VBD simulation configuration. More...

#include <Data.h>

Public Member Functions
PBAT_API Data &	WithVolumeMesh (Eigen::Ref< MatrixX const > const &X, Eigen::Ref< IndexMatrixX const > const &E)
	Simulation mesh.

PBAT_API Data &	WithSurfaceMesh (Eigen::Ref< IndexVectorX const > const &V, Eigen::Ref< IndexMatrixX const > const &F)
	Collision mesh.

PBAT_API Data &	WithBodies (Eigen::Ref< IndexVectorX const > const &B)
	Multibody map.

PBAT_API Data &	WithVelocity (Eigen::Ref< MatrixX const > const &v)
	Vertex velocities.

PBAT_API Data &	WithAcceleration (Eigen::Ref< MatrixX const > const &aext)
	Vertex external accelerations.

PBAT_API Data &	WithMaterial (Eigen::Ref< VectorX const > const &rhoe, Eigen::Ref< VectorX const > const &mue, Eigen::Ref< VectorX const > const &lambdae)
	Element material parameters.

PBAT_API Data &	WithDirichletConstrainedVertices (IndexVectorX const &dbc, Scalar muD=Scalar(1), bool bDbcSorted=false)
	Set Dirichlet constrained vertices.

PBAT_API Data &	WithVertexColoringStrategy (graph::EGreedyColorOrderingStrategy eOrdering, graph::EGreedyColorSelectionStrategy eSelection)
	Vertex graph coloring strategy to use.

PBAT_API Data &	WithInitializationStrategy (EInitializationStrategy strategy)
	BCD optimization initialization strategy.

PBAT_API Data &	WithRayleighDamping (Scalar kD)
	Uniform damping coefficient.

PBAT_API Data &	WithContactParameters (Scalar muC, Scalar muF, Scalar epsv)
	Normal and frictional contact parameters.

PBAT_API Data &	WithActiveSetUpdateFrequency (Index activeSetUpdateFrequency)
	Active set update frequency.

PBAT_API Data &	WithHessianDeterminantZeroUnder (Scalar zero)
	Numerical zero for hessian pseudo-singularity check.

PBAT_API Data &	WithChebyshevAcceleration (Scalar rho)
	Use Chebyshev acceleration.

PBAT_API Data &	WithAndersonAcceleration (Index window)
	Use Anderson acceleration.

PBAT_API Data &	WithBroydenMethod (Index window)
	Use Broyden method.

PBAT_API Data &	WithNesterovAcceleration (Scalar L, Index start=3)
	Use Nesterov acceleration.

PBAT_API Data &	WithTrustRegionAcceleration (Scalar eta, Scalar tau, bool bCurved=true)
	Use Trust Region acceleration.

PBAT_API Data &	Construct (bool bValidate=true)
	Construct the simulation data.

Public Attributes
Matrix< kDims, Eigen::Dynamic >	X
	`3x\|# verts\|` FEM nodal positions

IndexMatrix< 4, Eigen::Dynamic >	E
	`4x\|# elems\|` FEM linear tetrahedral elements

IndexVectorX	B
	`\|# verts\|` array of body indices

IndexVectorX	V
	Collision vertices.

IndexMatrix< 3, Eigen::Dynamic >	F
	`3x\|#collision triangles\|` collision triangles (on the boundary of T)

VectorX	XVA

VectorX	FA
	`\|# collision triangles\|` triangle areas

Matrix< kDims, Eigen::Dynamic >	x
	`3x\|# verts\|` vertex positions

Matrix< kDims, Eigen::Dynamic >	v
	`3x\|# verts\|` vertex velocities

Matrix< kDims, Eigen::Dynamic >	aext
	`3x\|# verts\|` vertex external accelerations

VectorX	m
	`\|# verts\|` vertex masses

Matrix< kDims, Eigen::Dynamic >	xt
	`3x\|# verts\|` previous vertex positions

Matrix< kDims, Eigen::Dynamic >	xtilde
	`3x\|# verts\|` inertial target positions

Matrix< kDims, Eigen::Dynamic >	vt
	`3x\|# verts\|` previous vertex velocities

VectorX	wg
	`\|# elems\|` quadrature weights

Matrix< 4, Eigen::Dynamic >	GP
	`\|# elem.nodes\|x\|# dims*# elems\|` shape function gradients at elems

VectorX	rhoe
	`\|# elems\|` mass densities

Matrix< 2, Eigen::Dynamic >	lame
	`2x\|# elems\|` Lame coefficients

IndexVectorX	GVGp
	`\|# verts+1\|` prefixes into GVGg

IndexVectorX	GVGe

IndexVectorX	GVGilocal

Scalar	muD {1}
	Dirichlet penalty coefficient.

IndexVectorX	dbc
	Dirichlet constrained vertices (sorted)

graph::EGreedyColorOrderingStrategy	eOrdering

graph::EGreedyColorSelectionStrategy	eSelection

IndexVectorX	colors
	`\|# vertices\|` map of vertex colors

IndexVectorX	Pptr

IndexVectorX	Padj
	`\|# verts\|` partition vertices

EInitializationStrategy	strategy
	BCD optimization initialization strategy.

Scalar	kD {0}
	Uniform damping coefficient.

Scalar	muC {1e6}
	Uniform collision penalty.

Scalar	muF {0.3}
	Uniform friction coefficient.

Scalar	epsv {1e-3}

Index	mActiveSetUpdateFrequency {1}
	Active set update frequency.

Scalar	detHZero {1e-7}
	Numerical zero for hessian pseudo-singularity check.

EAccelerationStrategy	eAcceleration {EAccelerationStrategy::None}
	Acceleration strategy.

Scalar	rho {1}
	Chebyshev acceleration estimated spectral radius.

Index	mWindowSize {5}
	Anderson acceleration window size.

Scalar	mNesterovLipschitzConstant {1}
	Nesterov acceleration Lipschitz constant.

Index	mNesterovAccelerationStart {3}
	Nesterov acceleration start iteration.

Scalar	eta {0.2}
	Trust Region energy reduction accuracy threshold.

Scalar	tau {2}
	Trust Region radius increase factor.

bool	bCurved {true}
	Use curved accelerated path, otherwise use linear path.

Static Public Attributes
static auto constexpr	kDims = 3
	Number of spatial dimensions.

Detailed Description

VBD simulation configuration.

Member Function Documentation

◆ Construct()

Data & pbat::sim::vbd::Data::Construct ( bool bValidate = true )

Construct the simulation data.

Parameters

bValidate Throw on detected ill-formed inputs

Returns: Reference to this

◆ WithAcceleration()

Data & pbat::sim::vbd::Data::WithAcceleration ( Eigen::Ref< MatrixX const > const & aext )

Vertex external accelerations.

Parameters

aext	`3x\|# verts\|` vertex external accelerations

Returns: Reference to this

◆ WithActiveSetUpdateFrequency()

Data & pbat::sim::vbd::Data::WithActiveSetUpdateFrequency ( Index activeSetUpdateFrequency )

Active set update frequency.

Parameters

activeSetUpdateFrequency Active set update frequency

Returns: Reference to this

◆ WithAndersonAcceleration()

Data & pbat::sim::vbd::Data::WithAndersonAcceleration ( Index window )

Use Anderson acceleration.

Parameters

window Anderson acceleration window size

Returns: Reference to this

◆ WithBodies()

Data & pbat::sim::vbd::Data::WithBodies ( Eigen::Ref< IndexVectorX const > const & B )

Multibody map.

Parameters

B	`\|# vertices\|` array of body indices s.t. B[i] is the body index of vertex i

Returns: Reference to this

◆ WithBroydenMethod()

Data & pbat::sim::vbd::Data::WithBroydenMethod ( Index window )

Use Broyden method.

Parameters

window Broyden method window size

Returns: Reference to this

◆ WithChebyshevAcceleration()

Data & pbat::sim::vbd::Data::WithChebyshevAcceleration ( Scalar rho )

Use Chebyshev acceleration.

Parameters

rho	Chebyshev acceleration estimated spectral radius

Returns: Reference to this

◆ WithContactParameters()

Data & pbat::sim::vbd::Data::WithContactParameters	(	Scalar	muC,
		Scalar	muF,
		Scalar	epsv )

Normal and frictional contact parameters.

Li et al. 2020 [8]

Parameters

muC	Normal contact penalty
muF	Friction coefficient
epsv	Relative velocity threshold for static to dynamic friction's smooth transition. See [8].

Returns: Reference to this

◆ WithDirichletConstrainedVertices()

Data & pbat::sim::vbd::Data::WithDirichletConstrainedVertices	(	IndexVectorX const &	dbc,
		Scalar	muD = Scalar(1),
		bool	bDbcSorted = false )

Set Dirichlet constrained vertices.

Parameters

dbc	Dirichlet constrained vertices
muD	Dirichlet penalty coefficient
bDbcSorted	If false, dbc will be sorted

Returns: Reference to this

◆ WithHessianDeterminantZeroUnder()

Data & pbat::sim::vbd::Data::WithHessianDeterminantZeroUnder ( Scalar zero )

Numerical zero for hessian pseudo-singularity check.

Parameters

zero	Numerical zero

Returns: Reference to this

◆ WithInitializationStrategy()

Data & pbat::sim::vbd::Data::WithInitializationStrategy ( EInitializationStrategy strategy )

BCD optimization initialization strategy.

Parameters

strategy Initialization strategy

Returns: Reference to this

◆ WithMaterial()

Data & pbat::sim::vbd::Data::WithMaterial	(	Eigen::Ref< VectorX const > const &	rhoe,
		Eigen::Ref< VectorX const > const &	mue,
		Eigen::Ref< VectorX const > const &	lambdae )

Element material parameters.

Parameters

rhoe	`\|# elems\|` mass densities
mue	`\|# elems\|` 1st Lame coefficients
lambdae	`\|# elems\|` 2nd Lame coefficients

Returns: Reference to this

◆ WithNesterovAcceleration()

Data & pbat::sim::vbd::Data::WithNesterovAcceleration	(	Scalar	L,
		Index	start = 3 )

Use Nesterov acceleration.

Parameters

L	Lipschitz constant estimation for the gradient
start	Start iteration for Nesterov acceleration

Returns: Reference to this

◆ WithRayleighDamping()

Data & pbat::sim::vbd::Data::WithRayleighDamping ( Scalar kD )

Uniform damping coefficient.

Parameters

kD	Damping coefficient

Returns: Reference to this

◆ WithSurfaceMesh()

Data & pbat::sim::vbd::Data::WithSurfaceMesh	(	Eigen::Ref< IndexVectorX const > const &	V,
		Eigen::Ref< IndexMatrixX const > const &	F )

Collision mesh.

Parameters

V	Collision vertices
F	`3x\|# collision triangles\|` collision triangles (on the boundary of T)

Returns: Reference to this

Precondition: WithVolumeMesh() must be called before this

◆ WithTrustRegionAcceleration()

Data & pbat::sim::vbd::Data::WithTrustRegionAcceleration	(	Scalar	eta,
		Scalar	tau,
		bool	bCurved = true )

Use Trust Region acceleration.

Parameters

eta	Trust Region energy reduction accuracy threshold
tau	Trust Region radius increase factor
bCurved	Use curved accelerated path, otherwise use linear path. Default is true.

Returns: Reference to this

Precondition: tau > 1 and eta > 0

◆ WithVelocity()

Data & pbat::sim::vbd::Data::WithVelocity ( Eigen::Ref< MatrixX const > const & v )

Vertex velocities.

Parameters

v	`3x\|# verts\|` vertex velocities

Returns: Reference to this

◆ WithVertexColoringStrategy()

Data & pbat::sim::vbd::Data::WithVertexColoringStrategy	(	graph::EGreedyColorOrderingStrategy	eOrdering,
		graph::EGreedyColorSelectionStrategy	eSelection )

Vertex graph coloring strategy to use.

Parameters

eOrdering	Vertex visiting order
eSelection	Color selection strategy

Returns: Reference to this

◆ WithVolumeMesh()

Data & pbat::sim::vbd::Data::WithVolumeMesh	(	Eigen::Ref< MatrixX const > const &	X,
		Eigen::Ref< IndexMatrixX const > const &	E )

Simulation mesh.

If body map has not been set, all vertices are assumed to belong to the same body.

Parameters

X	`3x\|# vertices\|` vertex positions
E	`4x\|# elements\|` tetrahedra

Returns: Reference to this

Member Data Documentation

◆ eOrdering

graph::EGreedyColorOrderingStrategy pbat::sim::vbd::Data::eOrdering

Initial value:

{

graph::EGreedyColorOrderingStrategy::LargestDegree}

pbat::graph::EGreedyColorOrderingStrategy::LargestDegree

@ LargestDegree

Always visit the vertex with the largest degree next.

Definition Enums.h:30

Vertex graph coloring ordering strategy

◆ epsv

Scalar pbat::sim::vbd::Data::epsv {1e-3}

IPC [8] 's relative velocity threshold for static to dynamic friction's smooth transition

◆ eSelection

graph::EGreedyColorSelectionStrategy pbat::sim::vbd::Data::eSelection

Initial value:

{

graph::EGreedyColorSelectionStrategy::LeastUsed}

pbat::graph::EGreedyColorSelectionStrategy::LeastUsed

@ LeastUsed

Select the least used color from the color palette.

Definition Enums.h:20

Vertex graph coloring selection strategy

◆ GVGe

IndexVectorX pbat::sim::vbd::Data::GVGe

|# of vertex-elems adjacencies| element indices s.t. GVGe[k] for GVGp[i] <= k < GVGp[i+1] gives the element e adjacent to vertex i

◆ GVGilocal

IndexVectorX pbat::sim::vbd::Data::GVGilocal

|# of vertex-elems adjacencies| local vertex indices s.t. GVGilocal[k] for GVGp[i] <= k < GVGp[i+1] gives the local vertex index of vertex i in element e=GVGe[k]

◆ Pptr

IndexVectorX pbat::sim::vbd::Data::Pptr

|# partitions+1| partition pointers, s.t. the range [Pptr[p], /< Pptr[p+1]) indexes into Padj from partition p

◆ strategy

EInitializationStrategy pbat::sim::vbd::Data::strategy

Initial value:

{

EInitializationStrategy::AdaptivePbat}

BCD optimization initialization strategy.

◆ XVA

VectorX pbat::sim::vbd::Data::XVA

|# verts| vertex areas (i.e. triangle areas distributed onto vertices for boundary integration)

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

C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/vbd/Data.h
C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/vbd/Data.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Function Documentation

◆ Construct()

◆ WithAcceleration()

◆ WithActiveSetUpdateFrequency()

◆ WithAndersonAcceleration()

◆ WithBodies()

◆ WithBroydenMethod()

◆ WithChebyshevAcceleration()

◆ WithContactParameters()

◆ WithDirichletConstrainedVertices()

◆ WithHessianDeterminantZeroUnder()

◆ WithInitializationStrategy()

◆ WithMaterial()

◆ WithNesterovAcceleration()

◆ WithRayleighDamping()

◆ WithSurfaceMesh()

◆ WithTrustRegionAcceleration()

◆ WithVelocity()

◆ WithVertexColoringStrategy()

◆ WithVolumeMesh()

Member Data Documentation

◆ eOrdering

◆ epsv

◆ eSelection

◆ GVGe

◆ GVGilocal

◆ Pptr

◆ strategy

◆ XVA