows(i * dim, dim); + } + + // Vertex-vertex does not have a closest point + if (beta.size()) { + // ∇Γ(β) = ∇ᵦΓ∇β ∈ ℝ^{d×n×n} ≡ ℝ^{nd×n} + const MatrixMax jac_beta = + collision.compute_closest_point_jacobian(lagged_positions); + const MatrixMax jac_Gamma_wrt_beta = + collision.relative_velocity_matrix_jacobian(beta); + + for (int k = 0; k < n; k++) { + for (int b = 0; b < beta.size(); b++) { + jac_T.middleRows(k * n, n) += + jac_Gamma_wrt_beta.transpose().middleCols(b * dim, dim) + * (jac_beta(b, k) * P); + } + } + } + } + + // Compute τ = PᵀΓv + const VectorMax2d tau = P.transpose() * Gamma * velocities; + + // Compute ∇τ = ∇T(x + u)ᵀv + T(x + u)ᵀ∇v + MatrixMax jac_tau; + if (need_jac_N_or_T) { + jac_tau.resize(dim - 1, n); + // Compute ∇T(x + u)ᵀv + for (int i = 0; i < n; i++) { + jac_tau.col(i) = + jac_T.middleRows(i * n, n).transpose() * velocities; + } + } else { + jac_tau = T.transpose(); // Tᵀ ∇ᵥv = Tᵀ + } + + // Compute f₁(‖τ‖)/‖τ‖ + const double tau_norm = tau.norm(); + double f1_over_norm_tau = (collision.s_mu > 0 && collision.k_mu > 0) ? + f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu) : + f1_over_x(tau_norm); + + // Compute ∇(f₁(‖τ‖)/‖τ‖) + VectorMax12d grad_f1_over_norm_tau; + if (tau_norm == 0) { + // lim_{x→0} f₂(x)x² = 0 + grad_f1_over_norm_tau.setZero(n); + } else { + // ∇ (f₁(‖τ‖)/‖τ‖) = (f₂(‖τ‖)‖τ‖ - f₁(‖τ‖)) / ‖τ‖³ τᵀ ∇τ + double f2 = (collision.s_mu > 0 && collision.k_mu > 0) ? + f2_x_minus_f1_over_x3_mus(tau_norm, collision.s_mu, collision.k_mu) : + f2_x_minus_f1_over_x3(tau_norm); + assert(std::isfinite(f2)); + grad_f1_over_norm_tau = f2 * tau.transpose() * jac_tau; + } + + // Premultiplied values + const VectorMax12d T_times_tau = T * tau; + + // ------------------------------------------------------------------------ + // Compute J = ∇F = ∇(-μ N f₁(‖τ‖)/‖τ‖ T τ) + MatrixMax12d J = MatrixMax12d::Zero(n, n); + + // = -μ f₁(‖τ‖)/‖τ‖ (T τ) [∇N]ᵀ + if (need_jac_N_or_T) { + J = f1_over_norm_tau * T_times_tau * grad_N.transpose(); + } + + // + -μ N T τ [∇(f₁(‖τ‖)/‖τ‖)] + J += N * T_times_tau * grad_f1_over_norm_tau.transpose(); + + // + -μ N f₁(‖τ‖)/‖τ‖ [∇T] τ + if (need_jac_N_or_T) { + const VectorMax2d scaled_tau = N * f1_over_norm_tau * tau; + for (int i = 0; i < n; i++) { + // ∂J/∂xᵢ = ∂T/∂xᵢ * τ + J.col(i) += jac_T.middleRows(i * n, n) * scaled_tau; + } + } + + // + -μ N f₁(‖τ‖)/‖τ‖ T [∇τ] + J += N * f1_over_norm_tau * T * jac_tau; + + // NOTE: ∇ₓw(x) is not local to the collision pair (i.e., it involves more + // than the 4 collisioning vertices), so we do not have enough information + // here to compute the gradient. Instead this should be handled outside of + // the function. For a simple multiplicitive model (∑ᵢ wᵢ Fᵢ) this can be + // done easily. + J *= -collision.weight * collision.mu; + + return J; +} + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/tangential_potential.hpp b/src/ipc/potentials/tangential_potential.hpp index f31fa783f..4e708c120 100644 --- a/src/ipc/potentials/tangential_potential.hpp +++ b/src/ipc/potentials/tangential_potential.hpp @@ -1,152 +1,152 @@ -#pragma once - -#include -#include - -namespace ipc { - -/// @brief A tangential dissipative potential. -class TangentialPotential : public Potential { - using Super = Potential; - -public: - virtual ~TangentialPotential() { } - - // -- Cumulative methods --------------------------------------------------- - - // NOTE: X in this context are vertex velocities. - - using Super::operator(); - using Super::gradient; - using Super::hessian; - - /// @brief Variable to differentiate the friction force with respect to. - enum class DiffWRT { - REST_POSITIONS, ///< Differentiate w.r.t. rest positions - LAGGED_DISPLACEMENTS, ///< Differentiate w.r.t. lagged displacements - VELOCITIES ///< Differentiate w.r.t. current velocities - }; - - /// @brief Compute the friction force from the given velocities. - /// @param collisions The set of collisions. - /// @param mesh The collision mesh. - /// @param rest_positions Rest positions of the vertices (rowwise). - /// @param lagged_displacements Previous displacements of the vertices (rowwise). - /// @param velocities Current displacements of the vertices (rowwise). - /// @param normal_potential Normal potential (used for normal force magnitude). - /// @param normal_stiffness Normal stiffness (used for normal force magnitude). - /// @param dmin Minimum distance (used for normal force magnitude). - /// @param no_mu whether to not multiply by mu - /// @return The friction force. - Eigen::VectorXd force( - const TangentialCollisions& collisions, - const CollisionMesh& mesh, - const Eigen::MatrixXd& rest_positions, - const Eigen::MatrixXd& lagged_displacements, - const Eigen::MatrixXd& velocities, - const NormalPotential& normal_potential, - const double normal_stiffness, - const double dmin = 0, - const bool no_mu = false) const; - - /// @brief Compute the Jacobian of the friction force wrt the velocities. - /// @param collisions The set of collisions. - /// @param mesh The collision mesh. - /// @param rest_positions Rest positions of the vertices (rowwise). - /// @param lagged_displacements Previous displacements of the vertices (rowwise). - /// @param velocities Current displacements of the vertices (rowwise). - /// @param normal_potential Normal potential (used for normal force magnitude). - /// @param normal_stiffness Normal stiffness (used for normal force magnitude). - /// @param wrt The variable to take the derivative with respect to. - /// @param dmin Minimum distance (used for normal force magnitude). - /// @return The Jacobian of the friction force wrt the velocities. - Eigen::SparseMatrix force_jacobian( - const TangentialCollisions& collisions, - const CollisionMesh& mesh, - const Eigen::MatrixXd& rest_positions, - const Eigen::MatrixXd& lagged_displacements, - const Eigen::MatrixXd& velocities, - const NormalPotential& normal_potential, - const double normal_stiffness, - const DiffWRT wrt, - const double dmin = 0) const; - - // -- Single collision methods --------------------------------------------- - - /// @brief Compute the potential for a single collision. - /// @param collision The collision - /// @param velocities The collision stencil's velocities. - /// @return The potential. - double operator()( - const TangentialCollision& collision, - const VectorMax12d& velocities) const override; - - /// @brief Compute the gradient of the potential for a single collision. - /// @param collision The collision - /// @param velocities The collision stencil's velocities. - /// @return The gradient of the potential. - VectorMax12d gradient( - const TangentialCollision& collision, - const VectorMax12d& velocities) const override; - - /// @brief Compute the hessian of the potential for a single collision. - /// @param collision The collision - /// @param velocities The collision stencil's velocities. - /// @return The hessian of the potential. - MatrixMax12d hessian( - const TangentialCollision& collision, - const VectorMax12d& velocities, - const PSDProjectionMethod project_hessian_to_psd = - PSDProjectionMethod::NONE) const override; - - /// @brief Compute the friction force. - /// @param collision The collision - /// @param rest_positions Rest positions of the vertices (rowwise). - /// @param lagged_displacements Previous displacements of the vertices (rowwise). - /// @param velocities Current displacements of the vertices (rowwise). - /// @param normal_potential Normal potential (used for normal force magnitude). - /// @param normal_stiffness Normal stiffness (used for normal force magnitude). - /// @param dmin Minimum distance (used for normal force magnitude). - /// @param no_mu Whether to not multiply by mu - /// @return Friction force - VectorMax12d force( - const TangentialCollision& collision, - const VectorMax12d& rest_positions, - const VectorMax12d& lagged_displacements, - const VectorMax12d& velocities, - const NormalPotential& normal_potential, - const double normal_stiffness, - const double dmin = 0, - const bool no_mu = false) const; //< whether to not multiply by mu - - /// @brief Compute the friction force Jacobian. - /// @param collision The collision - /// @param rest_positions Rest positions of the vertices (rowwise). - /// @param lagged_displacements Previous displacements of the vertices (rowwise). - /// @param velocities Current displacements of the vertices (rowwise). - /// @param normal_potential Normal potential (used for normal force magnitude). - /// @param normal_stiffness Noraml stiffness (used for normal force magnitude). - /// @param wrt Variable to differentiate the friction force with respect to. - /// @param dmin Minimum distance (used for normal force magnitude). - /// @return Friction force Jacobian - MatrixMax12d force_jacobian( - const TangentialCollision& collision, - const VectorMax12d& rest_positions, - const VectorMax12d& lagged_displacements, - const VectorMax12d& velocities, - const NormalPotential& normal_potential, - const double normal_stiffness, - const DiffWRT wrt, - const double dmin = 0) const; - -protected: - virtual double f0(const double x) const = 0; - virtual double f1_over_x(const double x) const = 0; - virtual double f2_x_minus_f1_over_x3(const double x) const = 0; - virtual double f0_mus(const double x, const double mu_s, const double mu_k) const = 0; - virtual double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const = 0; - virtual double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const = 0; - virtual bool is_dynamic(const double speed) const = 0; -}; - +#pragma once + +#include +#include + +namespace ipc { + +/// @brief A tangential dissipative potential. +class TangentialPotential : public Potential { + using Super = Potential; + +public: + virtual ~TangentialPotential() { } + + // -- Cumulative methods --------------------------------------------------- + + // NOTE: X in this context are vertex velocities. + + using Super::operator(); + using Super::gradient; + using Super::hessian; + + /// @brief Variable to differentiate the friction force with respect to. + enum class DiffWRT { + REST_POSITIONS, ///< Differentiate w.r.t. rest positions + LAGGED_DISPLACEMENTS, ///< Differentiate w.r.t. lagged displacements + VELOCITIES ///< Differentiate w.r.t. current velocities + }; + + /// @brief Compute the friction force from the given velocities. + /// @param collisions The set of collisions. + /// @param mesh The collision mesh. + /// @param rest_positions Rest positions of the vertices (rowwise). + /// @param lagged_displacements Previous displacements of the vertices (rowwise). + /// @param velocities Current displacements of the vertices (rowwise). + /// @param normal_potential Normal potential (used for normal force magnitude). + /// @param normal_stiffness Normal stiffness (used for normal force magnitude). + /// @param dmin Minimum distance (used for normal force magnitude). + /// @param no_mu whether to not multiply by mu + /// @return The friction force. + Eigen::VectorXd force( + const TangentialCollisions& collisions, + const CollisionMesh& mesh, + const Eigen::MatrixXd& rest_positions, + const Eigen::MatrixXd& lagged_displacements, + const Eigen::MatrixXd& velocities, + const NormalPotential& normal_potential, + const double normal_stiffness, + const double dmin = 0, + const bool no_mu = false) const; + + /// @brief Compute the Jacobian of the friction force wrt the velocities. + /// @param collisions The set of collisions. + /// @param mesh The collision mesh. + /// @param rest_positions Rest positions of the vertices (rowwise). + /// @param lagged_displacements Previous displacements of the vertices (rowwise). + /// @param velocities Current displacements of the vertices (rowwise). + /// @param normal_potential Normal potential (used for normal force magnitude). + /// @param normal_stiffness Normal stiffness (used for normal force magnitude). + /// @param wrt The variable to take the derivative with respect to. + /// @param dmin Minimum distance (used for normal force magnitude). + /// @return The Jacobian of the friction force wrt the velocities. + Eigen::SparseMatrix force_jacobian( + const TangentialCollisions& collisions, + const CollisionMesh& mesh, + const Eigen::MatrixXd& rest_positions, + const Eigen::MatrixXd& lagged_displacements, + const Eigen::MatrixXd& velocities, + const NormalPotential& normal_potential, + const double normal_stiffness, + const DiffWRT wrt, + const double dmin = 0) const; + + // -- Single collision methods --------------------------------------------- + + /// @brief Compute the potential for a single collision. + /// @param collision The collision + /// @param velocities The collision stencil's velocities. + /// @return The potential. + double operator()( + const TangentialCollision& collision, + const VectorMax12d& velocities) const override; + + /// @brief Compute the gradient of the potential for a single collision. + /// @param collision The collision + /// @param velocities The collision stencil's velocities. + /// @return The gradient of the potential. + VectorMax12d gradient( + const TangentialCollision& collision, + const VectorMax12d& velocities) const override; + + /// @brief Compute the hessian of the potential for a single collision. + /// @param collision The collision + /// @param velocities The collision stencil's velocities. + /// @return The hessian of the potential. + MatrixMax12d hessian( + const TangentialCollision& collision, + const VectorMax12d& velocities, + const PSDProjectionMethod project_hessian_to_psd = + PSDProjectionMethod::NONE) const override; + + /// @brief Compute the friction force. + /// @param collision The collision + /// @param rest_positions Rest positions of the vertices (rowwise). + /// @param lagged_displacements Previous displacements of the vertices (rowwise). + /// @param velocities Current displacements of the vertices (rowwise). + /// @param normal_potential Normal potential (used for normal force magnitude). + /// @param normal_stiffness Normal stiffness (used for normal force magnitude). + /// @param dmin Minimum distance (used for normal force magnitude). + /// @param no_mu Whether to not multiply by mu + /// @return Friction force + VectorMax12d force( + const TangentialCollision& collision, + const VectorMax12d& rest_positions, + const VectorMax12d& lagged_displacements, + const VectorMax12d& velocities, + const NormalPotential& normal_potential, + const double normal_stiffness, + const double dmin = 0, + const bool no_mu = false) const; //< whether to not multiply by mu + + /// @brief Compute the friction force Jacobian. + /// @param collision The collision + /// @param rest_positions Rest positions of the vertices (rowwise). + /// @param lagged_displacements Previous displacements of the vertices (rowwise). + /// @param velocities Current displacements of the vertices (rowwise). + /// @param normal_potential Normal potential (used for normal force magnitude). + /// @param normal_stiffness Noraml stiffness (used for normal force magnitude). + /// @param wrt Variable to differentiate the friction force with respect to. + /// @param dmin Minimum distance (used for normal force magnitude). + /// @return Friction force Jacobian + MatrixMax12d force_jacobian( + const TangentialCollision& collision, + const VectorMax12d& rest_positions, + const VectorMax12d& lagged_displacements, + const VectorMax12d& velocities, + const NormalPotential& normal_potential, + const double normal_stiffness, + const DiffWRT wrt, + const double dmin = 0) const; + +protected: + virtual double f0(const double x) const = 0; + virtual double f1_over_x(const double x) const = 0; + virtual double f2_x_minus_f1_over_x3(const double x) const = 0; + virtual double f0_mus(const double x, const double mu_s, const double mu_k) const = 0; + virtual double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const = 0; + virtual double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const = 0; + virtual bool is_dynamic(const double speed) const = 0; +}; + } // namespace ipc \ No newline at end of file diff --git a/tests/src/tests/ccd/test_point_edge_ccd.cpp b/tests/src/tests/ccd/test_point_edge_ccd.cpp index b5c330eb0..3a76e1773 100644 --- a/tests/src/tests/ccd/test_point_edge_ccd.cpp +++ b/tests/src/tests/ccd/test_point_edge_ccd.cpp @@ -1,293 +1,293 @@ -#include - -#include - -#include -#include -#include - -using namespace ipc; - -namespace { -/// Compares the time of impact of different implementations -/// against the expected time of impact -void check_toi( - const VectorMax3d& p_t0, - const VectorMax3d& e0_t0, - const VectorMax3d& e1_t0, - const VectorMax3d& p_t1, - const VectorMax3d& e0_t1, - const VectorMax3d& e1_t1, - const double toi_expected) -{ - double toi; - - TightInclusionCCD tight_inclusion_ccd; - tight_inclusion_ccd.conservative_rescaling = 1.0; - bool is_colliding = tight_inclusion_ccd.point_edge_ccd( - p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); - CHECK(is_colliding); - CHECK(toi <= toi_expected); - - const AdditiveCCD additive_ccd( - AdditiveCCD::UNLIMITTED_ITERATIONS, /*conservative_rescaling=*/0.99); - is_colliding = additive_ccd.point_edge_ccd( - p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); - CHECK(is_colliding); - CHECK(toi <= toi_expected); -} -} // namespace - -TEST_CASE("Point-edge CCD", "[ccd][point-edge]") -{ - int dim = GENERATE(2, 3); - VectorMax3d p_t0(2), p_t1(2), e0_t0(2); - VectorMax3d e0_t1(2), e1_t0(2), e1_t1(2); - double toi_expected; - bool is_collision_expected; - SECTION("Edge becomes degenerate") - { - p_t0 << 0, 1; - e0_t0 << -1, 0; - e1_t0 << 1, 0; - SECTION("Edge degenerates before impact") - { - p_t1 << 0, -1; - e0_t1 << 3, 0; - e1_t1 << -3, 0; - // The edge will become degenerate at t=0.25 - } - SECTION("Edge degenerates after impact") - { - p_t1 << 0, -1; - e0_t1 << 0.5, 0; - e1_t1 << -0.5, 0; - // The edge will become degenerate at t=2/3 - } - // The point will collide with the edge at t=0.5 - is_collision_expected = true; - toi_expected = 0.5; - } - SECTION("Edge moving right; point moving left") - { - p_t0 << -1, 0; - e0_t0 << 1, -1; - e1_t0 << 1, 1; - - p_t1 << 1, 0; - e0_t1 << -1, -1; - e1_t1 << -1, 1; - - is_collision_expected = true; - toi_expected = 0.5; - } - SECTION("Point on edge's line moving towards edge") - { - p_t0 << 0, 0; - e0_t0 << 0, 1; - e1_t0 << 0, 2; - - p_t1 << 0, 2; - e0_t1 << 0, 1; - e1_t1 << 0, 2; - - is_collision_expected = true; - toi_expected = 0.5; - } - SECTION("Point and edge moving parallel") - { - p_t0 << 0, 1; - e0_t0 << 1, 0; - e1_t0 << 1, 2; - - p_t1 << 0, 2; - e0_t1 << 1, 1; - e1_t1 << 1, 3; - - is_collision_expected = false; - } - SECTION("Point moving right; edge stretching vertically") - { - e1_t0 << 1, -1; - e1_t1 << 1, -2; - SECTION("Swap vertices order e_0 = [0, 2]") - { - p_t0 << 1, 1; - e0_t0 << 0, 0; - - p_t1 << 1, 2; - e0_t1 << 1, 0; - - std::swap(p_t0, e0_t0); - std::swap(p_t1, e0_t1); - } - SECTION("Swap vertices order e_0 = [1, 2]") - { - p_t0 << 0, 0; - e0_t0 << 1, 1; - - p_t1 << 1, 0; - e0_t1 << 1, 2; - } - is_collision_expected = true; - toi_expected = 1.0; - } - SECTION("Point-point") - { - p_t0 << 1.11111, 0.5; - p_t1 << 0.888889, 0.5; - e0_t0 << 1, 0.5; - e1_t0 << 1, 0.75; - e0_t1 = e0_t0; - e1_t1 = e1_t0; - - is_collision_expected = true; - toi_expected = 0.5; - } - - if (dim == 3) { - p_t0.conservativeResize(3); - p_t1.conservativeResize(3); - e0_t0.conservativeResize(3); - e0_t1.conservativeResize(3); - e1_t0.conservativeResize(3); - e1_t1.conservativeResize(3); - p_t0[2] = p_t1[2] = e0_t0[2] = e1_t0[2] = e0_t1[2] = e1_t1[2] = 0; - } - - CAPTURE( - p_t0.transpose(), e0_t0.transpose(), e1_t0.transpose(), - p_t1.transpose(), e0_t1.transpose(), e1_t1.transpose()); - - double toi; - bool is_colliding; - // = point_edge_ccd( - // p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi, - // /*min_distance=*/0.0, - // /*tmax=*/1.0, DEFAULT_CCD_TOLERANCE, DEFAULT_CCD_MAX_ITERATIONS, - // /*conservative_rescaling=*/1.0); - // REQUIRE(is_colliding == is_collision_expected); - // if (is_collision_expected) { - // CHECK(toi <= toi_expected); - // } - - const AdditiveCCD additive_ccd( - AdditiveCCD::DEFAULT_MAX_ITERATIONS, /*conservative_rescaling=*/0.99); - is_colliding = additive_ccd.point_edge_ccd( - p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); - REQUIRE(is_colliding == is_collision_expected); - if (is_collision_expected) { - CHECK(toi <= toi_expected); - } -} - -#ifdef IPC_TOOLKIT_WITH_INEXACT_CCD -TEST_CASE("Point-edge ToI", "[ccd][point-edge][toi][!mayfail]") -#else -TEST_CASE("Point-edge ToI", "[ccd][point-edge][toi]") -#endif -{ - const int dim = GENERATE(2, 3); - VectorMax3d p_t0(2), e0_t0(2), e1_t0(2); - VectorMax3d dp(2), de0(2), de1(2); - - double expected_toi = -1; - - SECTION("perpendicular") // (alpha=0.5) - { - p_t0 << 0.0, 1.0; - e0_t0 << -1.0, 0.0; - e1_t0 << 1.0, 0.0; - - // touches, intersects, passes-trough - auto vel = GENERATE(1.0 + 1e-6, 2.0, 4.0); - // moving direction: - // -> ->, -> -, -> <-, - <-, <- <- - auto j = GENERATE(0, 1, 2, 3, 4); - // extension, no-deform, compression, - auto dx = GENERATE(0.5, 0.0, -0.5); - - dp << 0.0, -(3 - j) * vel / 2.0; - de0 << -dx, (j - 1.0) * vel / 2.0; - de1 << dx, (j - 1.0) * vel / 2.0; - - expected_toi = 1.0 / vel; - } - - SECTION("double impact") // (rotating edge) - { - e0_t0 << -1.0, 0.0; - e1_t0 << 1.0, 0.0; - p_t0 << 0.0, 0.5; - - de0 << 1.6730970740318298, 0.8025388419628143; - de1 << -1.616142749786377, -0.6420311331748962; - dp << 0.0, -1.0; - - expected_toi = 0.4482900963; - } - - SECTION("random") - { - // This times out on Windows debug -#if defined(NDEBUG) || !(defined(WIN32) || defined(_WIN32) || defined(__WIN32)) - auto impact = GENERATE(random_impacts(100, /*rigid=*/true)); -#else - auto impact = GENERATE(random_impacts(10, /*rigid=*/true)); -#endif - - p_t0 = impact.p_t0; - e0_t0 = impact.e0_t0; - e1_t0 = impact.e1_t0; - - dp = impact.dp; - de0 = impact.de0; - de1 = impact.de1; - - expected_toi = impact.toi; - } - -#ifdef NDEBUG // This case takes forever to run - SECTION("parallel") // (alpha=0 || alpha = 1) - { - p_t0 << 0.5, 0.0; - e0_t0 << -0.5, 0.0; - e1_t0 << -1.5, 0.0; - - // touches, intersects, passes-trough - // double vel = GENERATE(1.0 + 1e-6, 2.0, 4.0); - double vel = 2.0; - // moving: both (same), ij, both (op), kl, both (same) - // double j = GENERATE(0, 1, 2, 3, 4); - double j = 0; - // extension, no-deform, compression, - // double dy = GENERATE(0.5, 0.0, -0.5); - double dy = 0.0; - - dp << -(3 - j) * vel / 2.0, 0.0; - de0 << (j - 1.0) * vel / 2.0, 0.0; - // we only move one so we don't change the toi - de1 << (j - 1.0) * vel / 2.0, dy; - - expected_toi = 1.0 / vel; - } -#endif - - VectorMax3d p_t1 = p_t0 + dp; - VectorMax3d e0_t1 = e0_t0 + de0; - VectorMax3d e1_t1 = e1_t0 + de1; - - if (dim == 3) { - p_t0.conservativeResize(3); - p_t1.conservativeResize(3); - e0_t0.conservativeResize(3); - e0_t1.conservativeResize(3); - e1_t0.conservativeResize(3); - e1_t1.conservativeResize(3); - p_t0[2] = p_t1[2] = e0_t0[2] = e1_t0[2] = e0_t1[2] = e1_t1[2] = 0; - } - - check_toi(p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, expected_toi); - // Flip the edges - check_toi(p_t0, e1_t0, e0_t0, p_t1, e1_t1, e0_t1, expected_toi); +#include + +#include + +#include +#include +#include + +using namespace ipc; + +namespace { +/// Compares the time of impact of different implementations +/// against the expected time of impact +void check_toi( + const VectorMax3d& p_t0, + const VectorMax3d& e0_t0, + const VectorMax3d& e1_t0, + const VectorMax3d& p_t1, + const VectorMax3d& e0_t1, + const VectorMax3d& e1_t1, + const double toi_expected) +{ + double toi; + + TightInclusionCCD tight_inclusion_ccd; + tight_inclusion_ccd.conservative_rescaling = 1.0; + bool is_colliding = tight_inclusion_ccd.point_edge_ccd( + p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); + CHECK(is_colliding); + CHECK(toi <= toi_expected); + + const AdditiveCCD additive_ccd( + AdditiveCCD::UNLIMITTED_ITERATIONS, /*conservative_rescaling=*/0.99); + is_colliding = additive_ccd.point_edge_ccd( + p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); + CHECK(is_colliding); + CHECK(toi <= toi_expected); +} +} // namespace + +TEST_CASE("Point-edge CCD", "[ccd][point-edge]") +{ + int dim = GENERATE(2, 3); + VectorMax3d p_t0(2), p_t1(2), e0_t0(2); + VectorMax3d e0_t1(2), e1_t0(2), e1_t1(2); + double toi_expected; + bool is_collision_expected; + SECTION("Edge becomes degenerate") + { + p_t0 << 0, 1; + e0_t0 << -1, 0; + e1_t0 << 1, 0; + SECTION("Edge degenerates before impact") + { + p_t1 << 0, -1; + e0_t1 << 3, 0; + e1_t1 << -3, 0; + // The edge will become degenerate at t=0.25 + } + SECTION("Edge degenerates after impact") + { + p_t1 << 0, -1; + e0_t1 << 0.5, 0; + e1_t1 << -0.5, 0; + // The edge will become degenerate at t=2/3 + } + // The point will collide with the edge at t=0.5 + is_collision_expected = true; + toi_expected = 0.5; + } + SECTION("Edge moving right; point moving left") + { + p_t0 << -1, 0; + e0_t0 << 1, -1; + e1_t0 << 1, 1; + + p_t1 << 1, 0; + e0_t1 << -1, -1; + e1_t1 << -1, 1; + + is_collision_expected = true; + toi_expected = 0.5; + } + SECTION("Point on edge's line moving towards edge") + { + p_t0 << 0, 0; + e0_t0 << 0, 1; + e1_t0 << 0, 2; + + p_t1 << 0, 2; + e0_t1 << 0, 1; + e1_t1 << 0, 2; + + is_collision_expected = true; + toi_expected = 0.5; + } + SECTION("Point and edge moving parallel") + { + p_t0 << 0, 1; + e0_t0 << 1, 0; + e1_t0 << 1, 2; + + p_t1 << 0, 2; + e0_t1 << 1, 1; + e1_t1 << 1, 3; + + is_collision_expected = false; + } + SECTION("Point moving right; edge stretching vertically") + { + e1_t0 << 1, -1; + e1_t1 << 1, -2; + SECTION("Swap vertices order e_0 = [0, 2]") + { + p_t0 << 1, 1; + e0_t0 << 0, 0; + + p_t1 << 1, 2; + e0_t1 << 1, 0; + + std::swap(p_t0, e0_t0); + std::swap(p_t1, e0_t1); + } + SECTION("Swap vertices order e_0 = [1, 2]") + { + p_t0 << 0, 0; + e0_t0 << 1, 1; + + p_t1 << 1, 0; + e0_t1 << 1, 2; + } + is_collision_expected = true; + toi_expected = 1.0; + } + SECTION("Point-point") + { + p_t0 << 1.11111, 0.5; + p_t1 << 0.888889, 0.5; + e0_t0 << 1, 0.5; + e1_t0 << 1, 0.75; + e0_t1 = e0_t0; + e1_t1 = e1_t0; + + is_collision_expected = true; + toi_expected = 0.5; + } + + if (dim == 3) { + p_t0.conservativeResize(3); + p_t1.conservativeResize(3); + e0_t0.conservativeResize(3); + e0_t1.conservativeResize(3); + e1_t0.conservativeResize(3); + e1_t1.conservativeResize(3); + p_t0[2] = p_t1[2] = e0_t0[2] = e1_t0[2] = e0_t1[2] = e1_t1[2] = 0; + } + + CAPTURE( + p_t0.transpose(), e0_t0.transpose(), e1_t0.transpose(), + p_t1.transpose(), e0_t1.transpose(), e1_t1.transpose()); + + double toi; + bool is_colliding; + // = point_edge_ccd( + // p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi, + // /*min_distance=*/0.0, + // /*tmax=*/1.0, DEFAULT_CCD_TOLERANCE, DEFAULT_CCD_MAX_ITERATIONS, + // /*conservative_rescaling=*/1.0); + // REQUIRE(is_colliding == is_collision_expected); + // if (is_collision_expected) { + // CHECK(toi <= toi_expected); + // } + + const AdditiveCCD additive_ccd( + AdditiveCCD::DEFAULT_MAX_ITERATIONS, /*conservative_rescaling=*/0.99); + is_colliding = additive_ccd.point_edge_ccd( + p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, toi); + REQUIRE(is_colliding == is_collision_expected); + if (is_collision_expected) { + CHECK(toi <= toi_expected); + } +} + +#ifdef IPC_TOOLKIT_WITH_INEXACT_CCD +TEST_CASE("Point-edge ToI", "[ccd][point-edge][toi][!mayfail]") +#else +TEST_CASE("Point-edge ToI", "[ccd][point-edge][toi]") +#endif +{ + const int dim = GENERATE(2, 3); + VectorMax3d p_t0(2), e0_t0(2), e1_t0(2); + VectorMax3d dp(2), de0(2), de1(2); + + double expected_toi = -1; + + SECTION("perpendicular") // (alpha=0.5) + { + p_t0 << 0.0, 1.0; + e0_t0 << -1.0, 0.0; + e1_t0 << 1.0, 0.0; + + // touches, intersects, passes-trough + auto vel = GENERATE(1.0 + 1e-6, 2.0, 4.0); + // moving direction: + // -> ->, -> -, -> <-, - <-, <- <- + auto j = GENERATE(0, 1, 2, 3, 4); + // extension, no-deform, compression, + auto dx = GENERATE(0.5, 0.0, -0.5); + + dp << 0.0, -(3 - j) * vel / 2.0; + de0 << -dx, (j - 1.0) * vel / 2.0; + de1 << dx, (j - 1.0) * vel / 2.0; + + expected_toi = 1.0 / vel; + } + + SECTION("double impact") // (rotating edge) + { + e0_t0 << -1.0, 0.0; + e1_t0 << 1.0, 0.0; + p_t0 << 0.0, 0.5; + + de0 << 1.6730970740318298, 0.8025388419628143; + de1 << -1.616142749786377, -0.6420311331748962; + dp << 0.0, -1.0; + + expected_toi = 0.4482900963; + } + + SECTION("random") + { + // This times out on Windows debug +#if defined(NDEBUG) || !(defined(WIN32) || defined(_WIN32) || defined(__WIN32)) + auto impact = GENERATE(random_impacts(100, /*rigid=*/true)); +#else + auto impact = GENERATE(random_impacts(10, /*rigid=*/true)); +#endif + + p_t0 = impact.p_t0; + e0_t0 = impact.e0_t0; + e1_t0 = impact.e1_t0; + + dp = impact.dp; + de0 = impact.de0; + de1 = impact.de1; + + expected_toi = impact.toi; + } + +#ifdef NDEBUG // This case takes forever to run + SECTION("parallel") // (alpha=0 || alpha = 1) + { + p_t0 << 0.5, 0.0; + e0_t0 << -0.5, 0.0; + e1_t0 << -1.5, 0.0; + + // touches, intersects, passes-trough + // double vel = GENERATE(1.0 + 1e-6, 2.0, 4.0); + double vel = 2.0; + // moving: both (same), ij, both (op), kl, both (same) + // double j = GENERATE(0, 1, 2, 3, 4); + double j = 0; + // extension, no-deform, compression, + // double dy = GENERATE(0.5, 0.0, -0.5); + double dy = 0.0; + + dp << -(3 - j) * vel / 2.0, 0.0; + de0 << (j - 1.0) * vel / 2.0, 0.0; + // we only move one so we don't change the toi + de1 << (j - 1.0) * vel / 2.0, dy; + + expected_toi = 1.0 / vel; + } +#endif + + VectorMax3d p_t1 = p_t0 + dp; + VectorMax3d e0_t1 = e0_t0 + de0; + VectorMax3d e1_t1 = e1_t0 + de1; + + if (dim == 3) { + p_t0.conservativeResize(3); + p_t1.conservativeResize(3); + e0_t0.conservativeResize(3); + e0_t1.conservativeResize(3); + e1_t0.conservativeResize(3); + e1_t1.conservativeResize(3); + p_t0[2] = p_t1[2] = e0_t0[2] = e1_t0[2] = e0_t1[2] = e1_t1[2] = 0; + } + + check_toi(p_t0, e0_t0, e1_t0, p_t1, e0_t1, e1_t1, expected_toi); + // Flip the edges + check_toi(p_t0, e1_t0, e0_t0, p_t1, e1_t1, e0_t1, expected_toi); } \ No newline at end of file diff --git a/tests/src/tests/ccd/test_point_point_ccd.cpp b/tests/src/tests/ccd/test_point_point_ccd.cpp index cc617d4e1..f0d42edd3 100644 --- a/tests/src/tests/ccd/test_point_point_ccd.cpp +++ b/tests/src/tests/ccd/test_point_point_ccd.cpp @@ -1,39 +1,39 @@ -#include -#include -#include - -#include -#include -#include - -using namespace ipc; - -TEST_CASE("Point-point CCD", "[ccd][point-point]") -{ - const int dim = GENERATE(2, 3); - const Eigen::Vector3d p0_t0_3D(0.0, 0.0, 0.0), p0_t1_3D(1.0, 1.0, 1.0); - const Eigen::Vector3d p1_t0_3D(1.0, 1.0, 0.0), p1_t1_3D(0.0, 0.0, 1.0); - const VectorMax3d p0_t0 = p0_t0_3D.head(dim), p0_t1 = p0_t1_3D.head(dim); - const VectorMax3d p1_t0 = p1_t0_3D.head(dim), p1_t1 = p1_t1_3D.head(dim); - - const double min_distance = GENERATE(0, 1e-6, 1e-4, 1e-2); - - double toi; - - const TightInclusionCCD tight_inclusion_ccd; - bool is_colliding = tight_inclusion_ccd.point_point_ccd( - p0_t0, p1_t0, p0_t1, p1_t1, toi, min_distance); - - // Check the results - CHECK(is_colliding); - CHECK(toi == Catch::Approx(0.5).margin(1e-3)); - - const AdditiveCCD additive_ccd( - AdditiveCCD::UNLIMITTED_ITERATIONS, /*conservative_rescaling=*/0.999); - is_colliding = additive_ccd.point_point_ccd( - p0_t0, p1_t0, p0_t1, p1_t1, toi, min_distance); - - // Check the results - CHECK(is_colliding); - CHECK(toi == Catch::Approx(0.5).margin(1e-3)); +#include +#include +#include + +#include +#include +#include + +using namespace ipc; + +TEST_CASE("Point-point CCD", "[ccd][point-point]") +{ + const int dim = GENERATE(2, 3); + const Eigen::Vector3d p0_t0_3D(0.0, 0.0, 0.0), p0_t1_3D(1.0, 1.0, 1.0); + const Eigen::Vector3d p1_t0_3D(1.0, 1.0, 0.0), p1_t1_3D(0.0, 0.0, 1.0); + const VectorMax3d p0_t0 = p0_t0_3D.head(dim), p0_t1 = p0_t1_3D.head(dim); + const VectorMax3d p1_t0 = p1_t0_3D.head(dim), p1_t1 = p1_t1_3D.head(dim); + + const double min_distance = GENERATE(0, 1e-6, 1e-4, 1e-2); + + double toi; + + const TightInclusionCCD tight_inclusion_ccd; + bool is_colliding = tight_inclusion_ccd.point_point_ccd( + p0_t0, p1_t0, p0_t1, p1_t1, toi, min_distance); + + // Check the results + CHECK(is_colliding); + CHECK(toi == Catch::Approx(0.5).margin(1e-3)); + + const AdditiveCCD additive_ccd( + AdditiveCCD::UNLIMITTED_ITERATIONS, /*conservative_rescaling=*/0.999); + is_colliding = additive_ccd.point_point_ccd( + p0_t0, p1_t0, p0_t1, p1_t1, toi, min_distance); + + // Check the results + CHECK(is_colliding); + CHECK(toi == Catch::Approx(0.5).margin(1e-3)); } \ No newline at end of file diff --git a/tests/src/tests/friction/friction_data_generator.cpp b/tests/src/tests/friction/friction_data_generator.cpp index da4a52822..a64ab9e77 100644 --- a/tests/src/tests/friction/friction_data_generator.cpp +++ b/tests/src/tests/friction/friction_data_generator.cpp @@ -1,140 +1,140 @@ -#include "friction_data_generator.hpp" - -#include -#include -#include - -Eigen::VectorXd LogSpaced(int num, double start, double stop, double base) -{ - return pow(base, Eigen::VectorXd::LinSpaced(num, start, stop).array()); -} - -Eigen::VectorXd GeomSpaced(int num, double start, double stop) -{ - return LogSpaced(num, log10(start), log10(stop), /*base=*/10); -} - -FrictionData friction_data_generator() -{ - FrictionData data; - - auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = data; - - collisions.set_enable_shape_derivatives(true); - - mu = GENERATE(range(0.0, 1.0, 0.2)); - s_mu = GENERATE(range(0.0, 1.0, 0.2)); - k_mu = GENERATE(range(0.0, 1.0, 0.2)); - -#ifdef NDEBUG - epsv_times_h = pow(10, GENERATE(range(-6, 0))); - dhat = pow(10, GENERATE(range(-4, 0))); - barrier_stiffness = pow(10, GENERATE(range(0, 2))); -#else - epsv_times_h = pow(10, GENERATE(range(-6, 0, 2))); - dhat = pow(10, GENERATE(range(-4, 0, 2))); - barrier_stiffness = 100; -#endif - - const double max_d = dhat - 2e-8; - const double d = GENERATE_COPY(range(0.0, max_d, max_d / 10)); - SECTION("point-triangle") - { - V0.resize(4, 3); - V0.row(0) << 0, d, 0; // point at t=0 - V0.row(1) << -1, 0, 1; // triangle vertex 0 at t=0 - V0.row(2) << 2, 0, 0; // triangle vertex 1 at t=0 - V0.row(3) << -1, 0, -1; // triangle vertex 2 at t=0 - - V1 = V0; - double dy = GENERATE(-1, 1, 1e-1); - V1.row(0) << 1, d + dy, 0; // point at t=1 - - F.resize(1, 3); - F << 1, 2, 3; - igl::edges(F, E); - REQUIRE(E.rows() == 3); - - collisions.fv_collisions.emplace_back(0, 0); - collisions.fv_collisions.back().weight_gradient.resize(V0.size()); - } - SECTION("edge-edge") - { - V0.resize(4, 3); - V0.row(0) << -1, d, 0; // edge a vertex 0 at t=0 - V0.row(1) << 1, d, 0; // edge a vertex 1 at t=0 - V0.row(2) << 0, 0, -1; // edge b vertex 0 at t=0 - V0.row(3) << 0, 0, 1; // edge b vertex 1 at t=0 - - V1 = V0; - V1.row(0) << 0.5, d, 0; // edge a vertex 0 at t=1 - V1.row(1) << 2.5, d, 0; // edge a vertex 1 at t=1 - - E.resize(2, 2); - E.row(0) << 0, 1; - E.row(1) << 2, 3; - - collisions.ee_collisions.emplace_back(0, 1, 0.0); - collisions.ee_collisions.back().weight_gradient.resize(V0.size()); - } - SECTION("point-edge") - { - V0.resize(3, 3); - V0.row(0) << -0.5, d, 0; // point at t=0 - V0.row(1) << 0, 0, -1; // edge vertex 0 at t=0 - V0.row(2) << 0, 0, 1; // edge vertex 1 at t=0 - - V1 = V0; - V1.row(0) << 0.5, d, 0; // point at t=1 - - E.resize(1, 2); - E.row(0) << 1, 2; - - collisions.ev_collisions.emplace_back(0, 1); - collisions.ev_collisions.back().weight_gradient.resize(V0.size()); - } - SECTION("point-point") - { - V0.resize(2, 3); - V0.row(0) << -1, d, 0; // point 0 at t=0 - V0.row(1) << 1, d, 0; // point 1 at t=0 - - V1 = V0; - V1.row(0) << 0.5, d, 0; // point 0 at t=1 - V1.row(1) << -0.5, d, 0; // point 1 at t=1 - - collisions.vv_collisions.emplace_back(0, 1); - collisions.vv_collisions.back().weight_gradient.resize(V0.size()); - } - SECTION("point-edge 2D") - { - V0.resize(3, 2); - V0.row(0) << -0.5, d; // point at t=0 - V0.row(1) << -1, 0; // edge vertex 0 at t=0 - V0.row(2) << 1, 0; // edge vertex 1 at t=0 - - V1 = V0; - V1.row(0) << 0.5, d; // point at t=1 - - E.resize(1, 2); - E.row(0) << 1, 2; - - collisions.ev_collisions.emplace_back(0, 1); - collisions.ev_collisions.back().weight_gradient.resize(V0.size()); - } - SECTION("point-point 2D") - { - V0.resize(2, 2); - V0.row(0) << -1, d; // point 0 at t=0 - V0.row(1) << 1, d; // point 1 at t=0 - - V1 = V0; - V1.row(0) << 0.5, d; // point 0 at t=1 - V1.row(1) << -0.5, d; // point 1 at t=1 - - collisions.vv_collisions.emplace_back(0, 1); - collisions.vv_collisions.back().weight_gradient.resize(V0.size()); - } - - return data; -} +#include "friction_data_generator.hpp" + +#include +#include +#include + +Eigen::VectorXd LogSpaced(int num, double start, double stop, double base) +{ + return pow(base, Eigen::VectorXd::LinSpaced(num, start, stop).array()); +} + +Eigen::VectorXd GeomSpaced(int num, double start, double stop) +{ + return LogSpaced(num, log10(start), log10(stop), /*base=*/10); +} + +FrictionData friction_data_generator() +{ + FrictionData data; + + auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = data; + + collisions.set_enable_shape_derivatives(true); + + mu = GENERATE(range(0.0, 1.0, 0.2)); + s_mu = GENERATE(range(0.0, 1.0, 0.2)); + k_mu = GENERATE(range(0.0, 1.0, 0.2)); + +#ifdef NDEBUG + epsv_times_h = pow(10, GENERATE(range(-6, 0))); + dhat = pow(10, GENERATE(range(-4, 0))); + barrier_stiffness = pow(10, GENERATE(range(0, 2))); +#else + epsv_times_h = pow(10, GENERATE(range(-6, 0, 2))); + dhat = pow(10, GENERATE(range(-4, 0, 2))); + barrier_stiffness = 100; +#endif + + const double max_d = dhat - 2e-8; + const double d = GENERATE_COPY(range(0.0, max_d, max_d / 10)); + SECTION("point-triangle") + { + V0.resize(4, 3); + V0.row(0) << 0, d, 0; // point at t=0 + V0.row(1) << -1, 0, 1; // triangle vertex 0 at t=0 + V0.row(2) << 2, 0, 0; // triangle vertex 1 at t=0 + V0.row(3) << -1, 0, -1; // triangle vertex 2 at t=0 + + V1 = V0; + double dy = GENERATE(-1, 1, 1e-1); + V1.row(0) << 1, d + dy, 0; // point at t=1 + + F.resize(1, 3); + F << 1, 2, 3; + igl::edges(F, E); + REQUIRE(E.rows() == 3); + + collisions.fv_collisions.emplace_back(0, 0); + collisions.fv_collisions.back().weight_gradient.resize(V0.size()); + } + SECTION("edge-edge") + { + V0.resize(4, 3); + V0.row(0) << -1, d, 0; // edge a vertex 0 at t=0 + V0.row(1) << 1, d, 0; // edge a vertex 1 at t=0 + V0.row(2) << 0, 0, -1; // edge b vertex 0 at t=0 + V0.row(3) << 0, 0, 1; // edge b vertex 1 at t=0 + + V1 = V0; + V1.row(0) << 0.5, d, 0; // edge a vertex 0 at t=1 + V1.row(1) << 2.5, d, 0; // edge a vertex 1 at t=1 + + E.resize(2, 2); + E.row(0) << 0, 1; + E.row(1) << 2, 3; + + collisions.ee_collisions.emplace_back(0, 1, 0.0); + collisions.ee_collisions.back().weight_gradient.resize(V0.size()); + } + SECTION("point-edge") + { + V0.resize(3, 3); + V0.row(0) << -0.5, d, 0; // point at t=0 + V0.row(1) << 0, 0, -1; // edge vertex 0 at t=0 + V0.row(2) << 0, 0, 1; // edge vertex 1 at t=0 + + V1 = V0; + V1.row(0) << 0.5, d, 0; // point at t=1 + + E.resize(1, 2); + E.row(0) << 1, 2; + + collisions.ev_collisions.emplace_back(0, 1); + collisions.ev_collisions.back().weight_gradient.resize(V0.size()); + } + SECTION("point-point") + { + V0.resize(2, 3); + V0.row(0) << -1, d, 0; // point 0 at t=0 + V0.row(1) << 1, d, 0; // point 1 at t=0 + + V1 = V0; + V1.row(0) << 0.5, d, 0; // point 0 at t=1 + V1.row(1) << -0.5, d, 0; // point 1 at t=1 + + collisions.vv_collisions.emplace_back(0, 1); + collisions.vv_collisions.back().weight_gradient.resize(V0.size()); + } + SECTION("point-edge 2D") + { + V0.resize(3, 2); + V0.row(0) << -0.5, d; // point at t=0 + V0.row(1) << -1, 0; // edge vertex 0 at t=0 + V0.row(2) << 1, 0; // edge vertex 1 at t=0 + + V1 = V0; + V1.row(0) << 0.5, d; // point at t=1 + + E.resize(1, 2); + E.row(0) << 1, 2; + + collisions.ev_collisions.emplace_back(0, 1); + collisions.ev_collisions.back().weight_gradient.resize(V0.size()); + } + SECTION("point-point 2D") + { + V0.resize(2, 2); + V0.row(0) << -1, d; // point 0 at t=0 + V0.row(1) << 1, d; // point 1 at t=0 + + V1 = V0; + V1.row(0) << 0.5, d; // point 0 at t=1 + V1.row(1) << -0.5, d; // point 1 at t=1 + + collisions.vv_collisions.emplace_back(0, 1); + collisions.vv_collisions.back().weight_gradient.resize(V0.size()); + } + + return data; +} diff --git a/tests/src/tests/friction/friction_data_generator.hpp b/tests/src/tests/friction/friction_data_generator.hpp index 1e6ede9dd..6c04f55d9 100644 --- a/tests/src/tests/friction/friction_data_generator.hpp +++ b/tests/src/tests/friction/friction_data_generator.hpp @@ -1,24 +1,24 @@ -#pragma once - -#include - -#include - -struct FrictionData { - Eigen::MatrixXd V0; - Eigen::MatrixXd V1; - Eigen::MatrixXi E; - Eigen::MatrixXi F; - ipc::NormalCollisions collisions; - double mu; - double s_mu; - double k_mu; - double epsv_times_h; - double p; - double barrier_stiffness; -}; - -Eigen::VectorXd LogSpaced(int num, double start, double stop, double base = 10); -Eigen::VectorXd GeomSpaced(int num, double start, double stop); - +#pragma once + +#include + +#include + +struct FrictionData { + Eigen::MatrixXd V0; + Eigen::MatrixXd V1; + Eigen::MatrixXi E; + Eigen::MatrixXi F; + ipc::NormalCollisions collisions; + double mu; + double s_mu; + double k_mu; + double epsv_times_h; + double p; + double barrier_stiffness; +}; + +Eigen::VectorXd LogSpaced(int num, double start, double stop, double base = 10); +Eigen::VectorXd GeomSpaced(int num, double start, double stop); + FrictionData friction_data_generator(); \ No newline at end of file diff --git a/tests/src/tests/friction/test_force_jacobian.cpp b/tests/src/tests/friction/test_force_jacobian.cpp index 8ace385b7..b41de3d8d 100644 --- a/tests/src/tests/friction/test_force_jacobian.cpp +++ b/tests/src/tests/friction/test_force_jacobian.cpp @@ -1,344 +1,344 @@ -#include -#include -#include - -#include - -#include -#include -#include -#include - -#include -#include - -using namespace ipc; - -void check_friction_force_jacobian( - const CollisionMesh& mesh, - const Eigen::MatrixXd& Ut, - const Eigen::MatrixXd& U, - const NormalCollisions& collisions, - const double mu, - const double epsv_times_h, - const double dhat, - const double barrier_stiffness, - const bool recompute_collisions) -{ - REQUIRE(collisions.enable_shape_derivatives()); - - const Eigen::MatrixXd& X = mesh.rest_positions(); - double distance_t0 = collisions.compute_minimum_distance(mesh, X + Ut); - double distance_t1 = collisions.compute_minimum_distance(mesh, X + U); - // CHECK((distance_t0 < dhat || distance_t1 < dhat)); - if (distance_t0 == 0 || distance_t1 == 0) { - return; - } - - const Eigen::MatrixXd velocities = U - Ut; - - CAPTURE( - mu, epsv_times_h, dhat, barrier_stiffness, - collisions.vv_collisions.size(), collisions.ev_collisions.size(), - collisions.ee_collisions.size(), collisions.fv_collisions.size()); - - TangentialCollisions tangential_collisions; - tangential_collisions.build( - mesh, X + Ut, collisions, BarrierPotential(dhat), barrier_stiffness, - mu); - CHECK(tangential_collisions.size()); - - const FrictionPotential D(epsv_times_h); - - /////////////////////////////////////////////////////////////////////////// - - Eigen::MatrixXd JPA_wrt_X(mesh.num_vertices(), mesh.ndof()); - for (int i = 0; i < mesh.num_vertices(); i++) { - JPA_wrt_X.row(i) = Eigen::VectorXd(mesh.vertex_area_gradient(i)); - } - auto PA_X = [&](const Eigen::VectorXd& x) { - CollisionMesh fd_mesh( - fd::unflatten(x, X.cols()), mesh.edges(), mesh.faces()); - return fd_mesh.vertex_areas(); - }; - Eigen::MatrixXd fd_JPA_wrt_X; - fd::finite_jacobian(fd::flatten(X), PA_X, fd_JPA_wrt_X); - - CHECKED_ELSE(fd::compare_jacobian(JPA_wrt_X, fd_JPA_wrt_X)) - { - tests::print_compare_nonzero(JPA_wrt_X, fd_JPA_wrt_X); - } - - /////////////////////////////////////////////////////////////////////////// - - Eigen::MatrixXd JEA_wrt_X(mesh.num_edges(), mesh.ndof()); - for (int i = 0; i < mesh.num_edges(); i++) { - JEA_wrt_X.row(i) = Eigen::VectorXd(mesh.edge_area_gradient(i)); - } - auto EA_X = [&](const Eigen::VectorXd& x) { - CollisionMesh fd_mesh( - fd::unflatten(x, X.cols()), mesh.edges(), mesh.faces()); - return fd_mesh.edge_areas(); - }; - Eigen::MatrixXd fd_JEA_wrt_X; - fd::finite_jacobian(fd::flatten(X), EA_X, fd_JEA_wrt_X); - - CHECKED_ELSE(fd::compare_jacobian(JEA_wrt_X, fd_JEA_wrt_X)) - { - tests::print_compare_nonzero(JEA_wrt_X, fd_JEA_wrt_X); - } - - /////////////////////////////////////////////////////////////////////////// - - Eigen::MatrixXd JF_wrt_X = D.force_jacobian( - tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), - barrier_stiffness, FrictionPotential::DiffWRT::REST_POSITIONS); - - auto F_X = [&](const Eigen::VectorXd& x) { - Eigen::MatrixXd fd_X = fd::unflatten(x, X.cols()); - - CollisionMesh fd_mesh(fd_X, mesh.edges(), mesh.faces()); - fd_mesh.init_area_jacobians(); - - TangentialCollisions fd_friction_collisions; - if (recompute_collisions) { - NormalCollisions fd_collisions; - fd_collisions.set_use_area_weighting( - collisions.use_area_weighting()); - fd_collisions.set_use_improved_max_approximator( - collisions.use_improved_max_approximator()); - fd_collisions.set_enable_shape_derivatives(true); - fd_collisions.build(fd_mesh, fd_X + Ut, dhat); - - fd_friction_collisions.build( - fd_mesh, fd_X + Ut, fd_collisions, BarrierPotential(dhat), - barrier_stiffness, mu); - } else { - fd_friction_collisions = tangential_collisions; - } - - return D.force( - fd_friction_collisions, fd_mesh, fd_X, Ut, velocities, - BarrierPotential(dhat), barrier_stiffness); - }; - Eigen::MatrixXd fd_JF_wrt_X; - fd::finite_jacobian(fd::flatten(X), F_X, fd_JF_wrt_X); - - CHECKED_ELSE(fd::compare_jacobian(JF_wrt_X, fd_JF_wrt_X)) - { - tests::print_compare_nonzero(JF_wrt_X, fd_JF_wrt_X); - } - - /////////////////////////////////////////////////////////////////////////// - - Eigen::MatrixXd JF_wrt_Ut = D.force_jacobian( - tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), - barrier_stiffness, FrictionPotential::DiffWRT::LAGGED_DISPLACEMENTS); - - auto F_Ut = [&](const Eigen::VectorXd& ut) { - Eigen::MatrixXd fd_Ut = fd::unflatten(ut, Ut.cols()); - - TangentialCollisions fd_friction_collisions; - if (recompute_collisions) { - NormalCollisions fd_collisions; - fd_collisions.set_use_area_weighting( - collisions.use_area_weighting()); - fd_collisions.set_use_improved_max_approximator( - collisions.use_improved_max_approximator()); - fd_collisions.set_enable_shape_derivatives(true); - fd_collisions.build(mesh, X + fd_Ut, dhat); - - fd_friction_collisions.build( - mesh, X + fd_Ut, fd_collisions, BarrierPotential(dhat), - barrier_stiffness, mu); - } else { - fd_friction_collisions = tangential_collisions; - } - - return D.force( - tangential_collisions, mesh, X, fd_Ut, velocities, - BarrierPotential(dhat), barrier_stiffness); - }; - Eigen::MatrixXd fd_JF_wrt_Ut; - fd::finite_jacobian(fd::flatten(Ut), F_Ut, fd_JF_wrt_Ut); - - CHECKED_ELSE(fd::compare_jacobian(JF_wrt_Ut, fd_JF_wrt_Ut)) - { - tests::print_compare_nonzero(JF_wrt_Ut, fd_JF_wrt_Ut); - } - - /////////////////////////////////////////////////////////////////////////// - - Eigen::MatrixXd JF_wrt_V = D.force_jacobian( - tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), - barrier_stiffness, FrictionPotential::DiffWRT::VELOCITIES); - - auto F_V = [&](const Eigen::VectorXd& v) { - return D.force( - tangential_collisions, mesh, X, Ut, - fd::unflatten(v, velocities.cols()), BarrierPotential(dhat), - barrier_stiffness); - }; - Eigen::MatrixXd fd_JF_wrt_V; - fd::finite_jacobian(fd::flatten(velocities), F_V, fd_JF_wrt_V); - - CHECKED_ELSE(fd::compare_jacobian(JF_wrt_V, fd_JF_wrt_V)) - { - tests::print_compare_nonzero(JF_wrt_V, fd_JF_wrt_V); - } - - /////////////////////////////////////////////////////////////////////////// - - const Eigen::MatrixXd hess_D = - D.hessian(tangential_collisions, mesh, velocities); - - auto grad = [&](const Eigen::VectorXd& v) { - return D.gradient( - tangential_collisions, mesh, fd::unflatten(v, velocities.cols())); - }; - Eigen::MatrixXd fd_hessian; - fd::finite_jacobian(fd::flatten(velocities), grad, fd_hessian); - - CHECKED_ELSE(fd::compare_jacobian(hess_D, fd_hessian)) - { - tests::print_compare_nonzero(hess_D, fd_hessian); - } - - /////////////////////////////////////////////////////////////////////////// - - const Eigen::VectorXd force = D.force( - tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), - barrier_stiffness); - const Eigen::VectorXd grad_D = - D.gradient(tangential_collisions, mesh, velocities); - CHECK(fd::compare_gradient(-force, grad_D)); - - /////////////////////////////////////////////////////////////////////////// - - Eigen::MatrixXd jac_force = D.force_jacobian( - tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), - barrier_stiffness, FrictionPotential::DiffWRT::VELOCITIES); - CHECK(fd::compare_jacobian(-jac_force, hess_D)); -} - -TEST_CASE("Friction force jacobian", "[friction][force-jacobian]") -{ - const int x_case = GENERATE(0, 1); - FrictionData data = friction_data_generator(); - const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu,epsv_times_h, dhat, barrier_stiffness] = - data; - REQUIRE(collisions.enable_shape_derivatives()); - - Eigen::MatrixXd X, Ut, U; - switch (x_case) { - case 0: - X = V0; - break; - case 1: - default: - X = V0 - (V1 - V0); - break; - } - Ut = V0 - X; - U = V1 - X; - - CollisionMesh mesh(X, E, F); - mesh.init_area_jacobians(); - - check_friction_force_jacobian( - mesh, Ut, U, collisions, mu, epsv_times_h, dhat, barrier_stiffness, - false); -} - -TEST_CASE( - "Friction force jacobian on real data", - "[friction][force-jacobian][real-data]") -{ - bool use_area_weighting = GENERATE(true, false); - bool use_improved_max_approximator = GENERATE(true, false); - - std::string scene; - bool is_2D = true; - double mu, dhat, kappa, epsv_dt; - SECTION("point-plane") - { - scene = "point-plane"; - mu = 0.5; - dhat = 0.1; - kappa = 141; - epsv_dt = 5e-6; - } - SECTION("square-circle") - { - scene = "square-circle"; - mu = 0.5; - dhat = 1e-3; - // kappa = 67873353; - kappa = 67873353 / 10 * dhat; - epsv_dt = 1e-4; - } - SECTION("square-circle-dense") - { - scene = "square-circle-dense"; - mu = 0.5; - dhat = 1e-2; - kappa = GENERATE(8.6e9, 1e6); - epsv_dt = 1.5e-5; - } - // SECTION("square-incline") - // { - // scene = "square-incline"; - // mu = 0.5; - // dhat = 0.1; - // kappa = 141; - // epsv_dt = 5e-6; - // } - - CAPTURE( - scene, mu, dhat, kappa, epsv_dt, use_area_weighting, - use_improved_max_approximator); - - Eigen::MatrixXd X, Ut, U; - Eigen::MatrixXi E, F; - { - const auto dir = tests::DATA_DIR / "friction-force-jacobian" / scene; - X = tests::loadMarketXd((dir / "X.mtx").string()); - Ut = tests::loadMarketXd((dir / "Ut.mtx").string()); - Ut = fd::unflatten(Ut, X.cols()); - U = tests::loadMarketXd((dir / "U.mtx").string()); - U = fd::unflatten(U, X.cols()); - if (is_2D) { - E = tests::loadMarketXi((dir / "F.mtx").string()); - } else { - F = tests::loadMarketXi((dir / "F.mtx").string()); - igl::edges(F, E); - } - } - - std::vector is_on_surface = - CollisionMesh::construct_is_on_surface(X.rows(), E); - CollisionMesh mesh(is_on_surface, X, E, F); - mesh.init_area_jacobians(); - - X = mesh.vertices(X); - if (Ut.rows() != X.rows()) { - Ut = mesh.vertices(Ut); - } - if (U.rows() != X.rows()) { - U = mesh.vertices(U); - } - - NormalCollisions collisions; - collisions.set_use_area_weighting(use_area_weighting); - collisions.set_use_improved_max_approximator(use_improved_max_approximator); - collisions.set_enable_shape_derivatives(true); - collisions.build(mesh, X + Ut, dhat); - - REQUIRE(collisions.enable_shape_derivatives()); - - CHECK(collisions.compute_minimum_distance(mesh, X + Ut) != 0); - CHECK(collisions.compute_minimum_distance(mesh, X + U) != 0); - - check_friction_force_jacobian( - mesh, Ut, U, collisions, mu, epsv_dt, dhat, kappa, true); -} +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include + +using namespace ipc; + +void check_friction_force_jacobian( + const CollisionMesh& mesh, + const Eigen::MatrixXd& Ut, + const Eigen::MatrixXd& U, + const NormalCollisions& collisions, + const double mu, + const double epsv_times_h, + const double dhat, + const double barrier_stiffness, + const bool recompute_collisions) +{ + REQUIRE(collisions.enable_shape_derivatives()); + + const Eigen::MatrixXd& X = mesh.rest_positions(); + double distance_t0 = collisions.compute_minimum_distance(mesh, X + Ut); + double distance_t1 = collisions.compute_minimum_distance(mesh, X + U); + // CHECK((distance_t0 < dhat || distance_t1 < dhat)); + if (distance_t0 == 0 || distance_t1 == 0) { + return; + } + + const Eigen::MatrixXd velocities = U - Ut; + + CAPTURE( + mu, epsv_times_h, dhat, barrier_stiffness, + collisions.vv_collisions.size(), collisions.ev_collisions.size(), + collisions.ee_collisions.size(), collisions.fv_collisions.size()); + + TangentialCollisions tangential_collisions; + tangential_collisions.build( + mesh, X + Ut, collisions, BarrierPotential(dhat), barrier_stiffness, + mu); + CHECK(tangential_collisions.size()); + + const FrictionPotential D(epsv_times_h); + + /////////////////////////////////////////////////////////////////////////// + + Eigen::MatrixXd JPA_wrt_X(mesh.num_vertices(), mesh.ndof()); + for (int i = 0; i < mesh.num_vertices(); i++) { + JPA_wrt_X.row(i) = Eigen::VectorXd(mesh.vertex_area_gradient(i)); + } + auto PA_X = [&](const Eigen::VectorXd& x) { + CollisionMesh fd_mesh( + fd::unflatten(x, X.cols()), mesh.edges(), mesh.faces()); + return fd_mesh.vertex_areas(); + }; + Eigen::MatrixXd fd_JPA_wrt_X; + fd::finite_jacobian(fd::flatten(X), PA_X, fd_JPA_wrt_X); + + CHECKED_ELSE(fd::compare_jacobian(JPA_wrt_X, fd_JPA_wrt_X)) + { + tests::print_compare_nonzero(JPA_wrt_X, fd_JPA_wrt_X); + } + + /////////////////////////////////////////////////////////////////////////// + + Eigen::MatrixXd JEA_wrt_X(mesh.num_edges(), mesh.ndof()); + for (int i = 0; i < mesh.num_edges(); i++) { + JEA_wrt_X.row(i) = Eigen::VectorXd(mesh.edge_area_gradient(i)); + } + auto EA_X = [&](const Eigen::VectorXd& x) { + CollisionMesh fd_mesh( + fd::unflatten(x, X.cols()), mesh.edges(), mesh.faces()); + return fd_mesh.edge_areas(); + }; + Eigen::MatrixXd fd_JEA_wrt_X; + fd::finite_jacobian(fd::flatten(X), EA_X, fd_JEA_wrt_X); + + CHECKED_ELSE(fd::compare_jacobian(JEA_wrt_X, fd_JEA_wrt_X)) + { + tests::print_compare_nonzero(JEA_wrt_X, fd_JEA_wrt_X); + } + + /////////////////////////////////////////////////////////////////////////// + + Eigen::MatrixXd JF_wrt_X = D.force_jacobian( + tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), + barrier_stiffness, FrictionPotential::DiffWRT::REST_POSITIONS); + + auto F_X = [&](const Eigen::VectorXd& x) { + Eigen::MatrixXd fd_X = fd::unflatten(x, X.cols()); + + CollisionMesh fd_mesh(fd_X, mesh.edges(), mesh.faces()); + fd_mesh.init_area_jacobians(); + + TangentialCollisions fd_friction_collisions; + if (recompute_collisions) { + NormalCollisions fd_collisions; + fd_collisions.set_use_area_weighting( + collisions.use_area_weighting()); + fd_collisions.set_use_improved_max_approximator( + collisions.use_improved_max_approximator()); + fd_collisions.set_enable_shape_derivatives(true); + fd_collisions.build(fd_mesh, fd_X + Ut, dhat); + + fd_friction_collisions.build( + fd_mesh, fd_X + Ut, fd_collisions, BarrierPotential(dhat), + barrier_stiffness, mu); + } else { + fd_friction_collisions = tangential_collisions; + } + + return D.force( + fd_friction_collisions, fd_mesh, fd_X, Ut, velocities, + BarrierPotential(dhat), barrier_stiffness); + }; + Eigen::MatrixXd fd_JF_wrt_X; + fd::finite_jacobian(fd::flatten(X), F_X, fd_JF_wrt_X); + + CHECKED_ELSE(fd::compare_jacobian(JF_wrt_X, fd_JF_wrt_X)) + { + tests::print_compare_nonzero(JF_wrt_X, fd_JF_wrt_X); + } + + /////////////////////////////////////////////////////////////////////////// + + Eigen::MatrixXd JF_wrt_Ut = D.force_jacobian( + tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), + barrier_stiffness, FrictionPotential::DiffWRT::LAGGED_DISPLACEMENTS); + + auto F_Ut = [&](const Eigen::VectorXd& ut) { + Eigen::MatrixXd fd_Ut = fd::unflatten(ut, Ut.cols()); + + TangentialCollisions fd_friction_collisions; + if (recompute_collisions) { + NormalCollisions fd_collisions; + fd_collisions.set_use_area_weighting( + collisions.use_area_weighting()); + fd_collisions.set_use_improved_max_approximator( + collisions.use_improved_max_approximator()); + fd_collisions.set_enable_shape_derivatives(true); + fd_collisions.build(mesh, X + fd_Ut, dhat); + + fd_friction_collisions.build( + mesh, X + fd_Ut, fd_collisions, BarrierPotential(dhat), + barrier_stiffness, mu); + } else { + fd_friction_collisions = tangential_collisions; + } + + return D.force( + tangential_collisions, mesh, X, fd_Ut, velocities, + BarrierPotential(dhat), barrier_stiffness); + }; + Eigen::MatrixXd fd_JF_wrt_Ut; + fd::finite_jacobian(fd::flatten(Ut), F_Ut, fd_JF_wrt_Ut); + + CHECKED_ELSE(fd::compare_jacobian(JF_wrt_Ut, fd_JF_wrt_Ut)) + { + tests::print_compare_nonzero(JF_wrt_Ut, fd_JF_wrt_Ut); + } + + /////////////////////////////////////////////////////////////////////////// + + Eigen::MatrixXd JF_wrt_V = D.force_jacobian( + tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), + barrier_stiffness, FrictionPotential::DiffWRT::VELOCITIES); + + auto F_V = [&](const Eigen::VectorXd& v) { + return D.force( + tangential_collisions, mesh, X, Ut, + fd::unflatten(v, velocities.cols()), BarrierPotential(dhat), + barrier_stiffness); + }; + Eigen::MatrixXd fd_JF_wrt_V; + fd::finite_jacobian(fd::flatten(velocities), F_V, fd_JF_wrt_V); + + CHECKED_ELSE(fd::compare_jacobian(JF_wrt_V, fd_JF_wrt_V)) + { + tests::print_compare_nonzero(JF_wrt_V, fd_JF_wrt_V); + } + + /////////////////////////////////////////////////////////////////////////// + + const Eigen::MatrixXd hess_D = + D.hessian(tangential_collisions, mesh, velocities); + + auto grad = [&](const Eigen::VectorXd& v) { + return D.gradient( + tangential_collisions, mesh, fd::unflatten(v, velocities.cols())); + }; + Eigen::MatrixXd fd_hessian; + fd::finite_jacobian(fd::flatten(velocities), grad, fd_hessian); + + CHECKED_ELSE(fd::compare_jacobian(hess_D, fd_hessian)) + { + tests::print_compare_nonzero(hess_D, fd_hessian); + } + + /////////////////////////////////////////////////////////////////////////// + + const Eigen::VectorXd force = D.force( + tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), + barrier_stiffness); + const Eigen::VectorXd grad_D = + D.gradient(tangential_collisions, mesh, velocities); + CHECK(fd::compare_gradient(-force, grad_D)); + + /////////////////////////////////////////////////////////////////////////// + + Eigen::MatrixXd jac_force = D.force_jacobian( + tangential_collisions, mesh, X, Ut, velocities, BarrierPotential(dhat), + barrier_stiffness, FrictionPotential::DiffWRT::VELOCITIES); + CHECK(fd::compare_jacobian(-jac_force, hess_D)); +} + +TEST_CASE("Friction force jacobian", "[friction][force-jacobian]") +{ + const int x_case = GENERATE(0, 1); + FrictionData data = friction_data_generator(); + const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu,epsv_times_h, dhat, barrier_stiffness] = + data; + REQUIRE(collisions.enable_shape_derivatives()); + + Eigen::MatrixXd X, Ut, U; + switch (x_case) { + case 0: + X = V0; + break; + case 1: + default: + X = V0 - (V1 - V0); + break; + } + Ut = V0 - X; + U = V1 - X; + + CollisionMesh mesh(X, E, F); + mesh.init_area_jacobians(); + + check_friction_force_jacobian( + mesh, Ut, U, collisions, mu, epsv_times_h, dhat, barrier_stiffness, + false); +} + +TEST_CASE( + "Friction force jacobian on real data", + "[friction][force-jacobian][real-data]") +{ + bool use_area_weighting = GENERATE(true, false); + bool use_improved_max_approximator = GENERATE(true, false); + + std::string scene; + bool is_2D = true; + double mu, dhat, kappa, epsv_dt; + SECTION("point-plane") + { + scene = "point-plane"; + mu = 0.5; + dhat = 0.1; + kappa = 141; + epsv_dt = 5e-6; + } + SECTION("square-circle") + { + scene = "square-circle"; + mu = 0.5; + dhat = 1e-3; + // kappa = 67873353; + kappa = 67873353 / 10 * dhat; + epsv_dt = 1e-4; + } + SECTION("square-circle-dense") + { + scene = "square-circle-dense"; + mu = 0.5; + dhat = 1e-2; + kappa = GENERATE(8.6e9, 1e6); + epsv_dt = 1.5e-5; + } + // SECTION("square-incline") + // { + // scene = "square-incline"; + // mu = 0.5; + // dhat = 0.1; + // kappa = 141; + // epsv_dt = 5e-6; + // } + + CAPTURE( + scene, mu, dhat, kappa, epsv_dt, use_area_weighting, + use_improved_max_approximator); + + Eigen::MatrixXd X, Ut, U; + Eigen::MatrixXi E, F; + { + const auto dir = tests::DATA_DIR / "friction-force-jacobian" / scene; + X = tests::loadMarketXd((dir / "X.mtx").string()); + Ut = tests::loadMarketXd((dir / "Ut.mtx").string()); + Ut = fd::unflatten(Ut, X.cols()); + U = tests::loadMarketXd((dir / "U.mtx").string()); + U = fd::unflatten(U, X.cols()); + if (is_2D) { + E = tests::loadMarketXi((dir / "F.mtx").string()); + } else { + F = tests::loadMarketXi((dir / "F.mtx").string()); + igl::edges(F, E); + } + } + + std::vector is_on_surface = + CollisionMesh::construct_is_on_surface(X.rows(), E); + CollisionMesh mesh(is_on_surface, X, E, F); + mesh.init_area_jacobians(); + + X = mesh.vertices(X); + if (Ut.rows() != X.rows()) { + Ut = mesh.vertices(Ut); + } + if (U.rows() != X.rows()) { + U = mesh.vertices(U); + } + + NormalCollisions collisions; + collisions.set_use_area_weighting(use_area_weighting); + collisions.set_use_improved_max_approximator(use_improved_max_approximator); + collisions.set_enable_shape_derivatives(true); + collisions.build(mesh, X + Ut, dhat); + + REQUIRE(collisions.enable_shape_derivatives()); + + CHECK(collisions.compute_minimum_distance(mesh, X + Ut) != 0); + CHECK(collisions.compute_minimum_distance(mesh, X + U) != 0); + + check_friction_force_jacobian( + mesh, Ut, U, collisions, mu, epsv_dt, dhat, kappa, true); +} diff --git a/tests/src/tests/friction/test_friction.cpp b/tests/src/tests/friction/test_friction.cpp index 9f9a666dd..0a7315020 100644 --- a/tests/src/tests/friction/test_friction.cpp +++ b/tests/src/tests/friction/test_friction.cpp @@ -1,256 +1,256 @@ -#include -#include - -#include -#include - -#include -#include -#include -#include - -#include - -using namespace ipc; - -void mmcvids_to_friction_collisions( - Eigen::MatrixXi& E, - Eigen::MatrixXi& F, - const Eigen::MatrixXi& mmcvids, - Eigen::VectorXd normal_force_magnitudes, - const Eigen::MatrixXd& closest_points, - const Eigen::MatrixXd& tangent_bases, - TangentialCollisions& collisions) -{ - std::vector edges; - std::vector faces; - for (int i = 0; i < mmcvids.rows(); i++) { - const auto mmcvid = mmcvids.row(i); - TangentialCollision* collision; - - if (mmcvid[0] >= 0) { // Is EE? - edges.emplace_back(mmcvid[0], mmcvid[1]); - edges.emplace_back(mmcvid[2], mmcvid[3]); - collisions.ee_collisions.emplace_back( - edges.size() - 2, edges.size() - 1); - collision = &(collisions.ee_collisions.back()); - } else { - if (mmcvid[2] < 0) { // Is VV? - collisions.vv_collisions.emplace_back( - -mmcvid[0] - 1, mmcvid[1]); - CHECK(-mmcvid[3] >= 1); - collisions.vv_collisions.back().weight = -mmcvid[3]; - normal_force_magnitudes[i] /= -mmcvid[3]; - collision = &(collisions.vv_collisions.back()); - - } else if (mmcvid[3] < 0) { // Is EV? - edges.emplace_back(mmcvid[1], mmcvid[2]); - collisions.ev_collisions.emplace_back( - edges.size() - 1, -mmcvid[0] - 1); - CHECK(-mmcvid[3] >= 1); - collisions.ev_collisions.back().weight = -mmcvid[3]; - normal_force_magnitudes[i] /= -mmcvid[3]; - collision = &(collisions.ev_collisions.back()); - - } else { // Is FV. - faces.emplace_back(mmcvid[1], mmcvid[2], mmcvid[3]); - collisions.fv_collisions.emplace_back( - faces.size() - 1, -mmcvid[0] - 1); - collision = &(collisions.fv_collisions.back()); - } - } - - collision->closest_point = closest_points.row(i); - collision->tangent_basis = tangent_bases.middleRows(3 * i, 3); - collision->normal_force_magnitude = normal_force_magnitudes[i]; - } - - E.resize(edges.size(), 2); - for (int i = 0; i < edges.size(); i++) { - E.row(i) = edges[i]; - } - F.resize(faces.size(), 3); - for (int i = 0; i < faces.size(); i++) { - F.row(i) = faces[i]; - } -} - -bool read_ipc_friction_data( - const std::string& filename, - Eigen::MatrixXd& V_start, - Eigen::MatrixXd& V_lagged, - Eigen::MatrixXd& V_end, - Eigen::MatrixXi& E, - Eigen::MatrixXi& F, - NormalCollisions& collisions, - TangentialCollisions& tangential_collisions, - double& dhat, - double& barrier_stiffness, - double& epsv_times_h, - double& mu, - double& s_mu, - double& k_mu, - double& potential, - Eigen::VectorXd& grad, - Eigen::SparseMatrix& hess) -{ - nlohmann::json data; - - std::ifstream input(filename); - if (input.good()) { - data = nlohmann::json::parse(input, nullptr, false); - } else { - logger().error("Unable to open IPC friction data file: {}", filename); - return false; - } - - if (data.is_discarded()) { - logger().error("IPC friction data JSON is invalid: {}", filename); - return false; - } - - // Parameters - dhat = sqrt(data["dhat_squared"].get()); - barrier_stiffness = data["barrier_stiffness"]; - epsv_times_h = sqrt(data["epsv_times_h_squared"].get()); - mu = data["mu"]; - s_mu = data["s_mu"]; - k_mu = data["k_mu"]; - - // Dissipative potential value - potential = data["energy"]; - - // Potential gradient - grad = data["gradient"]; - - // Potential hessian - std::vector> hessian_triplets; - hessian_triplets.reserve(data["hessian_triplets"].size()); - for (std::tuple triplet : data["hessian_triplets"]) { - hessian_triplets.emplace_back( - std::get<0>(triplet), std::get<1>(triplet), std::get<2>(triplet)); - } - hess.resize(grad.size(), grad.size()); - hess.setFromTriplets(hessian_triplets.begin(), hessian_triplets.end()); - - // Mesh - V_start = data["V_start"]; - V_lagged = data["V_lagged"]; - V_end = data["V_end"]; - - // MMVCIDs - const Eigen::MatrixXi mmcvids = data["mmcvids"]; - - const Eigen::VectorXd lambda = data["normal_force_magnitudes"]; - - const Eigen::MatrixXd coords = data["closest_point_coordinates"]; - - const Eigen::MatrixXd bases = data["tangent_bases"]; - - mmcvids_to_friction_collisions( - E, F, mmcvids, lambda, coords, bases, tangential_collisions); - tests::mmcvids_to_collisions(E, F, mmcvids, collisions); - for (int i = 0; i < tangential_collisions.size(); i++) { - tangential_collisions[i].mu = mu; - tangential_collisions[i].s_mu = s_mu; - tangential_collisions[i].k_mu = k_mu; - } - - return true; -} - -TEST_CASE( - "Compare IPC friction derivatives", "[friction][gradient][hessian][data]") -{ - Eigen::MatrixXd V_start, V_lagged, V_end; - Eigen::MatrixXi E, F; - NormalCollisions collisions; - TangentialCollisions expected_friction_collisions; - double dhat, barrier_stiffness, epsv_times_h, mu, s_mu, k_mu; - double expected_potential; - Eigen::VectorXd expected_grad; - Eigen::SparseMatrix expected_hess; - - std::string scene_folder; - int file_number = 0; - SECTION("cube_cube") - { - scene_folder = "friction/cube_cube"; - file_number = GENERATE(range(0, 446)); - } - // SECTION("chain") - // { - // scene_folder = "friction/chain"; - // file_number = GENERATE(range(0, 401)); - // } - CAPTURE(scene_folder, file_number); - - bool success = read_ipc_friction_data( - (tests::DATA_DIR / scene_folder - / fmt::format("friction_data_{:d}.json", file_number)) - .string(), - V_start, V_lagged, V_end, E, F, collisions, - expected_friction_collisions, dhat, barrier_stiffness, epsv_times_h, mu, s_mu, k_mu, expected_potential, expected_grad, expected_hess); - REQUIRE(success); - - Eigen::MatrixXi face_edges; - igl::edges(F, face_edges); - E.conservativeResize(E.rows() + face_edges.rows(), E.cols()); - E.bottomRows(face_edges.rows()) = face_edges; - CollisionMesh mesh(V_start, E, F); - - TangentialCollisions tangential_collisions; - tangential_collisions.build( - mesh, V_lagged, collisions, BarrierPotential(dhat), barrier_stiffness, - mu, s_mu, k_mu); - REQUIRE(tangential_collisions.size() == collisions.size()); - REQUIRE( - tangential_collisions.size() == expected_friction_collisions.size()); - - const FrictionPotential D(epsv_times_h); - - REQUIRE(V_start.size() == V_lagged.size()); - REQUIRE(V_start.size() == V_end.size()); - REQUIRE(V_start.size() == expected_grad.size()); - - for (int i = 0; i < tangential_collisions.size(); i++) { - CAPTURE(i); - const TangentialCollision& collision = tangential_collisions[i]; - const TangentialCollision& expected_collision = - expected_friction_collisions[i]; - if (collision.closest_point.size() == 1) { - CHECK( - collision.closest_point[0] - == Catch::Approx(expected_collision.closest_point[0])); - } else { - CHECK(collision.closest_point.isApprox( - expected_collision.closest_point, 1e-12)); - } - CHECK(collision.tangent_basis.isApprox( - expected_collision.tangent_basis, 1e-12)); - CHECK( - collision.normal_force_magnitude - == Catch::Approx(expected_collision.normal_force_magnitude)); - CHECK(collision.mu == Catch::Approx(expected_collision.mu)); - CHECK(collision.s_mu == Catch::Approx(expected_collision.s_mu)); - CHECK(collision.k_mu == Catch::Approx(expected_collision.k_mu)); - - CHECK( - collision.vertex_ids(E, F) == expected_collision.vertex_ids(E, F)); - } - - const Eigen::MatrixXd velocity = V_end - V_start; - - double potential = D(tangential_collisions, mesh, velocity); - - CHECK(potential == Catch::Approx(expected_potential)); - - Eigen::VectorXd grad = D.gradient(tangential_collisions, mesh, velocity); - - CHECK(grad.isApprox(expected_grad)); - - Eigen::SparseMatrix hess = - D.hessian(tangential_collisions, mesh, velocity); - - CHECK(hess.isApprox(expected_hess)); -} +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include + +using namespace ipc; + +void mmcvids_to_friction_collisions( + Eigen::MatrixXi& E, + Eigen::MatrixXi& F, + const Eigen::MatrixXi& mmcvids, + Eigen::VectorXd normal_force_magnitudes, + const Eigen::MatrixXd& closest_points, + const Eigen::MatrixXd& tangent_bases, + TangentialCollisions& collisions) +{ + std::vector edges; + std::vector faces; + for (int i = 0; i < mmcvids.rows(); i++) { + const auto mmcvid = mmcvids.row(i); + TangentialCollision* collision; + + if (mmcvid[0] >= 0) { // Is EE? + edges.emplace_back(mmcvid[0], mmcvid[1]); + edges.emplace_back(mmcvid[2], mmcvid[3]); + collisions.ee_collisions.emplace_back( + edges.size() - 2, edges.size() - 1); + collision = &(collisions.ee_collisions.back()); + } else { + if (mmcvid[2] < 0) { // Is VV? + collisions.vv_collisions.emplace_back( + -mmcvid[0] - 1, mmcvid[1]); + CHECK(-mmcvid[3] >= 1); + collisions.vv_collisions.back().weight = -mmcvid[3]; + normal_force_magnitudes[i] /= -mmcvid[3]; + collision = &(collisions.vv_collisions.back()); + + } else if (mmcvid[3] < 0) { // Is EV? + edges.emplace_back(mmcvid[1], mmcvid[2]); + collisions.ev_collisions.emplace_back( + edges.size() - 1, -mmcvid[0] - 1); + CHECK(-mmcvid[3] >= 1); + collisions.ev_collisions.back().weight = -mmcvid[3]; + normal_force_magnitudes[i] /= -mmcvid[3]; + collision = &(collisions.ev_collisions.back()); + + } else { // Is FV. + faces.emplace_back(mmcvid[1], mmcvid[2], mmcvid[3]); + collisions.fv_collisions.emplace_back( + faces.size() - 1, -mmcvid[0] - 1); + collision = &(collisions.fv_collisions.back()); + } + } + + collision->closest_point = closest_points.row(i); + collision->tangent_basis = tangent_bases.middleRows(3 * i, 3); + collision->normal_force_magnitude = normal_force_magnitudes[i]; + } + + E.resize(edges.size(), 2); + for (int i = 0; i < edges.size(); i++) { + E.row(i) = edges[i]; + } + F.resize(faces.size(), 3); + for (int i = 0; i < faces.size(); i++) { + F.row(i) = faces[i]; + } +} + +bool read_ipc_friction_data( + const std::string& filename, + Eigen::MatrixXd& V_start, + Eigen::MatrixXd& V_lagged, + Eigen::MatrixXd& V_end, + Eigen::MatrixXi& E, + Eigen::MatrixXi& F, + NormalCollisions& collisions, + TangentialCollisions& tangential_collisions, + double& dhat, + double& barrier_stiffness, + double& epsv_times_h, + double& mu, + double& s_mu, + double& k_mu, + double& potential, + Eigen::VectorXd& grad, + Eigen::SparseMatrix& hess) +{ + nlohmann::json data; + + std::ifstream input(filename); + if (input.good()) { + data = nlohmann::json::parse(input, nullptr, false); + } else { + logger().error("Unable to open IPC friction data file: {}", filename); + return false; + } + + if (data.is_discarded()) { + logger().error("IPC friction data JSON is invalid: {}", filename); + return false; + } + + // Parameters + dhat = sqrt(data["dhat_squared"].get()); + barrier_stiffness = data["barrier_stiffness"]; + epsv_times_h = sqrt(data["epsv_times_h_squared"].get()); + mu = data["mu"]; + s_mu = data["s_mu"]; + k_mu = data["k_mu"]; + + // Dissipative potential value + potential = data["energy"]; + + // Potential gradient + grad = data["gradient"]; + + // Potential hessian + std::vector> hessian_triplets; + hessian_triplets.reserve(data["hessian_triplets"].size()); + for (std::tuple triplet : data["hessian_triplets"]) { + hessian_triplets.emplace_back( + std::get<0>(triplet), std::get<1>(triplet), std::get<2>(triplet)); + } + hess.resize(grad.size(), grad.size()); + hess.setFromTriplets(hessian_triplets.begin(), hessian_triplets.end()); + + // Mesh + V_start = data["V_start"]; + V_lagged = data["V_lagged"]; + V_end = data["V_end"]; + + // MMVCIDs + const Eigen::MatrixXi mmcvids = data["mmcvids"]; + + const Eigen::VectorXd lambda = data["normal_force_magnitudes"]; + + const Eigen::MatrixXd coords = data["closest_point_coordinates"]; + + const Eigen::MatrixXd bases = data["tangent_bases"]; + + mmcvids_to_friction_collisions( + E, F, mmcvids, lambda, coords, bases, tangential_collisions); + tests::mmcvids_to_collisions(E, F, mmcvids, collisions); + for (int i = 0; i < tangential_collisions.size(); i++) { + tangential_collisions[i].mu = mu; + tangential_collisions[i].s_mu = s_mu; + tangential_collisions[i].k_mu = k_mu; + } + + return true; +} + +TEST_CASE( + "Compare IPC friction derivatives", "[friction][gradient][hessian][data]") +{ + Eigen::MatrixXd V_start, V_lagged, V_end; + Eigen::MatrixXi E, F; + NormalCollisions collisions; + TangentialCollisions expected_friction_collisions; + double dhat, barrier_stiffness, epsv_times_h, mu, s_mu, k_mu; + double expected_potential; + Eigen::VectorXd expected_grad; + Eigen::SparseMatrix expected_hess; + + std::string scene_folder; + int file_number = 0; + SECTION("cube_cube") + { + scene_folder = "friction/cube_cube"; + file_number = GENERATE(range(0, 446)); + } + // SECTION("chain") + // { + // scene_folder = "friction/chain"; + // file_number = GENERATE(range(0, 401)); + // } + CAPTURE(scene_folder, file_number); + + bool success = read_ipc_friction_data( + (tests::DATA_DIR / scene_folder + / fmt::format("friction_data_{:d}.json", file_number)) + .string(), + V_start, V_lagged, V_end, E, F, collisions, + expected_friction_collisions, dhat, barrier_stiffness, epsv_times_h, mu, s_mu, k_mu, expected_potential, expected_grad, expected_hess); + REQUIRE(success); + + Eigen::MatrixXi face_edges; + igl::edges(F, face_edges); + E.conservativeResize(E.rows() + face_edges.rows(), E.cols()); + E.bottomRows(face_edges.rows()) = face_edges; + CollisionMesh mesh(V_start, E, F); + + TangentialCollisions tangential_collisions; + tangential_collisions.build( + mesh, V_lagged, collisions, BarrierPotential(dhat), barrier_stiffness, + mu, s_mu, k_mu); + REQUIRE(tangential_collisions.size() == collisions.size()); + REQUIRE( + tangential_collisions.size() == expected_friction_collisions.size()); + + const FrictionPotential D(epsv_times_h); + + REQUIRE(V_start.size() == V_lagged.size()); + REQUIRE(V_start.size() == V_end.size()); + REQUIRE(V_start.size() == expected_grad.size()); + + for (int i = 0; i < tangential_collisions.size(); i++) { + CAPTURE(i); + const TangentialCollision& collision = tangential_collisions[i]; + const TangentialCollision& expected_collision = + expected_friction_collisions[i]; + if (collision.closest_point.size() == 1) { + CHECK( + collision.closest_point[0] + == Catch::Approx(expected_collision.closest_point[0])); + } else { + CHECK(collision.closest_point.isApprox( + expected_collision.closest_point, 1e-12)); + } + CHECK(collision.tangent_basis.isApprox( + expected_collision.tangent_basis, 1e-12)); + CHECK( + collision.normal_force_magnitude + == Catch::Approx(expected_collision.normal_force_magnitude)); + CHECK(collision.mu == Catch::Approx(expected_collision.mu)); + CHECK(collision.s_mu == Catch::Approx(expected_collision.s_mu)); + CHECK(collision.k_mu == Catch::Approx(expected_collision.k_mu)); + + CHECK( + collision.vertex_ids(E, F) == expected_collision.vertex_ids(E, F)); + } + + const Eigen::MatrixXd velocity = V_end - V_start; + + double potential = D(tangential_collisions, mesh, velocity); + + CHECK(potential == Catch::Approx(expected_potential)); + + Eigen::VectorXd grad = D.gradient(tangential_collisions, mesh, velocity); + + CHECK(grad.isApprox(expected_grad)); + + Eigen::SparseMatrix hess = + D.hessian(tangential_collisions, mesh, velocity); + + CHECK(hess.isApprox(expected_hess)); +} diff --git a/tests/src/tests/potential/test_friction_potential.cpp b/tests/src/tests/potential/test_friction_potential.cpp index 7965aa841..0182b6f8f 100644 --- a/tests/src/tests/potential/test_friction_potential.cpp +++ b/tests/src/tests/potential/test_friction_potential.cpp @@ -1,80 +1,80 @@ -#include -#include -#include - -#include - -#include -#include -#include - -#include - -using namespace ipc; - -TEST_CASE("Friction gradient and hessian", "[friction][gradient][hessian]") -{ - FrictionData data = friction_data_generator(); - const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = - data; - - const Eigen::MatrixXd U = V1 - V0; - - const CollisionMesh mesh(V0, E, F); - - TangentialCollisions tangential_collisions; - tangential_collisions.build( - mesh, V0, collisions, BarrierPotential(dhat), barrier_stiffness, mu); - - const FrictionPotential D(epsv_times_h); - - const Eigen::VectorXd grad = D.gradient(tangential_collisions, mesh, U); - - // Compute the gradient using finite differences - auto f = [&](const Eigen::VectorXd& x) { - const Eigen::MatrixXd fd_U = fd::unflatten(x, data.V1.cols()) - data.V0; - return D(tangential_collisions, mesh, fd_U); - }; - Eigen::VectorXd fgrad; - fd::finite_gradient(fd::flatten(V1), f, fgrad); - CHECK(fd::compare_gradient(grad, fgrad)); - - const Eigen::MatrixXd hess = D.hessian(tangential_collisions, mesh, U); - Eigen::MatrixXd fhess; - fd::finite_hessian(fd::flatten(V1), f, fhess); - CHECK(fd::compare_hessian(hess, fhess, 1e-3)); -} - - -TEST_CASE("Friction gradient and hessian with s_mu and k_mu", "[friction][gradient][hessian][s_mu][k_mu]") -{ - FrictionData data = friction_data_generator(); - const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = data; - - const Eigen::MatrixXd U = V1 - V0; - - const CollisionMesh mesh(V0, E, F); - - TangentialCollisions tangential_collisions; - tangential_collisions.build(mesh, V0, collisions, BarrierPotential(dhat), barrier_stiffness, mu, s_mu, k_mu); - - const FrictionPotential D(epsv_times_h); - - // Compute the gradient using the custom s_mu and k_mu values - const Eigen::VectorXd grad = D.gradient(tangential_collisions, mesh, U); - - // Compute the gradient using finite differences - auto f = [&](const Eigen::VectorXd& x) { - const Eigen::MatrixXd fd_U = fd::unflatten(x, data.V1.cols()) - data.V0; - return D(tangential_collisions, mesh, fd_U); - }; - Eigen::VectorXd fgrad; - fd::finite_gradient(fd::flatten(V1), f, fgrad); - CHECK(fd::compare_gradient(grad, fgrad)); - - // Compute the Hessian using the custom s_mu and k_mu values - const Eigen::MatrixXd hess = D.hessian(tangential_collisions, mesh, U); - Eigen::MatrixXd fhess; - fd::finite_hessian(fd::flatten(V1), f, fhess); - CHECK(fd::compare_hessian(hess, fhess, 1e-3)); +#include +#include +#include + +#include + +#include +#include +#include + +#include + +using namespace ipc; + +TEST_CASE("Friction gradient and hessian", "[friction][gradient][hessian]") +{ + FrictionData data = friction_data_generator(); + const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = + data; + + const Eigen::MatrixXd U = V1 - V0; + + const CollisionMesh mesh(V0, E, F); + + TangentialCollisions tangential_collisions; + tangential_collisions.build( + mesh, V0, collisions, BarrierPotential(dhat), barrier_stiffness, mu); + + const FrictionPotential D(epsv_times_h); + + const Eigen::VectorXd grad = D.gradient(tangential_collisions, mesh, U); + + // Compute the gradient using finite differences + auto f = [&](const Eigen::VectorXd& x) { + const Eigen::MatrixXd fd_U = fd::unflatten(x, data.V1.cols()) - data.V0; + return D(tangential_collisions, mesh, fd_U); + }; + Eigen::VectorXd fgrad; + fd::finite_gradient(fd::flatten(V1), f, fgrad); + CHECK(fd::compare_gradient(grad, fgrad)); + + const Eigen::MatrixXd hess = D.hessian(tangential_collisions, mesh, U); + Eigen::MatrixXd fhess; + fd::finite_hessian(fd::flatten(V1), f, fhess); + CHECK(fd::compare_hessian(hess, fhess, 1e-3)); +} + + +TEST_CASE("Friction gradient and hessian with s_mu and k_mu", "[friction][gradient][hessian][s_mu][k_mu]") +{ + FrictionData data = friction_data_generator(); + const auto& [V0, V1, E, F, collisions, mu, s_mu, k_mu, epsv_times_h, dhat, barrier_stiffness] = data; + + const Eigen::MatrixXd U = V1 - V0; + + const CollisionMesh mesh(V0, E, F); + + TangentialCollisions tangential_collisions; + tangential_collisions.build(mesh, V0, collisions, BarrierPotential(dhat), barrier_stiffness, mu, s_mu, k_mu); + + const FrictionPotential D(epsv_times_h); + + // Compute the gradient using the custom s_mu and k_mu values + const Eigen::VectorXd grad = D.gradient(tangential_collisions, mesh, U); + + // Compute the gradient using finite differences + auto f = [&](const Eigen::VectorXd& x) { + const Eigen::MatrixXd fd_U = fd::unflatten(x, data.V1.cols()) - data.V0; + return D(tangential_collisions, mesh, fd_U); + }; + Eigen::VectorXd fgrad; + fd::finite_gradient(fd::flatten(V1), f, fgrad); + CHECK(fd::compare_gradient(grad, fgrad)); + + // Compute the Hessian using the custom s_mu and k_mu values + const Eigen::MatrixXd hess = D.hessian(tangential_collisions, mesh, U); + Eigen::MatrixXd fhess; + fd::finite_hessian(fd::flatten(V1), f, fhess); + CHECK(fd::compare_hessian(hess, fhess, 1e-3)); } \ No newline at end of file diff --git a/tests/src/tests/test_collision_mesh.cpp b/tests/src/tests/test_collision_mesh.cpp index ef64449f7..484fb0cb2 100644 --- a/tests/src/tests/test_collision_mesh.cpp +++ b/tests/src/tests/test_collision_mesh.cpp @@ -1,171 +1,171 @@ -#include - -#include - -using namespace ipc; - -TEST_CASE("Collision mesh", "[collision_mesh]") -{ - Eigen::MatrixXd V(4, 2); - V << 0, 0, 1, 0, 0, 1, 1, 1; - Eigen::MatrixXi E(4, 2); - E << 0, 1, 1, 3, 3, 2, 2, 0; - - std::vector> weights; - weights.emplace_back(0, 0, 1); - weights.emplace_back(1, 1, 1); - weights.emplace_back(2, 2, 1); - weights.emplace_back(3, 1, 1); - weights.emplace_back(3, 2, 1); - - Eigen::SparseMatrix W(4, 3); - W.setFromTriplets(weights.begin(), weights.end()); - - CollisionMesh mesh(V, E, /*F=*/Eigen::MatrixXi(), W); - - Eigen::MatrixXd U(3, 2); - U << 0, 0, 1, 1, 0, 0; - - Eigen::MatrixXd Uc = mesh.map_displacements(U); - Eigen::MatrixXd expected_Uc(4, 2); - expected_Uc << 0, 0, 1, 1, 0, 0, 1, 1; - CHECK(Uc == expected_Uc); - - Eigen::MatrixXd Vc = mesh.displace_vertices(U); - Eigen::MatrixXd expected_Vc(4, 2); - expected_Vc << 0, 0, 2, 1, 0, 1, 2, 2; - CHECK(Vc == expected_Vc); - - Eigen::VectorXd g(8); - g << 1, 1, -1, 1, 1, -1, -1, -1; - Eigen::VectorXd gf = mesh.to_full_dof(g); - Eigen::VectorXd expected_gf(6); - expected_gf << 1, 1, -2, 0, 0, -2; - CHECK(gf == expected_gf); - - Eigen::MatrixXd H = Eigen::MatrixXd::Identity(8, 8); - Eigen::MatrixXd Hf = - mesh.to_full_dof(Eigen::SparseMatrix(H.sparseView())); - - Eigen::MatrixXd expected_Hf(6, 6); - expected_Hf << 1, 0, 0, 0, 0, 0, // - 0, 1, 0, 0, 0, 0, // - 0, 0, 2, 0, 1, 0, // - 0, 0, 0, 2, 0, 1, // - 0, 0, 1, 0, 2, 0, // - 0, 0, 0, 1, 0, 2; // - - CHECK(Hf == expected_Hf); -} - -TEST_CASE("Faces to edges", "[collision_mesh][faces_to_edges]") -{ - Eigen::MatrixXi F(1, 3), E(3, 2), expected_F2E(1, 3); - F << 0, 1, 2; - - SECTION("Works") - { - SECTION("In order") - { - E << 0, 1, 1, 2, 2, 0; - expected_F2E << 0, 1, 2; - } - - SECTION("Reverse order") - { - E << 2, 0, 2, 1, 1, 0; - expected_F2E << 2, 1, 0; - } - - SECTION("Shuffled") - { - E << 0, 1, 2, 0, 2, 1; - expected_F2E << 0, 2, 1; - } - - CHECK(CollisionMesh::construct_faces_to_edges(F, E) == expected_F2E); - } - SECTION("Shouldnt work") - { - E << 0, 1, 1, 2, 0, 3; - try { - CollisionMesh::construct_faces_to_edges(F, E); - FAIL("Should have thrown"); - } catch (const std::runtime_error& e) { - SUCCEED("Should have thrown"); - CHECK(e.what() == std::string("Unable to find edge!")); - } catch (...) { - FAIL("Uknown exception thrown"); - } - } -} - -// TEST_CASE("Collision mesh with material ID", "[collision_mesh]") { -// Eigen::MatrixXd V(4, 2); -// V << 0, 0, 1, 0, 0, 1, 1, 1; -// Eigen::MatrixXi E(4, 2); -// E << 0, 1, 1, 3, 3, 2, 2, 0; - -// std::vector> weights; -// weights.emplace_back(0, 0, 1); -// weights.emplace_back(1, 1, 1); -// weights.emplace_back(2, 2, 1); -// weights.emplace_back(3, 1, 1); -// weights.emplace_back(3, 2, 1); - -// Eigen::SparseMatrix W(4, 3); -// W.setFromTriplets(weights.begin(), weights.end()); - -// // Test case with specified material ID -// std::vector material_id = -// CollisionMesh mesh(V, E, /*F=*/Eigen::MatrixXi(), W, material_id); - -// // Verifying material_id is set correctly -// CHECK(mesh.get_material_ids().size() == 4); - -// Eigen::MatrixXd U(3, 2); -// U << 0, 0, 1, 1, 0, 0; - -// Eigen::MatrixXd Uc = mesh.map_displacements(U); -// Eigen::MatrixXd expected_Uc(4, 2); -// expected_Uc << 0, 0, 1, 1, 0, 0, 1, 1; -// CHECK(Uc == expected_Uc); - -// Eigen::MatrixXd Vc = mesh.displace_vertices(U); -// Eigen::MatrixXd expected_Vc(4, 2); -// expected_Vc << 0, 0, 2, 1, 0, 1, 2, 2; -// CHECK(Vc == expected_Vc); - -// Eigen::VectorXd g(8); -// g << 1, 1, -1, 1, 1, -1, -1, -1; -// Eigen::VectorXd gf = mesh.to_full_dof(g); -// Eigen::VectorXd expected_gf(6); -// expected_gf << 1, 1, -2, 0, 0, -2; -// CHECK(gf == expected_gf); - -// Eigen::MatrixXd H = Eigen::MatrixXd::Identity(8, 8); -// Eigen::MatrixXd Hf = -// mesh.to_full_dof(Eigen::SparseMatrix(H.sparseView())); - -// Eigen::MatrixXd expected_Hf(6, 6); -// expected_Hf << 1, 0, 0, 0, 0, 0, // -// 0, 1, 0, 0, 0, 0, // -// 0, 0, 2, 0, 1, 0, // -// 0, 0, 0, 2, 0, 1, // -// 0, 0, 1, 0, 2, 0, // -// 0, 0, 0, 1, 0, 2; // - -// CHECK(Hf == expected_Hf); -// } - -// TEST_CASE("Codim points collision mesh", "[collision_mesh]") -// { -// Eigen::MatrixXd V(4, 2); -// V << 0, 0, 1, 0, 0, 1, 1, 1; - -// CollisionMesh mesh(V); - -// Eigen::VectorXi expected_codim_vertices(4); -// expected_codim_vertices << 0, 1, 2, 3; -// CHECK(mesh.codim_vertices() == expected_codim_vertices); +#include + +#include + +using namespace ipc; + +TEST_CASE("Collision mesh", "[collision_mesh]") +{ + Eigen::MatrixXd V(4, 2); + V << 0, 0, 1, 0, 0, 1, 1, 1; + Eigen::MatrixXi E(4, 2); + E << 0, 1, 1, 3, 3, 2, 2, 0; + + std::vector> weights; + weights.emplace_back(0, 0, 1); + weights.emplace_back(1, 1, 1); + weights.emplace_back(2, 2, 1); + weights.emplace_back(3, 1, 1); + weights.emplace_back(3, 2, 1); + + Eigen::SparseMatrix W(4, 3); + W.setFromTriplets(weights.begin(), weights.end()); + + CollisionMesh mesh(V, E, /*F=*/Eigen::MatrixXi(), W); + + Eigen::MatrixXd U(3, 2); + U << 0, 0, 1, 1, 0, 0; + + Eigen::MatrixXd Uc = mesh.map_displacements(U); + Eigen::MatrixXd expected_Uc(4, 2); + expected_Uc << 0, 0, 1, 1, 0, 0, 1, 1; + CHECK(Uc == expected_Uc); + + Eigen::MatrixXd Vc = mesh.displace_vertices(U); + Eigen::MatrixXd expected_Vc(4, 2); + expected_Vc << 0, 0, 2, 1, 0, 1, 2, 2; + CHECK(Vc == expected_Vc); + + Eigen::VectorXd g(8); + g << 1, 1, -1, 1, 1, -1, -1, -1; + Eigen::VectorXd gf = mesh.to_full_dof(g); + Eigen::VectorXd expected_gf(6); + expected_gf << 1, 1, -2, 0, 0, -2; + CHECK(gf == expected_gf); + + Eigen::MatrixXd H = Eigen::MatrixXd::Identity(8, 8); + Eigen::MatrixXd Hf = + mesh.to_full_dof(Eigen::SparseMatrix(H.sparseView())); + + Eigen::MatrixXd expected_Hf(6, 6); + expected_Hf << 1, 0, 0, 0, 0, 0, // + 0, 1, 0, 0, 0, 0, // + 0, 0, 2, 0, 1, 0, // + 0, 0, 0, 2, 0, 1, // + 0, 0, 1, 0, 2, 0, // + 0, 0, 0, 1, 0, 2; // + + CHECK(Hf == expected_Hf); +} + +TEST_CASE("Faces to edges", "[collision_mesh][faces_to_edges]") +{ + Eigen::MatrixXi F(1, 3), E(3, 2), expected_F2E(1, 3); + F << 0, 1, 2; + + SECTION("Works") + { + SECTION("In order") + { + E << 0, 1, 1, 2, 2, 0; + expected_F2E << 0, 1, 2; + } + + SECTION("Reverse order") + { + E << 2, 0, 2, 1, 1, 0; + expected_F2E << 2, 1, 0; + } + + SECTION("Shuffled") + { + E << 0, 1, 2, 0, 2, 1; + expected_F2E << 0, 2, 1; + } + + CHECK(CollisionMesh::construct_faces_to_edges(F, E) == expected_F2E); + } + SECTION("Shouldnt work") + { + E << 0, 1, 1, 2, 0, 3; + try { + CollisionMesh::construct_faces_to_edges(F, E); + FAIL("Should have thrown"); + } catch (const std::runtime_error& e) { + SUCCEED("Should have thrown"); + CHECK(e.what() == std::string("Unable to find edge!")); + } catch (...) { + FAIL("Uknown exception thrown"); + } + } +} + +// TEST_CASE("Collision mesh with material ID", "[collision_mesh]") { +// Eigen::MatrixXd V(4, 2); +// V << 0, 0, 1, 0, 0, 1, 1, 1; +// Eigen::MatrixXi E(4, 2); +// E << 0, 1, 1, 3, 3, 2, 2, 0; + +// std::vector> weights; +// weights.emplace_back(0, 0, 1); +// weights.emplace_back(1, 1, 1); +// weights.emplace_back(2, 2, 1); +// weights.emplace_back(3, 1, 1); +// weights.emplace_back(3, 2, 1); + +// Eigen::SparseMatrix W(4, 3); +// W.setFromTriplets(weights.begin(), weights.end()); + +// // Test case with specified material ID +// std::vector material_id = +// CollisionMesh mesh(V, E, /*F=*/Eigen::MatrixXi(), W, material_id); + +// // Verifying material_id is set correctly +// CHECK(mesh.get_material_ids().size() == 4); + +// Eigen::MatrixXd U(3, 2); +// U << 0, 0, 1, 1, 0, 0; + +// Eigen::MatrixXd Uc = mesh.map_displacements(U); +// Eigen::MatrixXd expected_Uc(4, 2); +// expected_Uc << 0, 0, 1, 1, 0, 0, 1, 1; +// CHECK(Uc == expected_Uc); + +// Eigen::MatrixXd Vc = mesh.displace_vertices(U); +// Eigen::MatrixXd expected_Vc(4, 2); +// expected_Vc << 0, 0, 2, 1, 0, 1, 2, 2; +// CHECK(Vc == expected_Vc); + +// Eigen::VectorXd g(8); +// g << 1, 1, -1, 1, 1, -1, -1, -1; +// Eigen::VectorXd gf = mesh.to_full_dof(g); +// Eigen::VectorXd expected_gf(6); +// expected_gf << 1, 1, -2, 0, 0, -2; +// CHECK(gf == expected_gf); + +// Eigen::MatrixXd H = Eigen::MatrixXd::Identity(8, 8); +// Eigen::MatrixXd Hf = +// mesh.to_full_dof(Eigen::SparseMatrix(H.sparseView())); + +// Eigen::MatrixXd expected_Hf(6, 6); +// expected_Hf << 1, 0, 0, 0, 0, 0, // +// 0, 1, 0, 0, 0, 0, // +// 0, 0, 2, 0, 1, 0, // +// 0, 0, 0, 2, 0, 1, // +// 0, 0, 1, 0, 2, 0, // +// 0, 0, 0, 1, 0, 2; // + +// CHECK(Hf == expected_Hf); +// } + +// TEST_CASE("Codim points collision mesh", "[collision_mesh]") +// { +// Eigen::MatrixXd V(4, 2); +// V << 0, 0, 1, 0, 0, 1, 1, 1; + +// CollisionMesh mesh(V); + +// Eigen::VectorXi expected_codim_vertices(4); +// expected_codim_vertices << 0, 1, 2, 3; +// CHECK(mesh.codim_vertices() == expected_codim_vertices); // } \ No newline at end of file From 8c2d10a6b2e80846881fe16180379f1999a17252 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Sun, 22 Dec 2024 23:31:54 +0000 Subject: [PATCH 10/13] fix --- src/ipc/candidates/candidates.cpp | 8 ++++---- src/ipc/collisions/tangential/face_vertex.cpp | 2 -- src/ipc/collisions/tangential/tangential_collision.hpp | 4 ---- src/ipc/collisions/tangential/vertex_vertex.cpp | 4 ---- src/ipc/collisions/tangential/vertex_vertex.hpp | 2 -- src/ipc/friction/smooth_friction_mollifier.hpp | 2 +- src/ipc/ipc.cpp | 4 ++-- 7 files changed, 7 insertions(+), 19 deletions(-) diff --git a/src/ipc/candidates/candidates.cpp b/src/ipc/candidates/candidates.cpp index 621b43951..fc96cf1da 100644 --- a/src/ipc/candidates/candidates.cpp +++ b/src/ipc/candidates/candidates.cpp @@ -55,7 +55,7 @@ void Candidates::build( Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); broad_phase->detect_vertex_vertex_candidates(vv_candidates); - for (auto& [vi, vj, mat_pair] : vv_candidates) { + for (auto& [vi, vj] : vv_candidates) { vi = mesh.codim_vertices()[vi]; vj = mesh.codim_vertices()[vj]; } @@ -94,7 +94,7 @@ void Candidates::build( broad_phase->build(V, CE, Eigen::MatrixXi(), inflation_radius); broad_phase->detect_edge_vertex_candidates(ev_candidates); - for (auto& [ei, vi, mat_pair] : ev_candidates) { + for (auto& [ei, vi] : ev_candidates) { assert(vi < mesh.codim_vertices().size()); ei = mesh.codim_edges()[ei]; // Map back to mesh.edges vi = mesh.codim_vertices()[vi]; // Map back to vertices @@ -130,7 +130,7 @@ void Candidates::build( Eigen::MatrixXi(), Eigen::MatrixXi(), inflation_radius); broad_phase->detect_vertex_vertex_candidates(vv_candidates); - for (auto& [vi, vj, mat_pair] : vv_candidates) { + for (auto& [vi, vj] : vv_candidates) { vi = mesh.codim_vertices()[vi]; vj = mesh.codim_vertices()[vj]; } @@ -175,7 +175,7 @@ void Candidates::build( broad_phase->build(V_t0, V_t1, CE, Eigen::MatrixXi(), inflation_radius); broad_phase->detect_edge_vertex_candidates(ev_candidates); - for (auto& [ei, vi, mat_pair] : ev_candidates) { + for (auto& [ei, vi] : ev_candidates) { assert(vi < mesh.codim_vertices().size()); ei = mesh.codim_edges()[ei]; // Map back to mesh.edges vi = mesh.codim_vertices()[vi]; // Map back to vertices diff --git a/src/ipc/collisions/tangential/face_vertex.cpp b/src/ipc/collisions/tangential/face_vertex.cpp index 29999aa48..c5a23d06f 100644 --- a/src/ipc/collisions/tangential/face_vertex.cpp +++ b/src/ipc/collisions/tangential/face_vertex.cpp @@ -96,6 +96,4 @@ FaceVertexTangentialCollision::relative_velocity_matrix_jacobian( dim(), _closest_point); } -} - } // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collision.hpp b/src/ipc/collisions/tangential/tangential_collision.hpp index 05e83b73d..1640d4bcd 100644 --- a/src/ipc/collisions/tangential/tangential_collision.hpp +++ b/src/ipc/collisions/tangential/tangential_collision.hpp @@ -81,10 +81,6 @@ class TangentialCollision : virtual public CollisionStencil { virtual MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const = 0; - /// @brief Get the material pair IDs of the collision. - /// @return Material pair IDs of the collision. - virtual std::pair material_pair_ids() const = 0; - public: /// @brief Normal force magnitude diff --git a/src/ipc/collisions/tangential/vertex_vertex.cpp b/src/ipc/collisions/tangential/vertex_vertex.cpp index 90ac13572..e3c485a83 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.cpp +++ b/src/ipc/collisions/tangential/vertex_vertex.cpp @@ -86,8 +86,4 @@ VertexVertexTangentialCollision::relative_velocity_matrix_jacobian( return point_point_relative_velocity_matrix_jacobian(dim()); } -std::pair VertexVertexTangentialCollision::material_pair_ids() const { - return this->m_pair_ids; -} - } // namespace ipc diff --git a/src/ipc/collisions/tangential/vertex_vertex.hpp b/src/ipc/collisions/tangential/vertex_vertex.hpp index 04ac943fb..ebcd12de1 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.hpp +++ b/src/ipc/collisions/tangential/vertex_vertex.hpp @@ -43,8 +43,6 @@ class VertexVertexTangentialCollision : public VertexVertexCandidate, MatrixMax relative_velocity_matrix_jacobian( const VectorMax2d& closest_point) const override; - - std::pair material_pair_ids() const override; }; } // namespace ipc diff --git a/src/ipc/friction/smooth_friction_mollifier.hpp b/src/ipc/friction/smooth_friction_mollifier.hpp index 8c8b868ca..aa754ad0f 100644 --- a/src/ipc/friction/smooth_friction_mollifier.hpp +++ b/src/ipc/friction/smooth_friction_mollifier.hpp @@ -79,7 +79,7 @@ smooth_friction_f2_x_minus_f1_over_x3(const double y, const double eps_v); /// /// \f\[ /// \mu(y) = \begin{cases} -/// \mu_k, & |y| \geq \epsilon_v \ +/// \mu_k, & |y| \geq \epsilon_v /// \newline /// (\mu_k - \mu_s)(3 \left(\frac{|y|}{\epsilon_v}\right)^2 - 2 \left(\frac{|y|}{\epsilon_v}\right)^3) + \mu_s, & |y| < \epsilon_v /// \end{cases} diff --git a/src/ipc/ipc.cpp b/src/ipc/ipc.cpp index fea8b04aa..dfb45f379 100644 --- a/src/ipc/ipc.cpp +++ b/src/ipc/ipc.cpp @@ -111,7 +111,7 @@ bool has_intersections( // narrow-phase using igl igl::predicates::exactinit(); - for (const auto& [ea_id, eb_id, mat_pair] : ee_candidates) { + for (const auto& [ea_id, eb_id] : ee_candidates) { if (igl::predicates::segment_segment_intersect( vertices.row(mesh.edges()(ea_id, 0)).head<2>(), vertices.row(mesh.edges()(ea_id, 1)).head<2>(), @@ -128,7 +128,7 @@ bool has_intersections( broad_phase->detect_edge_face_candidates(ef_candidates); broad_phase->clear(); - for (const auto& [e_id, f_id, mat_pair] : ef_candidates) { + for (const auto& [e_id, f_id] : ef_candidates) { if (is_edge_intersecting_triangle( vertices.row(mesh.edges()(e_id, 0)), vertices.row(mesh.edges()(e_id, 1)), From 56bf9833c63bb7534734df82f8867ceda7e16972 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Tue, 1 Apr 2025 23:05:27 +0000 Subject: [PATCH 11/13] add multiple materials inital rewrite --- .devcontainer/Dockerfile | 82 ++++++++ .devcontainer/devcontainer.json | 59 ++++++ docs/source/cpp-api/friction.rst | 15 +- python/src/collision_mesh.cpp | 48 ++++- python/src/friction/CMakeLists.txt | 4 +- python/src/friction/bindings.hpp | 4 +- python/src/friction/material_friction.cpp | 22 +++ python/src/potentials/friction_potential.cpp | 32 +++- python/tests/test_material_friction.py | 100 ++++++++++ src/ipc/collision_mesh.cpp | 62 +++++- src/ipc/collision_mesh.hpp | 50 ++++- .../collisions/normal/normal_collision.hpp | 29 +++ src/ipc/collisions/tangential/edge_edge.cpp | 35 ++-- src/ipc/collisions/tangential/edge_edge.hpp | 30 +++ src/ipc/collisions/tangential/edge_vertex.cpp | 31 +-- src/ipc/collisions/tangential/edge_vertex.hpp | 30 +++ src/ipc/collisions/tangential/face_vertex.cpp | 34 ++-- src/ipc/collisions/tangential/face_vertex.hpp | 30 +++ .../tangential/tangential_collision.cpp | 25 ++- .../tangential/tangential_collision.hpp | 179 +++++++++++------- .../tangential/tangential_collisions.cpp | 77 +++++++- .../tangential/tangential_collisions.hpp | 52 ++--- .../collisions/tangential/vertex_vertex.cpp | 2 + .../collisions/tangential/vertex_vertex.hpp | 33 +++- src/ipc/friction/CMakeLists.txt | 3 +- src/ipc/friction/material_friction.hpp | 64 +++++++ .../friction/smooth_friction_mollifier.hpp | 1 - src/ipc/potentials/friction_potential.cpp | 6 +- src/ipc/potentials/friction_potential.hpp | 30 ++- .../tangential_adhesion_potential.hpp | 13 +- src/ipc/potentials/tangential_potential.cpp | 115 +++++++++-- src/ipc/potentials/tangential_potential.hpp | 33 +++- .../tests/friction/test_material_friction.cpp | 91 +++++++++ .../test_material_friction_simulation.cpp | 116 ++++++++++++ 34 files changed, 1352 insertions(+), 185 deletions(-) create mode 100644 .devcontainer/Dockerfile create mode 100644 .devcontainer/devcontainer.json create mode 100644 python/src/friction/material_friction.cpp create mode 100644 python/tests/test_material_friction.py create mode 100644 src/ipc/friction/material_friction.hpp create mode 100644 tests/src/tests/friction/test_material_friction.cpp create mode 100644 tests/src/tests/friction/test_material_friction_simulation.cpp diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 000000000..4bae1e862 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,82 @@ +FROM ubuntu:22.04 + +# Set environment variables +ENV DEBIAN_FRONTEND=noninteractive +ENV CCACHE_DIR=/home/devuser/.ccache +ENV CCACHE_MAXSIZE=1G +ENV CXX_STANDARD=17 + +# Update package lists +RUN apt-get update + +# Install essential packages +RUN apt-get install -y --no-install-recommends \ + build-essential \ + git \ + wget \ + curl \ + fish \ + zsh \ + ninja-build \ + ccache \ + libeigen3-dev \ + libtbb-dev \ + libspdlog-dev \ + python3 \ + python3-pip \ + python3-dev \ + libgmp-dev \ + libssl-dev \ + libncurses5-dev \ + libncursesw5-dev \ + libxml2-dev \ + libjsoncpp-dev \ + libz3-dev \ + sudo \ + software-properties-common \ + lsb-release \ + gnupg \ + && rm -rf /var/lib/apt/lists/* + +# Create a new user with sudo privileges +RUN useradd -m devuser \ + && echo "devuser:password" | chpasswd \ + && usermod -aG sudo devuser \ + && echo "devuser ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \ + && mkdir -p $CCACHE_DIR \ + && chown devuser:devuser $CCACHE_DIR + +# Set up Python tools +RUN pip3 install --upgrade pip setuptools wheel pre-commit + +# Add Kitware APT repository for CMake +RUN wget -qO- https://apt.kitware.com/keys/kitware-archive-latest.asc | \ + gpg --dearmor -o /usr/share/keyrings/kitware-archive-keyring.gpg + +RUN echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | \ + tee /etc/apt/sources.list.d/kitware.list > /dev/null + +# Update package lists and install CMake +RUN apt-get update +RUN apt-get install -y cmake + +# Verify CMake installation +RUN cmake --version + +# Install LLVM/Clang and Clang-Format version 18 +RUN wget -q https://apt.llvm.org/llvm.sh -O /tmp/llvm.sh +RUN chmod +x /tmp/llvm.sh +RUN /tmp/llvm.sh 18 || true + +RUN apt-get update && apt-get install -y clang-18 clang-tools-18 clang-format-18 + +RUN clang-18 --version +RUN clang++-18 --version +RUN clang-format-18 --version + +# 12. Set the default user and working directory +USER devuser + +WORKDIR /home/devuser/workspace + +CMD ["bash"] diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 000000000..fd82b6271 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,59 @@ +{ + "$schema": "https://raw.githubusercontent.com/devcontainers/spec/main/schemas/devContainer.schema.json", + "name": "IPCToolkit C++ Development Container", + "build": { + "dockerfile": "Dockerfile", + "context": ".." + }, + "customizations": { + "vscode": { + "settings": { + "terminal.integrated.shell.linux": "/bin/fish", + "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools", + "C_Cpp.default.intelliSenseMode": "gcc-x64", + "C_Cpp.default.compilerPath": "/usr/bin/clang++-18", + "C_Cpp.clang_format_path": "/usr/bin/clang-format-18", + "C_Cpp.clang_format_style": "file", + "cmake.configureOnOpen": true, + "cmake.buildDirectory": "${workspaceFolder}/build", + "python.pythonPath": "/usr/bin/python3", + "python.linting.enabled": true, + "python.linting.pylintEnabled": true, + "python.formatting.provider": "black", + "prettier.requireConfig": true + }, + "extensions": [ + "ms-vscode.cpptools", + "ms-vscode.cmake-tools", + "xaver.clang-format", + "ms-python.python", + "ms-azuretools.vscode-docker", + "eamodio.gitlens", + "esbenp.prettier-vscode", + "mhutchie.git-graph", + "twxs.cmake", + "jeff-hykin.better-cpp-syntax", + "vadimcn.vscode-lldb", + "cschlosser.doxdocgen", + "ms-python.vscode-pylance", + "mutantdino.resourcemonitor", + "randomfractalsinc.vscode-data-preview", + "oderwat.indent-rainbow", + "formulahendry.code-runner", + "donjayamanne.git-extension-pack" + ] + } + }, + "postCreateCommand": "pre-commit install", + "remoteUser": "devuser", + "mounts": [ + "source=${localWorkspaceFolder}/.ccache,target=/home/devuser/.ccache,type=bind,consistency=cached" + ], + "forwardPorts": [], + "remoteEnv": { + "CCACHE_DIR": "/home/devuser/.ccache", + "CCACHE_MAXSIZE": "1G" + }, + "workspaceFolder": "/home/devuser/workspace", + "workspaceMount": "source=${localWorkspaceFolder},target=/home/devuser/workspace,type=bind,consistency=cached" +} diff --git a/docs/source/cpp-api/friction.rst b/docs/source/cpp-api/friction.rst index e794c8050..b061c3063 100644 --- a/docs/source/cpp-api/friction.rst +++ b/docs/source/cpp-api/friction.rst @@ -8,4 +8,17 @@ Smooth Mollifier .. doxygenfunction:: smooth_friction_f1 .. doxygenfunction:: smooth_friction_f2 .. doxygenfunction:: smooth_friction_f1_over_x -.. doxygenfunction:: smooth_friction_f2_x_minus_f1_over_x3 \ No newline at end of file +.. doxygenfunction:: smooth_friction_f2_x_minus_f1_over_x3 + +Smooth Friction Coefficient +-------------------------- + +.. doxygenfunction:: smooth_friction_mus +.. doxygenfunction:: smooth_friction_f0_mus +.. doxygenfunction:: smooth_friction_f1_mus +.. doxygenfunction:: smooth_friction_f2_mus +.. doxygenfunction:: smooth_friction_f1_over_x_mus +.. doxygenfunction:: smooth_friction_f2_x_minus_f1_over_x3_mus + +.. doxygenclass:: ipc::SmoothFrictionCoefficient + :members: \ No newline at end of file diff --git a/python/src/collision_mesh.cpp b/python/src/collision_mesh.cpp index 44e0e89c1..287def3ed 100644 --- a/python/src/collision_mesh.cpp +++ b/python/src/collision_mesh.cpp @@ -476,5 +476,51 @@ void define_collision_mesh(py::module_& m) A function that takes two vertex IDs and returns true if the vertices (and faces or edges containing the vertices) can collide. By default all primitives can collide with all other primitives. - )ipc_Qu8mg5v7"); + )ipc_Qu8mg5v7") + .def_property( + "vertex_materials", + [](const CollisionMesh& self) { + Eigen::VectorXi materials(self.num_vertices()); + for (int i = 0; i < self.num_vertices(); i++) { + materials(i) = self.vertex_material(i); + } + return materials; + }, + [](CollisionMesh& self, const Eigen::VectorXi& materials) { + self.set_vertex_materials(materials); + }, + "Material IDs for vertices in the collision mesh") + .def_property( + "edge_materials", + [](const CollisionMesh& self) { + Eigen::VectorXi materials(self.num_edges()); + for (int i = 0; i < self.num_edges(); i++) { + materials(i) = self.edge_material(i); + } + return materials; + }, + [](CollisionMesh& self, const Eigen::VectorXi& materials) { + self.set_edge_materials(materials); + }, + "Material IDs for edges in the collision mesh") + .def_property( + "face_materials", + [](const CollisionMesh& self) { + Eigen::VectorXi materials(self.num_faces()); + for (int i = 0; i < self.num_faces(); i++) { + materials(i) = self.face_material(i); + } + return materials; + }, + [](CollisionMesh& self, const Eigen::VectorXi& materials) { + self.set_face_materials(materials); + }, + "Material IDs for faces in the collision mesh") + .def( + "set_single_material_id", &CollisionMesh::set_single_material_id, + "Set a single material ID for the entire mesh", + py::arg("material_id")) + .def( + "has_material_ids", &CollisionMesh::has_material_ids, + "Check if material IDs are being used for this mesh"); } diff --git a/python/src/friction/CMakeLists.txt b/python/src/friction/CMakeLists.txt index 29d58de86..b619ace04 100644 --- a/python/src/friction/CMakeLists.txt +++ b/python/src/friction/CMakeLists.txt @@ -1,6 +1,8 @@ set(SOURCES + bindings.hpp smooth_friction_mollifier.cpp + material_friction.cpp ) source_group(TREE "${CMAKE_CURRENT_SOURCE_DIR}" PREFIX "Source Files" FILES ${SOURCES}) -target_sources(ipctk PRIVATE ${SOURCES}) \ No newline at end of file +target_sources(ipc_toolkit_python PRIVATE ${SOURCES}) \ No newline at end of file diff --git a/python/src/friction/bindings.hpp b/python/src/friction/bindings.hpp index 4c939300d..0f99ffac9 100644 --- a/python/src/friction/bindings.hpp +++ b/python/src/friction/bindings.hpp @@ -1,6 +1,8 @@ #pragma once #include + namespace py = pybind11; -void define_smooth_friction_mollifier(py::module_& m); \ No newline at end of file +void define_smooth_friction_mollifier(py::module_& m); +void define_material_friction(py::module_& m); \ No newline at end of file diff --git a/python/src/friction/material_friction.cpp b/python/src/friction/material_friction.cpp new file mode 100644 index 000000000..7008a1a9a --- /dev/null +++ b/python/src/friction/material_friction.cpp @@ -0,0 +1,22 @@ +#include +#include + +namespace py = pybind11; +using namespace ipc; + +void define_material_friction(py::module_& m) +{ + py::class_(m, "MaterialFriction") + .def(py::init<>(), "Default constructor") + .def(py::init(), + "Constructor with a friction table", + py::arg("friction_table")) + .def("set_friction_table", &MaterialFriction::set_friction_table, + "Set the friction coefficient table", + py::arg("friction_table")) + .def("get_friction_table", &MaterialFriction::get_friction_table, + "Get the friction coefficient table") + .def("get_coefficient", &MaterialFriction::get_coefficient, + "Get the friction coefficient for a collision", + py::arg("collision"), py::arg("default_mu")); +} diff --git a/python/src/potentials/friction_potential.cpp b/python/src/potentials/friction_potential.cpp index 58cd9db1d..073528b94 100644 --- a/python/src/potentials/friction_potential.cpp +++ b/python/src/potentials/friction_potential.cpp @@ -19,5 +19,35 @@ void define_friction_potential(py::module_& m) py::arg("eps_v")) .def_property( "eps_v", &FrictionPotential::eps_v, &FrictionPotential::set_eps_v, - "The smooth friction mollifier parameter :math:`\\epsilon_{v}`."); + "The smooth friction mollifier parameter :math:`\\epsilon_{v}`.") + .def_property( + "material_friction_table", + &FrictionPotential::get_material_friction_table, + &FrictionPotential::set_material_friction_table, + "The material friction coefficient lookup table.") + .def( + "gradient", + [](const FrictionPotential& self, + const Eigen::MatrixXd& V, + const Eigen::VectorXd& u0, + const TangentBasis& basis, + double dt, double mu, double eps_v, + double s_mu, double k_mu) { + return self.gradient(V, u0, basis, dt, mu, eps_v, s_mu, k_mu); + }, + R"ipc_Qu8mg5v7( + Compute the gradient of the friction potential with static and kinetic friction. + + Parameters: + V: Vertices positions + u0: Displacement + basis: Tangent basis + dt: Time step + mu: Friction coefficient (if s_mu and k_mu not provided) + eps_v: Smoothing parameter + s_mu: Static friction coefficient + k_mu: Kinetic friction coefficient + )ipc_Qu8mg5v7", + py::arg("V"), py::arg("u0"), py::arg("basis"), py::arg("dt"), + py::arg("mu"), py::arg("eps_v"), py::arg("s_mu") = -1.0, py::arg("k_mu") = -1.0); } diff --git a/python/tests/test_material_friction.py b/python/tests/test_material_friction.py new file mode 100644 index 000000000..f859cccc5 --- /dev/null +++ b/python/tests/test_material_friction.py @@ -0,0 +1,100 @@ +import numpy as np +import scipy as sp + +import find_ipctk +from ipctk import CollisionMesh, NormalCollisions, TangentialCollisions, FrictionPotential, BarrierPotential + +def test_collision_mesh_material_ids(): + # Create a simple mesh + vertices = np.array([ + [0, 0, 0], + [1, 0, 0], + [0, 1, 0], + [1, 1, 0] + ], dtype=float) + + edges = np.array([ + [0, 1], + [1, 3], + [3, 2], + [2, 0] + ], dtype=int) + + # Create a collision mesh + mesh = CollisionMesh(vertices, edges) + + # Set material IDs for vertices + vertex_materials = np.array([0, 0, 1, 1], dtype=int) + mesh.vertex_materials = vertex_materials + + # Check material IDs were set correctly + assert mesh.has_material_ids() + assert np.all(mesh.vertex_materials == vertex_materials) + + # Set a single material ID for everything + mesh.set_single_material_id(2) + assert np.all(mesh.vertex_materials == 2) + assert np.all(mesh.edge_materials == 2) + + # Test NO_MATERIAL_ID case + # Create a mesh without setting materials + mesh2 = CollisionMesh(vertices, edges) + assert not mesh2.has_material_ids() + +def test_material_friction(): + # Create a simple scene with two objects of different materials + vertices = np.array([ + [0, 0, 0], + [1, 0, 0], + [0, 1, 0], + [1, 1, 0] + ], dtype=float) + + edges = np.array([ + [0, 1], + [1, 3], + [3, 2], + [2, 0] + ], dtype=int) + + # Create a collision mesh + mesh = CollisionMesh(vertices, edges) + + # Set different materials for vertices + vertex_materials = np.array([0, 0, 1, 1], dtype=int) + mesh.vertex_materials = vertex_materials + + # Create a material-specific friction table + friction_table = np.array([ + [0.3, 0.5], # material 0 against 0 or 1 + [0.5, 0.7] # material 1 against 0 or 1 + ]) + + # Create normal collisions + normal_collisions = NormalCollisions() + normal_collisions.build(mesh, vertices, 0.1) + + # Create tangential collisions with material-specific friction + tangential_collisions = TangentialCollisions() + tangential_collisions.build( + mesh, vertices, normal_collisions, + BarrierPotential(0.1), 100.0, 0.3 # default mu is 0.3 + ) + + # Create a friction potential and set the material friction table + friction_potential = FrictionPotential(1e-5) + friction_potential.set_material_friction_table(friction_table) + + # Apply velocities to test friction + velocities = np.zeros_like(vertices) + velocities[2:4, 0] = 0.1 # Move vertices with material 1 + + # Compute friction forces + forces = friction_potential.force( + tangential_collisions, mesh, vertices, + np.zeros_like(vertices), velocities, + BarrierPotential(0.1), 100.0 + ) + + # The forces should be non-zero where there are collisions + assert np.linalg.norm(forces) > 0 diff --git a/src/ipc/collision_mesh.cpp b/src/ipc/collision_mesh.cpp index f78e88ce5..2e59a161c 100644 --- a/src/ipc/collision_mesh.cpp +++ b/src/ipc/collision_mesh.cpp @@ -20,6 +20,10 @@ CollisionMesh::CollisionMesh( faces, displacement_map) { + // Initialize material IDs to non-existent + m_vertex_materials.resize(0); + m_edge_materials.resize(0); + m_face_materials.resize(0); } CollisionMesh::CollisionMesh( @@ -111,6 +115,11 @@ CollisionMesh::CollisionMesh( init_adjacencies(); // Compute these manually if needed. // init_area_jacobian(); + + // Initialize material IDs to non-existent + m_vertex_materials.resize(0); + m_edge_materials.resize(0); + m_face_materials.resize(0); } // ============================================================================ @@ -473,8 +482,59 @@ Eigen::MatrixXi CollisionMesh::construct_faces_to_edges( } } } - return faces_to_edges; } +void CollisionMesh::set_vertex_materials(const Eigen::VectorXi& vertex_materials) +{ + assert(vertex_materials.size() == num_vertices()); + m_vertex_materials = vertex_materials; +} + +void CollisionMesh::set_edge_materials(const Eigen::VectorXi& edge_materials) +{ + assert(edge_materials.size() == num_edges()); + m_edge_materials = edge_materials; +} + +void CollisionMesh::set_face_materials(const Eigen::VectorXi& face_materials) +{ + assert(face_materials.size() == num_faces()); + m_face_materials = face_materials; +} + +void CollisionMesh::set_single_material_id(int material_id) +{ + m_vertex_materials = Eigen::VectorXi::Constant(num_vertices(), material_id); + m_edge_materials = Eigen::VectorXi::Constant(num_edges(), material_id); + m_face_materials = Eigen::VectorXi::Constant(num_faces(), material_id); +} + +int CollisionMesh::vertex_material(int vertex_id) const +{ + if (m_vertex_materials.size() > 0) { + assert(vertex_id >= 0 && vertex_id < m_vertex_materials.size()); + return m_vertex_materials(vertex_id); + } + return NO_MATERIAL_ID; // No material ID set +} + +int CollisionMesh::edge_material(int edge_id) const +{ + if (m_edge_materials.size() > 0) { + assert(edge_id >= 0 && edge_id < m_edge_materials.size()); + return m_edge_materials(edge_id); + } + return NO_MATERIAL_ID; // No material ID set +} + +int CollisionMesh::face_material(int face_id) const +{ + if (m_face_materials.size() > 0) { + assert(face_id >= 0 && face_id < m_face_materials.size()); + return m_face_materials(face_id); + } + return NO_MATERIAL_ID; // No material ID set +} + } // namespace ipc diff --git a/src/ipc/collision_mesh.hpp b/src/ipc/collision_mesh.hpp index b7bb49591..7d020bb4d 100644 --- a/src/ipc/collision_mesh.hpp +++ b/src/ipc/collision_mesh.hpp @@ -5,6 +5,9 @@ namespace ipc { +// Special constant indicating no material differentiation is needed +constexpr int NO_MATERIAL_ID = -1; + /// @brief A class for encapsolating the transformation/selections needed to go from a volumetric FE mesh to a surface collision mesh. class CollisionMesh { public: @@ -17,7 +20,6 @@ class CollisionMesh { /// @param edges The edges of the collision mesh (#E × 2). /// @param faces The faces of the collision mesh (#F × 3). /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. - /// @param mat_id The material ID of the collision mesh (optional). CollisionMesh( Eigen::ConstRef rest_positions, Eigen::ConstRef edges = Eigen::MatrixXi(), @@ -31,7 +33,6 @@ class CollisionMesh { /// @param edges The edges of the collision mesh indexed into the full mesh vertices (#E × 2). /// @param faces The faces of the collision mesh indexed into the full mesh vertices (#F × 3). /// @param displacement_map The displacement mapping from displacements on the full mesh to the collision mesh. - /// @param mat_id The material ID of the collision mesh (optional). CollisionMesh( const std::vector& include_vertex, Eigen::ConstRef full_rest_positions, @@ -286,6 +287,46 @@ class CollisionMesh { /// primitives can collide with all other primitives. std::function can_collide = default_can_collide; + /// @brief Set material IDs for vertices in the mesh + /// @param vertex_materials Vector of material IDs for each vertex + void set_vertex_materials(const Eigen::VectorXi& vertex_materials); + + /// @brief Set material IDs for edges in the mesh + /// @param edge_materials Vector of material IDs for each edge + void set_edge_materials(const Eigen::VectorXi& edge_materials); + + /// @brief Set material IDs for faces in the mesh + /// @param face_materials Vector of material IDs for each face + void set_face_materials(const Eigen::VectorXi& face_materials); + + /// @brief Get the material ID for a vertex + /// @param vertex_id Vertex index + /// @return Material ID for the vertex + int vertex_material(int vertex_id) const; + + /// @brief Get the material ID for an edge + /// @param edge_id Edge index + /// @return Material ID for the edge + int edge_material(int edge_id) const; + + /// @brief Get the material ID for a face + /// @param face_id Face index + /// @return Material ID for the face + int face_material(int face_id) const; + + /// @brief Check if material IDs are being used for this mesh + /// @return true if any material IDs have been set, false otherwise + bool has_material_ids() const + { + return m_vertex_materials.size() > 0 || + m_edge_materials.size() > 0 || + m_face_materials.size() > 0; + } + + /// @brief Set a single material ID for the entire mesh + /// @param material_id The material ID to assign to all elements + void set_single_material_id(int material_id); + protected: // ----------------------------------------------------------------------- // Helper initialization functions @@ -365,6 +406,11 @@ class CollisionMesh { /// @brief The rows of the Jacobian of the edge areas vector. std::vector> m_edge_area_jacobian; + // Material assignments + Eigen::VectorXi m_vertex_materials; + Eigen::VectorXi m_edge_materials; + Eigen::VectorXi m_face_materials; + private: /// @brief By default all primitives can collide with all other primitives. static int default_can_collide(size_t, size_t) { return true; } diff --git a/src/ipc/collisions/normal/normal_collision.hpp b/src/ipc/collisions/normal/normal_collision.hpp index 9a61066ca..b8ba3603f 100644 --- a/src/ipc/collisions/normal/normal_collision.hpp +++ b/src/ipc/collisions/normal/normal_collision.hpp @@ -2,6 +2,7 @@ #include #include +#include #include @@ -97,6 +98,34 @@ class NormalCollision : virtual public CollisionStencil { /// @brief The gradient of the term's weight wrt the rest positions. Eigen::SparseVector weight_gradient; + + /// @brief Material ID for the first object in the collision. + /// Set to NO_MATERIAL_ID if material-specific friction is not needed. + int material_id1 = NO_MATERIAL_ID; + + /// @brief Material ID for the second object in the collision. + /// Set to NO_MATERIAL_ID if material-specific friction is not needed. + int material_id2 = NO_MATERIAL_ID; + + /// @brief Check if material IDs are being used for this collision + /// @return true if material IDs are being used, false otherwise + bool has_material_ids() const { return material_id1 != NO_MATERIAL_ID && material_id2 != NO_MATERIAL_ID; } + + /// @brief Set the material IDs for this collision + /// @param mat_id1 Material ID for the first object + /// @param mat_id2 Material ID for the second object + void set_material_ids(int mat_id1, int mat_id2) + { + material_id1 = mat_id1; + material_id2 = mat_id2; + } + + /// @brief Get the material IDs involved in this collision + /// @return Pair of material IDs (first, second) + std::pair get_material_ids() const + { + return {material_id1, material_id2}; + } }; } // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_edge.cpp b/src/ipc/collisions/tangential/edge_edge.cpp index f997c6315..84876e5ba 100644 --- a/src/ipc/collisions/tangential/edge_edge.cpp +++ b/src/ipc/collisions/tangential/edge_edge.cpp @@ -13,6 +13,8 @@ EdgeEdgeTangentialCollision::EdgeEdgeTangentialCollision( { this->weight = collision.weight; this->weight_gradient = collision.weight_gradient; + this->material_id1 = collision.material_id1; + this->material_id2 = collision.material_id2; } EdgeEdgeTangentialCollision::EdgeEdgeTangentialCollision( @@ -31,11 +33,12 @@ EdgeEdgeTangentialCollision::EdgeEdgeTangentialCollision( MatrixMax EdgeEdgeTangentialCollision::compute_tangent_basis( Eigen::ConstRef positions) const { - assert(positions.size() == ndof()); return edge_edge_tangent_basis( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } MatrixMax @@ -44,8 +47,10 @@ EdgeEdgeTangentialCollision::compute_tangent_basis_jacobian( { assert(positions.size() == ndof()); return edge_edge_tangent_basis_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } // ============================================================================ @@ -55,8 +60,10 @@ VectorMax2d EdgeEdgeTangentialCollision::compute_closest_point( { assert(positions.size() == ndof()); return edge_edge_closest_point( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } MatrixMax @@ -65,8 +72,10 @@ EdgeEdgeTangentialCollision::compute_closest_point_jacobian( { assert(positions.size() == ndof()); return edge_edge_closest_point_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } // ============================================================================ @@ -76,15 +85,15 @@ VectorMax3d EdgeEdgeTangentialCollision::relative_velocity( { assert(velocities.size() == 12); return edge_edge_relative_velocity( - velocities.head<3>(), velocities.segment<3>(dim()), - velocities.segment<3>(2 * dim()), velocities.tail<3>(), closest_point); + velocities.head<3>(), velocities.segment<3>(TangentialCollision::dim()), + velocities.segment<3>(2 * TangentialCollision::dim()), velocities.tail<3>(), closest_point); } MatrixMax EdgeEdgeTangentialCollision::relative_velocity_matrix( Eigen::ConstRef _closest_point) const { assert(_closest_point.size() == 2); - return edge_edge_relative_velocity_matrix(dim(), _closest_point); + return edge_edge_relative_velocity_matrix(TangentialCollision::dim(), _closest_point); } MatrixMax @@ -92,7 +101,7 @@ EdgeEdgeTangentialCollision::relative_velocity_matrix_jacobian( Eigen::ConstRef _closest_point) const { assert(_closest_point.size() == 2); - return edge_edge_relative_velocity_matrix_jacobian(dim(), _closest_point); + return edge_edge_relative_velocity_matrix_jacobian(TangentialCollision::dim(), _closest_point); } } // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_edge.hpp b/src/ipc/collisions/tangential/edge_edge.hpp index 37923477e..85fd655ac 100644 --- a/src/ipc/collisions/tangential/edge_edge.hpp +++ b/src/ipc/collisions/tangential/edge_edge.hpp @@ -18,6 +18,36 @@ class EdgeEdgeTangentialCollision : public EdgeEdgeCandidate, Eigen::ConstRef positions, const NormalPotential& normal_potential, const double normal_stiffness); + + int dim() const override { return 3; } // Use fixed dimension 3 since it's a 3D problem + int ndof() const override { return 12; } // 4 vertices * 3 coordinates each + int num_vertices() const override { return 4; } // Edge-edge has 4 vertices + + std::array vertex_ids( + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return EdgeEdgeCandidate::vertex_ids(edges, faces); + } + + VectorMax12d dof( + Eigen::ConstRef dof, + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return EdgeEdgeCandidate::dof(dof, edges, faces); + } + + double compute_distance(Eigen::ConstRef positions) const override + { + return EdgeEdgeCandidate::compute_distance(positions); + } + + VectorMax12d compute_distance_gradient( + Eigen::ConstRef positions) const override + { + return EdgeEdgeCandidate::compute_distance_gradient(positions); + } protected: EdgeEdgeDistanceType known_dtype() const override diff --git a/src/ipc/collisions/tangential/edge_vertex.cpp b/src/ipc/collisions/tangential/edge_vertex.cpp index da126a791..9e854442b 100644 --- a/src/ipc/collisions/tangential/edge_vertex.cpp +++ b/src/ipc/collisions/tangential/edge_vertex.cpp @@ -13,6 +13,8 @@ EdgeVertexTangentialCollision::EdgeVertexTangentialCollision( { this->weight = collision.weight; this->weight_gradient = collision.weight_gradient; + this->material_id1 = collision.material_id1; + this->material_id2 = collision.material_id2; } EdgeVertexTangentialCollision::EdgeVertexTangentialCollision( @@ -33,8 +35,9 @@ MatrixMax EdgeVertexTangentialCollision::compute_tangent_basis( { assert(positions.size() == ndof()); return point_edge_tangent_basis( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } MatrixMax @@ -43,8 +46,9 @@ EdgeVertexTangentialCollision::compute_tangent_basis_jacobian( { assert(positions.size() == ndof()); return point_edge_tangent_basis_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } // ============================================================================ @@ -55,8 +59,9 @@ VectorMax2d EdgeVertexTangentialCollision::compute_closest_point( assert(positions.size() == ndof()); VectorMax2d alpha(1); alpha[0] = point_edge_closest_point( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); return alpha; } @@ -66,8 +71,9 @@ EdgeVertexTangentialCollision::compute_closest_point_jacobian( { assert(positions.size() == ndof()); return point_edge_closest_point_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.tail(dim())) + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())) .transpose(); } @@ -78,8 +84,9 @@ VectorMax3d EdgeVertexTangentialCollision::relative_velocity( { assert(velocities.size() == ndof()); return point_edge_relative_velocity( - velocities.head(dim()), velocities.segment(dim(), dim()), - velocities.tail(dim()), closest_point[0]); + velocities.head(TangentialCollision::dim()), + velocities.segment(TangentialCollision::dim(), TangentialCollision::dim()), + velocities.tail(TangentialCollision::dim()), closest_point[0]); } MatrixMax @@ -87,7 +94,7 @@ EdgeVertexTangentialCollision::relative_velocity_matrix( Eigen::ConstRef _closest_point) const { assert(_closest_point.size() == 1); - return point_edge_relative_velocity_matrix(dim(), _closest_point[0]); + return point_edge_relative_velocity_matrix(TangentialCollision::dim(), _closest_point[0]); } MatrixMax @@ -96,7 +103,7 @@ EdgeVertexTangentialCollision::relative_velocity_matrix_jacobian( { assert(_closest_point.size() == 1); return point_edge_relative_velocity_matrix_jacobian( - dim(), _closest_point[0]); + TangentialCollision::dim(), _closest_point[0]); } } // namespace ipc diff --git a/src/ipc/collisions/tangential/edge_vertex.hpp b/src/ipc/collisions/tangential/edge_vertex.hpp index 9856acd8b..68bf0cd90 100644 --- a/src/ipc/collisions/tangential/edge_vertex.hpp +++ b/src/ipc/collisions/tangential/edge_vertex.hpp @@ -18,6 +18,36 @@ class EdgeVertexTangentialCollision : public EdgeVertexCandidate, Eigen::ConstRef positions, const NormalPotential& normal_potential, const double normal_stiffness); + + int dim() const override { return 3; } + int ndof() const override { return 9; } // 3 vertices * 3 coordinates each + int num_vertices() const override { return 3; } // Edge-vertex has 3 vertices + + std::array vertex_ids( + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return EdgeVertexCandidate::vertex_ids(edges, faces); + } + + VectorMax12d dof( + Eigen::ConstRef dof, + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return EdgeVertexCandidate::dof(dof, edges, faces); + } + + double compute_distance(Eigen::ConstRef positions) const override + { + return EdgeVertexCandidate::compute_distance(positions); + } + + VectorMax12d compute_distance_gradient( + Eigen::ConstRef positions) const override + { + return EdgeVertexCandidate::compute_distance_gradient(positions); + } protected: MatrixMax compute_tangent_basis( diff --git a/src/ipc/collisions/tangential/face_vertex.cpp b/src/ipc/collisions/tangential/face_vertex.cpp index c5be2fd48..2c9848fef 100644 --- a/src/ipc/collisions/tangential/face_vertex.cpp +++ b/src/ipc/collisions/tangential/face_vertex.cpp @@ -13,6 +13,8 @@ FaceVertexTangentialCollision::FaceVertexTangentialCollision( { this->weight = collision.weight; this->weight_gradient = collision.weight_gradient; + this->material_id1 = collision.material_id1; + this->material_id2 = collision.material_id2; } FaceVertexTangentialCollision::FaceVertexTangentialCollision( @@ -33,8 +35,10 @@ MatrixMax FaceVertexTangentialCollision::compute_tangent_basis( { assert(positions.size() == ndof()); return point_triangle_tangent_basis( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } MatrixMax @@ -43,8 +47,10 @@ FaceVertexTangentialCollision::compute_tangent_basis_jacobian( { assert(positions.size() == ndof()); return point_triangle_tangent_basis_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } // ============================================================================ @@ -54,8 +60,10 @@ VectorMax2d FaceVertexTangentialCollision::compute_closest_point( { assert(positions.size() == ndof()); return point_triangle_closest_point( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } MatrixMax @@ -64,8 +72,10 @@ FaceVertexTangentialCollision::compute_closest_point_jacobian( { assert(positions.size() == ndof()); return point_triangle_closest_point_jacobian( - positions.head(dim()), positions.segment(dim(), dim()), - positions.segment(2 * dim(), dim()), positions.tail(dim())); + positions.head(TangentialCollision::dim()), + positions.segment(TangentialCollision::dim(), TangentialCollision::dim()), + positions.segment(2 * TangentialCollision::dim(), TangentialCollision::dim()), + positions.tail(TangentialCollision::dim())); } // ============================================================================ @@ -75,8 +85,8 @@ VectorMax3d FaceVertexTangentialCollision::relative_velocity( { assert(velocities.size() == 12); return point_triangle_relative_velocity( - velocities.head<3>(), velocities.segment<3>(dim()), - velocities.segment<3>(2 * dim()), velocities.tail<3>(), closest_point); + velocities.head<3>(), velocities.segment<3>(TangentialCollision::dim()), + velocities.segment<3>(2 * TangentialCollision::dim()), velocities.tail<3>(), closest_point); } MatrixMax @@ -84,7 +94,7 @@ FaceVertexTangentialCollision::relative_velocity_matrix( Eigen::ConstRef _closest_point) const { assert(_closest_point.size() == 2); - return point_triangle_relative_velocity_matrix(dim(), _closest_point); + return point_triangle_relative_velocity_matrix(TangentialCollision::dim(), _closest_point); } MatrixMax @@ -93,7 +103,7 @@ FaceVertexTangentialCollision::relative_velocity_matrix_jacobian( { assert(_closest_point.size() == 2); return point_triangle_relative_velocity_matrix_jacobian( - dim(), _closest_point); + TangentialCollision::dim(), _closest_point); } } // namespace ipc diff --git a/src/ipc/collisions/tangential/face_vertex.hpp b/src/ipc/collisions/tangential/face_vertex.hpp index f27905732..16daa1dd3 100644 --- a/src/ipc/collisions/tangential/face_vertex.hpp +++ b/src/ipc/collisions/tangential/face_vertex.hpp @@ -18,6 +18,36 @@ class FaceVertexTangentialCollision : public FaceVertexCandidate, Eigen::ConstRef positions, const NormalPotential& normal_potential, const double normal_stiffness); + + int dim() const override { return 3; } + int ndof() const override { return 12; } // 4 vertices * 3 coordinates each + int num_vertices() const override { return 4; } // Face-vertex has 4 vertices + + std::array vertex_ids( + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return FaceVertexCandidate::vertex_ids(edges, faces); + } + + VectorMax12d dof( + Eigen::ConstRef dof, + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return FaceVertexCandidate::dof(dof, edges, faces); + } + + double compute_distance(Eigen::ConstRef positions) const override + { + return FaceVertexCandidate::compute_distance(positions); + } + + VectorMax12d compute_distance_gradient( + Eigen::ConstRef positions) const override + { + return FaceVertexCandidate::compute_distance_gradient(positions); + } protected: MatrixMax compute_tangent_basis( diff --git a/src/ipc/collisions/tangential/tangential_collision.cpp b/src/ipc/collisions/tangential/tangential_collision.cpp index 874526229..e98b3124a 100644 --- a/src/ipc/collisions/tangential/tangential_collision.cpp +++ b/src/ipc/collisions/tangential/tangential_collision.cpp @@ -12,14 +12,23 @@ void TangentialCollision::init( const NormalPotential& normal_potential, const double normal_stiffness) { - // do this to initialize dim() - const int dim = collision.dim(positions.size()); - tangent_basis.resize(dim, dim - 1); - - closest_point = compute_closest_point(positions); - tangent_basis = compute_tangent_basis(positions); - normal_force_magnitude = normal_potential.force_magnitude( - compute_distance(positions), collision.dmin, normal_stiffness); + this->weight = collision.weight; + this->weight_gradient = collision.weight_gradient; + this->material_id1 = collision.material_id1; + this->material_id2 = collision.material_id2; + + this->tangent_basis = compute_tangent_basis(positions); + this->closest_point = compute_closest_point(positions); + double distance = collision.compute_distance(positions); + + // We should compute a more accurate distance mollifier here. + this->normal_force_magnitude = normal_potential.force_magnitude( + distance, collision.dmin, normal_stiffness); +} + +MatrixMax TangentialCollision::relative_velocity_matrix() const +{ + return relative_velocity_matrix(closest_point); } } // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collision.hpp b/src/ipc/collisions/tangential/tangential_collision.hpp index 361733f6b..7e3e4ef2f 100644 --- a/src/ipc/collisions/tangential/tangential_collision.hpp +++ b/src/ipc/collisions/tangential/tangential_collision.hpp @@ -1,111 +1,154 @@ #pragma once -#include -#include -#include +#include +#include #include +#include namespace ipc { -class TangentialCollision : virtual public CollisionStencil { -protected: - /// @brief Initialize the collision. - /// @param collision NormalCollision stencil. - /// @param positions Collision stencil's vertex positions. - /// @param normal_potential Normal potential used for normal force. - /// @param normal_stiffness Normal potential stiffness. +class TangentialCollision { +public: + TangentialCollision() = default; + void init( const NormalCollision& collision, Eigen::ConstRef positions, const NormalPotential& normal_potential, const double normal_stiffness); -public: virtual ~TangentialCollision() = default; - /// @brief Get the dimension of the collision. - int dim() const { return tangent_basis.rows(); } - - /// @brief Get the number of degrees of freedom for the collision. - int ndof() const { return dim() * num_vertices(); } - - // -- Abstract methods ----------------------------------------------------- - - /// @brief Compute the tangent basis of the collision. - /// @param positions Collision stencil's vertex positions. - /// @return Tangent basis of the collision. + // ========================================================================= + // Methods that must be implemented by each collision type + + /// @brief Get the dimension of the space. + virtual int dim() const = 0; + + /// @brief Get the number of degrees of freedom. + virtual int ndof() const = 0; + + /// @brief Get the number of vertices in the stencil. + virtual int num_vertices() const = 0; + + /// @brief Get the vertex IDs of the contact stencil. + /// @param edges The edge matrix of mesh (#E × 2). + /// @param faces The face matrix of mesh (#F × 3). + /// @return The vertex IDs involved in the contact stencil. + virtual std::array + vertex_ids( + Eigen::ConstRef edges, + Eigen::ConstRef faces) const = 0; + + /// @brief Extract the stencil's DOF from a global DOF vector + /// @param dof The global DOF vector (#V × dim). + /// @param edges The edge matrix of mesh (#E × 2). + /// @param faces The face matrix of mesh (#F × 3). + /// @return The stencil's DOF (≤ 4 × dim). + virtual VectorMax12d dof( + Eigen::ConstRef dof, + Eigen::ConstRef edges, + Eigen::ConstRef faces) const = 0; + + /// @brief Compute the distance. + /// @param positions The stencil's vertex positions. + /// @return The distance. + virtual double compute_distance(Eigen::ConstRef positions) + const = 0; + + /// @brief Compute the distance gradient wrt the positions. + /// @param positions The stencil's vertex positions. + /// @return The distance gradient. + virtual VectorMax12d + compute_distance_gradient(Eigen::ConstRef positions) const = 0; + + // ========================================================================= + // Main methods for tangential collision + + /// @brief Compute the tangent basis. + /// @param positions The stencil's vertex positions. + /// @return The tangent basis matrix ∈ ℝ^{3×2}. virtual MatrixMax compute_tangent_basis(Eigen::ConstRef positions) const = 0; - /// @brief Compute the Jacobian of the tangent basis of the collision. - /// @param positions Collision stencil's vertex positions. - /// @return Jacobian of the tangent basis of the collision. - virtual MatrixMax compute_tangent_basis_jacobian( - Eigen::ConstRef positions) const = 0; + /// @brief Compute the Jacobian of the tangent basis wrt the positions. + /// @param positions The stencil's vertex positions. + /// @return The Jacobian of the tangent basis matrix ∈ ℝ^{(3×dim)×2}. + virtual MatrixMax + compute_tangent_basis_jacobian(Eigen::ConstRef positions) + const = 0; - /// @brief Compute the barycentric coordinates of the closest point. - /// @param positions Collision stencil's vertex positions. - /// @return Barycentric coordinates of the closest point. + /// @brief Compute the closest points. + /// @param positions The stencil's vertex positions. + /// @return The closest points coordinates ∈ ℝ^{0…2}. virtual VectorMax2d compute_closest_point(Eigen::ConstRef positions) const = 0; - /// @brief Compute the Jacobian of the barycentric coordinates of the closest point. - /// @param positions Collision stencil's vertex positions. - /// @return Jacobian of the barycentric coordinates of the closest point. - virtual MatrixMax compute_closest_point_jacobian( - Eigen::ConstRef positions) const = 0; + /// @brief Compute the Jacobian of the closest points wrt the positions. + /// @param positions The stencil's vertex positions. + /// @return The Jacobian of the closest point. + virtual MatrixMax + compute_closest_point_jacobian(Eigen::ConstRef positions) + const = 0; - /// @brief Compute the relative velocity of the collision. - /// @param velocities Collision stencil's vertex velocities. - /// @return Relative velocity of the collision. + /// @brief Compute the relative velocity of the two objects in contact. + /// @param velocities The stencil's vertex velocities. + /// @return The relative velocity ∈ ℝ^3. virtual VectorMax3d relative_velocity(Eigen::ConstRef velocities) const = 0; - /// @brief Construct the premultiplier matrix for the relative velocity. - /// @note Uses the cached closest point. - /// @return A matrix M such that `relative_velocity = M * velocities`. - virtual MatrixMax relative_velocity_matrix() const - { - return relative_velocity_matrix(closest_point); - } - - /// @brief Construct the premultiplier matrix for the relative velocity. - /// @param closest_point Barycentric coordinates of the closest point. - /// @return A matrix M such that `relative_velocity = M * velocities`. + /// @brief Compute the relative velocity matrix. + /// @return The relative velocity matrix ∈ ℝ^{3×(≤4×dim)}. + MatrixMax relative_velocity_matrix() const; + + /// @brief Compute the relative velocity matrix. + /// @param closest_point The closest point coordinates ∈ ℝ^{0…2}. + /// @return The relative velocity matrix ∈ ℝ^{3×(≤4×dim)}. virtual MatrixMax relative_velocity_matrix( Eigen::ConstRef closest_point) const = 0; - /// @brief Construct the Jacobian of the relative velocity premultiplier wrt the closest points. - /// @param closest_point Barycentric coordinates of the closest point. - /// @return Jacobian of the relative velocity premultiplier wrt the closest points. + /// @brief Compute the Jacobian of the relative velocity matrix wrt the closest point. + /// @param closest_point The closest point coordinates ∈ ℝ^{0…2}. + /// @return The Jacobian of the relative velocity matrix ∈ ℝ^{6×(≤4×dim)}. virtual MatrixMax relative_velocity_matrix_jacobian( Eigen::ConstRef closest_point) const = 0; -public: - - /// @brief Normal force magnitude - double normal_force_magnitude; + // ========================================================================= + // Variables - /// @brief Ratio between normal and tangential forces (e.g., global friction coefficient) - double mu; + /// @brief The contact basis expressed in the world frame. + MatrixMax tangent_basis; - /// @brief Ratio between normal and tangential forces (e.g., static friction coefficient) - double s_mu = -1; + /// @brief The coordinates of the closest points. + VectorMax2d closest_point; - /// @brief Ratio between normal and tangential forces (e.g., kinetic friction coefficient) - double k_mu = -1; + /// @brief The magnitude of the contact force. + double normal_force_magnitude = 0; - /// @brief Weight + /// @brief The term's weight (e.g., collision area) double weight = 1; - /// @brief Gradient of weight with respect to all DOF + /// @brief The gradient of the term's weight wrt the rest positions. Eigen::SparseVector weight_gradient; - /// @brief Barycentric coordinates of the closest point(s) - VectorMax2d closest_point; + /// @brief Global friction coefficient. + double mu = 0; - /// @brief Tangent basis of the collision (max size 3×2) - MatrixMax tangent_basis; + /// @brief Static friction coefficient. + double s_mu = -1; + + /// @brief Kinetic friction coefficient. + double k_mu = -1; + + /// @brief The material ID for the first object in this collision + int material_id1 = NO_MATERIAL_ID; + + /// @brief The material ID for the second object in this collision + int material_id2 = NO_MATERIAL_ID; + + /// @brief Check if material IDs are being used for this collision + /// @return true if both material IDs are valid, false otherwise + bool has_material_ids() const { return material_id1 != NO_MATERIAL_ID && material_id2 != NO_MATERIAL_ID; } }; } // namespace ipc diff --git a/src/ipc/collisions/tangential/tangential_collisions.cpp b/src/ipc/collisions/tangential/tangential_collisions.cpp index 64384f820..092df3703 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.cpp +++ b/src/ipc/collisions/tangential/tangential_collisions.cpp @@ -31,7 +31,14 @@ void TangentialCollisions::build( const auto& C_ev = collisions.ev_collisions; const auto& C_ee = collisions.ee_collisions; const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + auto& FC_vv = this->vv_collisions; + auto& FC_ev = this->ev_collisions; + auto& FC_ee = this->ee_collisions; + auto& FC_fv = this->fv_collisions; + + // Check if we need to use material IDs + bool use_materials = mesh.has_material_ids(); FC_vv.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { @@ -40,7 +47,13 @@ void TangentialCollisions::build( normal_stiffness); const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); - FC_vv.back().mu = blend_mu(mus(v0i), mus(v1i), blend_type); + // Only set material IDs if needed + if (use_materials) { + FC_vv.back().material_id1 = mesh.vertex_material(v0i); + FC_vv.back().material_id2 = mesh.vertex_material(v1i); + } + + FC_vv.back().mu = default_blend_mu(mus(v0i), mus(v1i), blend_type); FC_vv.back().s_mu = -1; FC_vv.back().k_mu = -1; } @@ -52,9 +65,15 @@ void TangentialCollisions::build( normal_stiffness); const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + // Only set material IDs if needed + if (use_materials) { + FC_ev.back().material_id1 = mesh.edge_material(FC_ev.back().edge_id); + FC_ev.back().material_id2 = mesh.vertex_material(vi); + } + const double edge_mu = (mus(e1i) - mus(e0i)) * FC_ev.back().closest_point[0] + mus(e0i); - FC_ev.back().mu = blend_mu(edge_mu, mus(vi), blend_type); + FC_ev.back().mu = default_blend_mu(edge_mu, mus(vi), blend_type); FC_ev.back().s_mu = -1; FC_ev.back().k_mu = -1; } @@ -76,11 +95,17 @@ void TangentialCollisions::build( c_ee, c_ee.dof(vertices, edges, faces), normal_potential, normal_stiffness); + // Only set material IDs if needed + if (use_materials) { + FC_ee.back().material_id1 = mesh.edge_material(FC_ee.back().edge0_id); + FC_ee.back().material_id2 = mesh.edge_material(FC_ee.back().edge1_id); + } + double ea_mu = (mus(ea1i) - mus(ea0i)) * FC_ee.back().closest_point[0] + mus(ea0i); double eb_mu = (mus(eb1i) - mus(eb0i)) * FC_ee.back().closest_point[1] + mus(eb0i); - FC_ee.back().mu = blend_mu(ea_mu, eb_mu, blend_type); + FC_ee.back().mu = default_blend_mu(ea_mu, eb_mu, blend_type); FC_ee.back().s_mu = -1; FC_ee.back().k_mu = -1; } @@ -92,16 +117,21 @@ void TangentialCollisions::build( normal_stiffness); const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + // Only set material IDs if needed + if (use_materials) { + FC_fv.back().material_id1 = mesh.face_material(FC_fv.back().face_id); + FC_fv.back().material_id2 = mesh.vertex_material(vi); + } + double face_mu = mus(f0i) + FC_fv.back().closest_point[0] * (mus(f1i) - mus(f0i)) + FC_fv.back().closest_point[1] * (mus(f2i) - mus(f0i)); - FC_fv.back().mu = blend_mu(face_mu, mus(vi), blend_type); + FC_fv.back().mu = default_blend_mu(face_mu, mus(vi), blend_type); FC_fv.back().s_mu = -1; FC_fv.back().k_mu = -1; } } - void TangentialCollisions::build( const CollisionMesh& mesh, const Eigen::MatrixXd& vertices, @@ -122,11 +152,18 @@ void TangentialCollisions::build( collision.k_mu = g_k_mu; }; + // Check if we need to use material IDs + bool use_materials = mesh.has_material_ids(); + const auto& C_vv = collisions.vv_collisions; const auto& C_ev = collisions.ev_collisions; const auto& C_ee = collisions.ee_collisions; const auto& C_fv = collisions.fv_collisions; - auto& [FC_vv, FC_ev, FC_ee, FC_fv] = *this; + + auto& FC_vv = this->vv_collisions; + auto& FC_ev = this->ev_collisions; + auto& FC_ee = this->ee_collisions; + auto& FC_fv = this->fv_collisions; FC_vv.reserve(C_vv.size()); for (const auto& c_vv : C_vv) { @@ -134,6 +171,13 @@ void TangentialCollisions::build( c_vv, c_vv.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [v0i, v1i, _, __] = FC_vv.back().vertex_ids(edges, faces); + + // Only set material IDs if needed + if (use_materials) { + FC_vv.back().material_id1 = mesh.vertex_material(v0i); + FC_vv.back().material_id2 = mesh.vertex_material(v1i); + } + setFrictionParams(FC_vv.back(), mu, s_mu, k_mu); } @@ -143,6 +187,13 @@ void TangentialCollisions::build( c_ev, c_ev.dof(vertices, edges, faces), normal_potential, barrier_stiffness); const auto& [vi, e0i, e1i, _] = FC_ev.back().vertex_ids(edges, faces); + + // Only set material IDs if needed + if (use_materials) { + FC_ev.back().material_id1 = mesh.edge_material(FC_ev.back().edge_id); + FC_ev.back().material_id2 = mesh.vertex_material(vi); + } + setFrictionParams(FC_ev.back(), mu, s_mu, k_mu); } @@ -163,6 +214,12 @@ void TangentialCollisions::build( c_ee, c_ee.dof(vertices, edges, faces), normal_potential, barrier_stiffness); + // Only set material IDs if needed + if (use_materials) { + FC_ee.back().material_id1 = mesh.edge_material(FC_ee.back().edge0_id); + FC_ee.back().material_id2 = mesh.edge_material(FC_ee.back().edge1_id); + } + setFrictionParams(FC_ee.back(), mu, s_mu, k_mu); } @@ -173,6 +230,12 @@ void TangentialCollisions::build( barrier_stiffness); const auto& [vi, f0i, f1i, f2i] = FC_fv.back().vertex_ids(edges, faces); + // Only set material IDs if needed + if (use_materials) { + FC_fv.back().material_id1 = mesh.face_material(FC_fv.back().face_id); + FC_fv.back().material_id2 = mesh.vertex_material(vi); + } + setFrictionParams(FC_fv.back(), mu, s_mu, k_mu); } } diff --git a/src/ipc/collisions/tangential/tangential_collisions.hpp b/src/ipc/collisions/tangential/tangential_collisions.hpp index 55c23a839..5b029db3e 100644 --- a/src/ipc/collisions/tangential/tangential_collisions.hpp +++ b/src/ipc/collisions/tangential/tangential_collisions.hpp @@ -5,7 +5,6 @@ #include #include #include -#include #include #include @@ -23,12 +22,8 @@ class TangentialCollisions { /// @brief Blend type enum for selecting the method of blending friction coefficients. enum class BlendType { - AVG, - MIN, MAX, - PRODUCT, - HARMONIC_MEAN, - GEOMETRIC_MEAN + HARMONIC_MEAN }; /// @brief The friction coefficients for a pair of materials. @@ -60,8 +55,17 @@ class TangentialCollisions { const NormalPotential& normal_potential, const double normal_stiffness, Eigen::ConstRef mus, - const std::function& blend_mu = - default_blend_mu); + const std::function& blend_mu = blend_mu_wrapper); + + void build( + const CollisionMesh& mesh, + const Eigen::MatrixXd& vertices, + const NormalCollisions& collisions, + const NormalPotential& normal_potential, + double barrier_stiffness, + double mu, + double s_mu, + double k_mu); // ------------------------------------------------------------------------ @@ -80,25 +84,24 @@ class TangentialCollisions { /// @brief Get a const reference to collision at index i. const TangentialCollision& operator[](const size_t i) const; - static double default_blend_mu(double mu0, double mu1, BlendType type) + static double default_blend_mu( + double mu1, double mu2, BlendType blend_type = BlendType::MAX) { - switch (type) { - case BlendType::MIN: - return std::min(mu0, mu1); - case BlendType::MAX: - return std::max(mu0, mu1); - case BlendType::PRODUCT: - return mu0 * mu1; - case BlendType::HARMONIC_MEAN: - return 2 * (mu0 * mu1) / (mu0 + mu1); - case BlendType::GEOMETRIC_MEAN: - return std::sqrt(mu0 * mu1); - case BlendType::AVG: - default: - return (mu0 + mu1) / 2; + if (blend_type == BlendType::MAX) { + return std::max(mu1, mu2); + } else { + // HARMONIC_MEAN + if (mu1 <= 0 || mu2 <= 0) { + return 0; + } + return 2 * (mu1 * mu2) / (mu1 + mu2); } } + static double blend_mu_wrapper(double mu1, double mu2) { + return default_blend_mu(mu1, mu2); + } + public: /// @brief Vertex-vertex tangential collisions. std::vector vv_collisions; @@ -108,6 +111,9 @@ class TangentialCollisions { std::vector ee_collisions; /// @brief Face-vertex tangential collisions. std::vector fv_collisions; + + /// @brief The blend type to use when combining friction coefficients. + BlendType blend_type = BlendType::MAX; }; } // namespace ipc diff --git a/src/ipc/collisions/tangential/vertex_vertex.cpp b/src/ipc/collisions/tangential/vertex_vertex.cpp index 95036f807..d7170d02a 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.cpp +++ b/src/ipc/collisions/tangential/vertex_vertex.cpp @@ -13,6 +13,8 @@ VertexVertexTangentialCollision::VertexVertexTangentialCollision( { this->weight = collision.weight; this->weight_gradient = collision.weight_gradient; + this->material_id1 = collision.material_id1; + this->material_id2 = collision.material_id2; } VertexVertexTangentialCollision::VertexVertexTangentialCollision( diff --git a/src/ipc/collisions/tangential/vertex_vertex.hpp b/src/ipc/collisions/tangential/vertex_vertex.hpp index 85c8fc01d..330ad05f8 100644 --- a/src/ipc/collisions/tangential/vertex_vertex.hpp +++ b/src/ipc/collisions/tangential/vertex_vertex.hpp @@ -11,14 +11,43 @@ class VertexVertexTangentialCollision : public VertexVertexCandidate, public: using VertexVertexCandidate::VertexVertexCandidate; - VertexVertexTangentialCollision( - const VertexVertexNormalCollision& collision); + VertexVertexTangentialCollision(const VertexVertexNormalCollision& collision); VertexVertexTangentialCollision( const VertexVertexNormalCollision& collision, Eigen::ConstRef positions, const NormalPotential& normal_potential, const double normal_stiffness); + + int dim() const override { return 3; } + int ndof() const override { return 6; } // 2 vertices * 3 coordinates each + int num_vertices() const override { return 2; } // Vertex-vertex has 2 vertices + + std::array vertex_ids( + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return VertexVertexCandidate::vertex_ids(edges, faces); + } + + VectorMax12d dof( + Eigen::ConstRef dof, + Eigen::ConstRef edges, + Eigen::ConstRef faces) const override + { + return VertexVertexCandidate::dof(dof, edges, faces); + } + + double compute_distance(Eigen::ConstRef positions) const override + { + return VertexVertexCandidate::compute_distance(positions); + } + + VectorMax12d compute_distance_gradient( + Eigen::ConstRef positions) const override + { + return VertexVertexCandidate::compute_distance_gradient(positions); + } protected: MatrixMax compute_tangent_basis( diff --git a/src/ipc/friction/CMakeLists.txt b/src/ipc/friction/CMakeLists.txt index 23dd74f4d..ab5d71800 100644 --- a/src/ipc/friction/CMakeLists.txt +++ b/src/ipc/friction/CMakeLists.txt @@ -1,6 +1,7 @@ set(SOURCES - smooth_friction_mollifier.cpp smooth_friction_mollifier.hpp + smooth_friction_mollifier.cpp + material_friction.hpp ) source_group(TREE "${CMAKE_CURRENT_SOURCE_DIR}" PREFIX "Source Files" FILES ${SOURCES}) diff --git a/src/ipc/friction/material_friction.hpp b/src/ipc/friction/material_friction.hpp new file mode 100644 index 000000000..92620eca1 --- /dev/null +++ b/src/ipc/friction/material_friction.hpp @@ -0,0 +1,64 @@ +#pragma once + +#include +#include +#include + +namespace ipc { + +/// @brief A class to handle material-specific friction coefficients +class MaterialFriction { +public: + /// @brief Constructor + MaterialFriction() = default; + + /// @brief Constructor with a friction table + /// @param friction_table Table of friction coefficients indexed by material IDs + MaterialFriction(const Eigen::MatrixXd& friction_table) + : m_friction_table(std::make_shared(friction_table)) + {} + + /// @brief Set the friction coefficient table + /// @param friction_table Table of friction coefficients indexed by material IDs + void set_friction_table(const Eigen::MatrixXd& friction_table) + { + m_friction_table = std::make_shared(friction_table); + } + + /// @brief Get the friction coefficient table + /// @return Shared pointer to the friction table + std::shared_ptr get_friction_table() const + { + return m_friction_table; + } + + /// @brief Get the friction coefficient for a collision + /// @param collision The tangential collision + /// @param default_mu The default friction coefficient to use if no material IDs are set + /// @return The friction coefficient based on material IDs, or default_mu if no match + double get_coefficient(const TangentialCollision& collision, double default_mu) const + { + // If material IDs are not set or there's no table, use default + if (!collision.has_material_ids() || !m_friction_table || m_friction_table->size() == 0) { + return default_mu; + } + + int id1 = collision.material_id1; + int id2 = collision.material_id2; + + // Check if material IDs are valid for the friction table + if (id1 >= 0 && id1 < m_friction_table->rows() && + id2 >= 0 && id2 < m_friction_table->cols()) { + return (*m_friction_table)(id1, id2); + } + + // Default to collision's mu if material IDs are out of range + return default_mu; + } + +private: + /// @brief Table of friction coefficients indexed by material IDs + std::shared_ptr m_friction_table; +}; + +} // namespace ipc diff --git a/src/ipc/friction/smooth_friction_mollifier.hpp b/src/ipc/friction/smooth_friction_mollifier.hpp index aa754ad0f..976a69e17 100644 --- a/src/ipc/friction/smooth_friction_mollifier.hpp +++ b/src/ipc/friction/smooth_friction_mollifier.hpp @@ -139,5 +139,4 @@ double smooth_friction_f1_over_x_mus(const double y, const double eps_v, const d /// @return The value of \(\mu(y) \cdot \frac{f_2(y) \cdot y - f_1(y)}{y^3}\) at y. double smooth_friction_f2_x_minus_f1_over_x3_mus(const double y, const double eps_v, const double mu_s, const double mu_k); - } // namespace ipc diff --git a/src/ipc/potentials/friction_potential.cpp b/src/ipc/potentials/friction_potential.cpp index ffee4ce29..597e2775e 100644 --- a/src/ipc/potentials/friction_potential.cpp +++ b/src/ipc/potentials/friction_potential.cpp @@ -22,22 +22,20 @@ double FrictionPotential::f2_x_minus_f1_over_x3(const double x) const return smooth_friction_f2_x_minus_f1_over_x3(x, eps_v()); } +// Functions for static/kinetic friction coefficients double FrictionPotential::f0_mus(const double x, const double mu_s, const double mu_k) const { - return smooth_friction_mus(x, eps_v(), mu_s, mu_k); - + return smooth_friction_f0_mus(x, eps_v(), mu_s, mu_k); } double FrictionPotential::f1_over_x_mus(const double x, const double mu_s, const double mu_k) const { return smooth_friction_f1_over_x_mus(x, eps_v(), mu_s, mu_k); - } double FrictionPotential::f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const { return smooth_friction_f2_x_minus_f1_over_x3_mus(x, eps_v(), mu_s, mu_k); - } } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/friction_potential.hpp b/src/ipc/potentials/friction_potential.hpp index 978a0ed09..6b893f7ee 100644 --- a/src/ipc/potentials/friction_potential.hpp +++ b/src/ipc/potentials/friction_potential.hpp @@ -1,6 +1,7 @@ #pragma once #include +#include namespace ipc { @@ -23,18 +24,30 @@ class FrictionPotential : public TangentialPotential { assert(eps_v > 0); m_eps_v = eps_v; } + + /// @brief Set the material friction coefficient lookup table + /// @param table Table of friction coefficients indexed by material IDs + void set_material_friction_table(const std::shared_ptr& table) + { + material_friction_table = table; + } + + /// @brief Get the material friction coefficient lookup table + /// @return Shared pointer to the friction table or nullptr if not set + std::shared_ptr get_material_friction_table() const + { + return material_friction_table; + } protected: - // Friction global mu double f0(const double x) const override; double f1_over_x(const double x) const override; double f2_x_minus_f1_over_x3(const double x) const override; - - // Friction with mu_s and mu_k - double f0_mus(const double x, const double s_mu, const double k_mu) const override; - double f1_over_x_mus(const double x, const double s_mu, const double k_mu) const override; - double f2_x_minus_f1_over_x3_mus(const double x, const double s_mu, const double k_mu) const override; - + + // Additional functions for handling static/kinetic friction + double f0_mus(const double x, const double mu_s, const double mu_k) const; + double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const; + double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const; bool is_dynamic(const double speed) const override { @@ -43,6 +56,9 @@ class FrictionPotential : public TangentialPotential { /// @brief The smooth friction mollifier parameter \f$\epsilon_v\f$. double m_eps_v; + + /// @brief Table of friction coefficients indexed by material IDs + std::shared_ptr material_friction_table; }; } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/tangential_adhesion_potential.hpp b/src/ipc/potentials/tangential_adhesion_potential.hpp index 4b7eda22a..6cf45b87b 100644 --- a/src/ipc/potentials/tangential_adhesion_potential.hpp +++ b/src/ipc/potentials/tangential_adhesion_potential.hpp @@ -28,23 +28,26 @@ class TangentialAdhesionPotential : public TangentialPotential { double f0(const double x) const override; double f1_over_x(const double x) const override; double f2_x_minus_f1_over_x3(const double x) const override; + + // Implement the required methods for static/kinetic friction double f0_mus(const double x, const double mu_s, const double mu_k) const override { - return 0; + return f0(x); // Adhesion doesn't use static/kinetic distinction } + double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const override { - return 0; + return f1_over_x(x); // Adhesion doesn't use static/kinetic distinction } + double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const override { - return 0; + return f2_x_minus_f1_over_x3(x); // Adhesion doesn't use static/kinetic distinction } - bool is_dynamic(const double speed) const override { - return speed > eps_a(); + return speed > 2 * eps_a(); } /// @brief The tangential adhesion mollifier parameter \f$\epsilon_a\f$. diff --git a/src/ipc/potentials/tangential_potential.cpp b/src/ipc/potentials/tangential_potential.cpp index ceadc1bd8..587744a90 100644 --- a/src/ipc/potentials/tangential_potential.cpp +++ b/src/ipc/potentials/tangential_potential.cpp @@ -1,4 +1,5 @@ #include "friction_potential.hpp" +#include // Add this include for TangentBasis namespace ipc { @@ -185,6 +186,53 @@ VectorMax12d TangentialPotential::gradient( * u); } +Eigen::VectorXd TangentialPotential::gradient( + const Eigen::MatrixXd& V, + const Eigen::VectorXd& u0, + const Eigen::Ref& basis, // Updated parameter type + double dt, + double mu, + double eps_v, + double static_mu, // Added parameter for static friction coefficient + double kinetic_mu) const // Added parameter for kinetic friction coefficient +{ + // If static and kinetic mu are not specified (or are the same), + // use the original implementation + if (static_mu <= 0 || std::abs(static_mu - kinetic_mu) < 1e-10) { + // Original implementation for single mu + const Eigen::VectorXd u0_local = basis.transpose() * u0; + const Eigen::VectorXd u = u0_local; + const double u_norm = u.norm(); + + if (u_norm < 1e-10) { + return Eigen::VectorXd::Zero(u0.size()); + } + + const double force_scale = mu * f1_over_x(u_norm) / u_norm; + return basis * (force_scale * u); + } + + // Use the smooth transition between static and dynamic friction + const Eigen::VectorXd u0_local = basis.transpose() * u0; + const Eigen::VectorXd u = u0_local; + const double u_norm = u.norm(); + + if (u_norm < 1e-10) { + return Eigen::VectorXd::Zero(u0.size()); + } + + // Simple transition from static to kinetic friction + double mu_effective = kinetic_mu; + if (u_norm < eps_v) { + // Blend between static and kinetic friction based on velocity + double t = u_norm / eps_v; // 0 to 1 + mu_effective = static_mu + (kinetic_mu - static_mu) * t; + } + + const double force_scale = mu_effective * f1_over_x(u_norm) / u_norm; + return basis * (force_scale * u); +} + MatrixMax12d TangentialPotential::hessian( const TangentialCollision& collision, Eigen::ConstRef velocities, @@ -285,10 +333,6 @@ VectorMax12d TangentialPotential::force( assert(rest_positions.size() == lagged_displacements.size()); assert(rest_positions.size() == velocities.size()); - // const VectorMax12d x = dof(rest_positions, edges, faces); - // const VectorMax12d u = dof(lagged_displacements, edges, faces); - // const VectorMax12d v = dof(velocities, edges, faces); - // x: const VectorMax12d lagged_positions = rest_positions + lagged_displacements; @@ -314,17 +358,39 @@ VectorMax12d TangentialPotential::force( const VectorMax2d tau = T.transpose() * velocities; // Compute f₁(‖τ‖)/‖τ‖ - - // check if s_mu and k_mu in collision exist const double tau_norm = tau.norm(); - const double mu = (no_mu ? 1.0 : collision.mu); - double f1_over_norm_tau = (collision.s_mu > 0 && collision.k_mu > 0) ? - f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu) : - f1_over_x(tau_norm); + + // Determine which mu to use + double mu = collision.mu; + + // Function to look up material-specific friction coefficient + static thread_local std::shared_ptr material_friction_table = nullptr; + + if (!no_mu) { + // For material-specific friction, look up the appropriate mu from material IDs + if (collision.has_material_ids() && material_friction_table) { + mu = get_friction_coefficient(collision, *material_friction_table); + } else if (is_dynamic(tau_norm) && collision.k_mu > 0) { + // Use kinetic friction if we're in dynamic regime + mu = collision.k_mu; + } else if (collision.s_mu > 0) { + // Use static friction if we're in static regime + mu = collision.s_mu; + } + } else { + mu = 1.0; // no_mu case + } + + // Calculate force mollifier factor + double f1_over_norm_tau; + if (collision.s_mu > 0 && collision.k_mu > 0) { + f1_over_norm_tau = f1_over_x_mus(tau_norm, collision.s_mu, collision.k_mu); + } else { + f1_over_norm_tau = f1_over_x(tau_norm); + } + // F = -μ N f₁(‖τ‖)/‖τ‖ T τ - // NOTE: no_mu -> leave mu out of this function (i.e., assuming mu = 1) - return -collision.weight * mu * N - * f1_over_norm_tau * T * tau; + return -collision.weight * mu * N * f1_over_norm_tau * T * tau; } MatrixMax12d TangentialPotential::force_jacobian( @@ -492,4 +558,27 @@ MatrixMax12d TangentialPotential::force_jacobian( return J; } +double TangentialPotential::get_friction_coefficient( + const TangentialCollision& collision, + const Eigen::MatrixXd& material_friction_table) const +{ + // If material IDs are not set, use the collision's mu value + if (collision.material_id1 == NO_MATERIAL_ID || + collision.material_id2 == NO_MATERIAL_ID || + material_friction_table.size() == 0) { + return collision.mu; + } + + // Check that material IDs are valid indices for the friction table + if (collision.material_id1 >= 0 && + collision.material_id1 < material_friction_table.rows() && + collision.material_id2 >= 0 && + collision.material_id2 < material_friction_table.cols()) { + return material_friction_table(collision.material_id1, collision.material_id2); + } + + // Default to collision's mu if material IDs are out of range + return collision.mu; +} + } // namespace ipc \ No newline at end of file diff --git a/src/ipc/potentials/tangential_potential.hpp b/src/ipc/potentials/tangential_potential.hpp index 46ea5f70b..ee403f16e 100644 --- a/src/ipc/potentials/tangential_potential.hpp +++ b/src/ipc/potentials/tangential_potential.hpp @@ -2,6 +2,7 @@ #include #include +#include // Include the full definition namespace ipc { @@ -125,7 +126,7 @@ class TangentialPotential : public Potential { /// @param lagged_displacements Previous displacements of the vertices (rowwise). /// @param velocities Current displacements of the vertices (rowwise). /// @param normal_potential Normal potential (used for normal force magnitude). - /// @param normal_stiffness Noraml stiffness (used for normal force magnitude). + /// @param normal_stiffness Normal stiffness (used for normal force magnitude). /// @param wrt Variable to differentiate the friction force with respect to. /// @param dmin Minimum distance (used for normal force magnitude). /// @return Friction force Jacobian @@ -139,13 +140,43 @@ class TangentialPotential : public Potential { const DiffWRT wrt, const double dmin = 0) const; + /// @brief Get the friction coefficient for a pair of materials + /// @param collision The collision containing material IDs + /// @param material_friction_table Table of friction coefficients indexed by material IDs + /// @return The friction coefficient for the material pair + double get_friction_coefficient( + const TangentialCollision& collision, + const Eigen::MatrixXd& material_friction_table) const; + + /// @brief Compute the friction gradient with static/kinetic friction. + /// @param V Vertices positions + /// @param u0 Displacement + /// @param basis Tangent basis + /// @param dt Time step + /// @param mu Friction coefficient (if s_mu and k_mu not provided) + /// @param eps_v Smoothing parameter + /// @param static_mu Static friction coefficient + /// @param kinetic_mu Kinetic friction coefficient + /// @return The friction gradient + Eigen::VectorXd gradient( + const Eigen::MatrixXd& V, + const Eigen::VectorXd& u0, + const Eigen::Ref& basis, + double dt, + double mu, + double eps_v, + double static_mu = -1.0, // Added param with default -1.0 + double kinetic_mu = -1.0) const; // Added param with default -1.0 + protected: virtual double f0(const double x) const = 0; virtual double f1_over_x(const double x) const = 0; virtual double f2_x_minus_f1_over_x3(const double x) const = 0; + virtual double f0_mus(const double x, const double mu_s, const double mu_k) const = 0; virtual double f1_over_x_mus(const double x, const double mu_s, const double mu_k) const = 0; virtual double f2_x_minus_f1_over_x3_mus(const double x, const double mu_s, const double mu_k) const = 0; + virtual bool is_dynamic(const double speed) const = 0; }; diff --git a/tests/src/tests/friction/test_material_friction.cpp b/tests/src/tests/friction/test_material_friction.cpp new file mode 100644 index 000000000..cad817f8f --- /dev/null +++ b/tests/src/tests/friction/test_material_friction.cpp @@ -0,0 +1,91 @@ +#include +#include + +#include +#include + +#include +#include +#include +#include + +using namespace ipc; + +TEST_CASE("Material-specific friction", "[friction][material]") +{ + // Create a simple scene with two objects of different materials + Eigen::MatrixXd V(4, 3); + V << 0, 0, 0, + 1, 0, 0, + 0, 1, 0, + 1, 1, 0; // 2D square in XY plane + + Eigen::MatrixXi E(4, 2); + E << 0, 1, + 1, 3, + 3, 2, + 2, 0; // square edges + + CollisionMesh mesh(V, E); + + // Set material IDs - half of the vertices are material 0, half material 1 + Eigen::VectorXi vertex_materials(4); + vertex_materials << 0, 0, 1, 1; + mesh.set_vertex_materials(vertex_materials); + CHECK(mesh.has_material_ids()); + + // Edge materials derived from vertices + Eigen::VectorXi edge_materials(4); + edge_materials << 0, 0, 1, 1; + mesh.set_edge_materials(edge_materials); + + // Simulate a vertex-vertex collision between material 0 and 1 + VertexVertexNormalCollision normal_collision(0, 2); + normal_collision.material_id1 = mesh.vertex_material(0); // should be 0 + normal_collision.material_id2 = mesh.vertex_material(2); // should be 1 + CHECK(normal_collision.material_id1 == 0); + CHECK(normal_collision.material_id2 == 1); + + // Create a friction collision from the normal collision + VertexVertexTangentialCollision friction_collision(normal_collision); + CHECK(friction_collision.material_id1 == 0); + CHECK(friction_collision.material_id2 == 1); + CHECK(friction_collision.has_material_ids()); + + // Create a material-specific friction table + Eigen::MatrixXd friction_table(2, 2); + friction_table << 0.3, 0.5, + 0.5, 0.7; // Different mu values for different material pairs + + // Set default friction coefficient + friction_collision.mu = 0.4; + + // Create friction potential + FrictionPotential friction_potential(0.001); + + // Test friction coefficient lookup + double mu = friction_potential.get_friction_coefficient(friction_collision, friction_table); + CHECK(mu == Catch::Approx(0.5)); // Should be the value for materials 0,1 + + // Test with a different material combination + friction_collision.material_id1 = 1; + friction_collision.material_id2 = 1; + mu = friction_potential.get_friction_coefficient(friction_collision, friction_table); + CHECK(mu == Catch::Approx(0.7)); // Should be the value for materials 1,1 + + // Test with invalid material IDs + friction_collision.material_id1 = -1; // NO_MATERIAL_ID + mu = friction_potential.get_friction_coefficient(friction_collision, friction_table); + CHECK(mu == Catch::Approx(friction_collision.mu)); // Should fall back to collision's mu + + // Set valid material IDs but try with empty friction table + friction_collision.material_id1 = 0; + friction_collision.material_id2 = 1; + mu = friction_potential.get_friction_coefficient(friction_collision, Eigen::MatrixXd(0, 0)); + CHECK(mu == Catch::Approx(friction_collision.mu)); // Should fall back to collision's mu + + // Test with material IDs out of range + friction_collision.material_id1 = 5; // Out of range + mu = friction_potential.get_friction_coefficient(friction_collision, friction_table); + CHECK(mu == Catch::Approx(friction_collision.mu)); // Should fall back to collision's mu +} diff --git a/tests/src/tests/friction/test_material_friction_simulation.cpp b/tests/src/tests/friction/test_material_friction_simulation.cpp new file mode 100644 index 000000000..5c0632f2a --- /dev/null +++ b/tests/src/tests/friction/test_material_friction_simulation.cpp @@ -0,0 +1,116 @@ +#include +#include +#include + +#include + +#include +#include +#include +#include + +using namespace ipc; + +TEST_CASE("Simulation with material friction", "[friction][material][simulation]") +{ + // Create a simple collision scene with two objects + // Object 1: Material 0 + Eigen::MatrixXd V1(4, 3); + V1 << -0.5, -0.5, 0.0, + 0.5, -0.5, 0.0, + 0.5, 0.5, 0.0, + -0.5, 0.5, 0.0; // Square in XY plane + + Eigen::MatrixXi E1(4, 2); + E1 << 0, 1, 1, 2, 2, 3, 3, 0; + + // Object 2: Material 1 + Eigen::MatrixXd V2 = V1; + V2.col(2).array() += 0.01; // Lift slightly above object 1 + V2.col(0).array() += 0.5; // Shift to the right + Eigen::MatrixXi E2 = E1; + + // Combine into a single mesh + Eigen::MatrixXd V(8, 3); + V << V1, V2; + + Eigen::MatrixXi E(8, 2); + for (int i = 0; i < 4; i++) { + E.row(i) = E1.row(i); + E.row(i+4) << E2(i, 0) + 4, E2(i, 1) + 4; // Offset indices for obj 2 + } + + // Create collision mesh + CollisionMesh mesh(V, E); + + // Set material IDs + Eigen::VectorXi vertex_materials(8); + vertex_materials << 0, 0, 0, 0, 1, 1, 1, 1; // First 4 vertices are material 0, last 4 are material 1 + mesh.set_vertex_materials(vertex_materials); + + // Create a material friction lookup table + auto friction_table = std::make_shared(2, 2); + (*friction_table) << + 0.2, 0.5, // material 0 against 0 or 1 + 0.5, 0.3; // material 1 against 0 or 1 + + // Create a friction potential + FrictionPotential friction_potential(1e-5); + friction_potential.set_material_friction_table(friction_table); + + // Apply a small displacement to simulate objects moving + Eigen::MatrixXd displacement = Eigen::MatrixXd::Zero(V.rows(), 3); + displacement.block(4, 0, 4, 2) = Eigen::MatrixXd::Ones(4, 2) * 0.01; // Move object 2 + + // Create normal collisions + NormalCollisions normal_collisions; + normal_collisions.set_enable_shape_derivatives(true); + normal_collisions.build(mesh, V + displacement, 0.1); + + // Create tangential collisions + TangentialCollisions tangential_collisions; + tangential_collisions.build(mesh, V + displacement, normal_collisions, + BarrierPotential(0.1), 100.0); + + // Verify the collisions were created + REQUIRE(!normal_collisions.empty()); + REQUIRE(!tangential_collisions.empty()); + + // Check that material IDs were properly assigned + for (size_t i = 0; i < tangential_collisions.size(); i++) { + const TangentialCollision& collision = tangential_collisions[i]; + CHECK(collision.has_material_ids()); + + // Validate material IDs make sense for this collision + int mat1 = collision.material_id1; + int mat2 = collision.material_id2; + + // Material IDs should be either 0 or 1 + CHECK((mat1 == 0 || mat1 == 1)); + CHECK((mat2 == 0 || mat2 == 1)); + } + + // Apply velocities to test friction + Eigen::MatrixXd velocities = Eigen::MatrixXd::Zero(V.rows(), 3); + velocities.block(4, 0, 4, 1) = Eigen::VectorXd::Ones(4) * 0.1; // X velocity for object 2 + + // Compute friction forces + Eigen::VectorXd friction_force = friction_potential.force( + tangential_collisions, mesh, V, displacement, velocities, + BarrierPotential(0.1), 100.0, 0, false); + + // The force should be non-zero + CHECK(friction_force.norm() > 0); + + // Change the friction table to see if forces change + (*friction_table) << + 0.1, 0.1, // material 0 against 0 or 1 (reduced friction) + 0.1, 0.1; // material 1 against 0 or 1 (reduced friction) + + Eigen::VectorXd reduced_friction_force = friction_potential.force( + tangential_collisions, mesh, V, displacement, velocities, + BarrierPotential(0.1), 100.0, 0, false); + + // The force should be less than before + CHECK(reduced_friction_force.norm() < friction_force.norm()); +} From 524d10ece1025a0e534629f79033634e6592407d Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Wed, 2 Apr 2025 00:30:13 +0000 Subject: [PATCH 12/13] missing function of tangential collison --- .../tangential/tangential_collision.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/src/ipc/collisions/tangential/tangential_collision.cpp b/src/ipc/collisions/tangential/tangential_collision.cpp index e98b3124a..ccde70227 100644 --- a/src/ipc/collisions/tangential/tangential_collision.cpp +++ b/src/ipc/collisions/tangential/tangential_collision.cpp @@ -31,4 +31,19 @@ MatrixMax TangentialCollision::relative_velocity_matrix() const return relative_velocity_matrix(closest_point); } +int TangentialCollision::dim() const +{ + return 3; +} + +int TangentialCollision::ndof() const +{ + return num_vertices() * dim(); +} + +int TangentialCollision::num_vertices() const +{ + return 0; +} + } // namespace ipc From e271d0d59d6b3db16ecdad285e3333ce3a94f867 Mon Sep 17 00:00:00 2001 From: Antoine Boucher Date: Wed, 2 Apr 2025 00:38:22 +0000 Subject: [PATCH 13/13] test patch --- CMakeLists.txt | 16 ++++++++++++++++ cmake/ipc_toolkit/patch/predicates.patch | 9 +++++++++ 2 files changed, 25 insertions(+) create mode 100644 cmake/ipc_toolkit/patch/predicates.patch diff --git a/CMakeLists.txt b/CMakeLists.txt index 755d7a030..466c47aac 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -273,3 +273,19 @@ endif() if(IPC_TOOLKIT_TOPLEVEL_PROJECT AND IPC_TOOLKIT_BUILD_PYTHON) add_subdirectory(python) endif() + +################################################################################ +# Patch predicates library +################################################################################ + +CPMAddPackage( + NAME predicates + GITHUB_REPOSITORY libigl/libigl-predicates + GIT_TAG 0d88c49 + DOWNLOAD_ONLY ON + PATCH_COMMAND ${CMAKE_COMMAND} -E copy + ${CMAKE_CURRENT_SOURCE_DIR}/cmake/ipc_toolkit/patch/predicates.patch + ${CMAKE_CURRENT_BINARY_DIR}/_deps/predicates-src/ && + cd ${CMAKE_CURRENT_BINARY_DIR}/_deps/predicates-src/ && + git apply predicates.patch || true +) diff --git a/cmake/ipc_toolkit/patch/predicates.patch b/cmake/ipc_toolkit/patch/predicates.patch new file mode 100644 index 000000000..e659ad416 --- /dev/null +++ b/cmake/ipc_toolkit/patch/predicates.patch @@ -0,0 +1,9 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 1234567..89abcdef 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,4 +1,4 @@ +-cmake_minimum_required(VERSION 2.8.6) ++cmake_minimum_required(VERSION 3.5) + + project(predicates)