Friction¶

Friction Constraints¶

class FrictionConstraints;¶

Public Functions¶

inline FrictionConstraints();¶

inline void build(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices,
    const CollisionConstraints& contact_constraints, double dhat,
    double barrier_stiffness, double mu);¶

void build(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices,
    const CollisionConstraints& contact_constraints,
    const double dhat, const double barrier_stiffness,
    const Eigen::VectorXd& mus,
    const std::function<double(double, double)>& blend_mu
    = default_blend_mu);¶

double compute_potential(const CollisionMesh& mesh,
    const Eigen::MatrixXd& velocity, const double epsv) const;¶

Compute the friction dissapative potential from the given velocity.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &velocity¶

Current vertex velocity (rowwise).

const double epsv¶

Mollifier parameter \(\epsilon_v\).

Returns:¶

The friction dissapative potential.

Eigen::VectorXd compute_potential_gradient(
    const CollisionMesh& mesh, const Eigen::MatrixXd& velocity,
    const double epsv) const;¶

Compute the gradient of the friction dissapative potential wrt the velocity.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &velocity¶

Current vertex velocity (rowwise).

const double epsv¶

Mollifier parameter \(\epsilon_v\).

Returns:¶

The gradient of the friction dissapative potential wrt the velocity.

Eigen::SparseMatrix<double> compute_potential_hessian(
    const CollisionMesh& mesh, const Eigen::MatrixXd& velocity,
    const double epsv,
    const bool project_hessian_to_psd = false) const;¶

Compute the Hessian of the friction dissapative potential wrt the velocity.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &velocity¶

Current vertex velocity (rowwise).

const double epsv¶

Mollifier parameter \(\epsilon_v\).

const bool project_hessian_to_psd = false¶

If true, project the Hessian to be positive semi-definite.

Returns:¶

The Hessian of the friction dissapative potential wrt the velocity.

Eigen::VectorXd compute_force(const CollisionMesh& mesh,
    const Eigen::MatrixXd& rest_positions,
    const Eigen::MatrixXd& lagged_displacements,
    const Eigen::MatrixXd& velocities, const double dhat,
    const double barrier_stiffness, const double epsv,
    const double dmin = 0, const bool no_mu = false) const;¶

Compute the friction force from the given velocity.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &rest_positions¶

Rest positions of the vertices (rowwise)

const Eigen::MatrixXd &lagged_displacements¶

Previous displacements of the vertices (rowwise)

const Eigen::MatrixXd &velocities¶

Current displacements of the vertices (rowwise)

const double dhat¶

Barrier activation distance.

const double barrier_stiffness¶

Barrier stiffness.

const double epsv¶

Mollifier parameter \(\epsilon_v\).

const double dmin = 0¶

Minimum distance to use for the barrier.

const bool no_mu = false¶

whether to not multiply by mu

Returns:¶

The friction force.

Eigen::SparseMatrix<double> compute_force_jacobian(
    const CollisionMesh& mesh,
    const Eigen::MatrixXd& rest_positions,
    const Eigen::MatrixXd& lagged_displacements,
    const Eigen::MatrixXd& velocities, const double dhat,
    const double barrier_stiffness, const double epsv,
    const FrictionConstraint::DiffWRT wrt,
    const double dmin = 0) const;¶

Compute the Jacobian of the friction force wrt the velocity.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &rest_positions¶

Rest positions of the vertices (rowwise)

const Eigen::MatrixXd &lagged_displacements¶

Previous displacements of the vertices (rowwise)

const Eigen::MatrixXd &velocities¶

Current displacements of the vertices (rowwise)

const double dhat¶

Barrier activation distance.

const double barrier_stiffness¶

Barrier stiffness.

const double epsv¶

Mollifier parameter \(\epsilon_v\).

const FrictionConstraint::DiffWRT wrt¶

The variable to take the derivative with respect to.

const double dmin = 0¶

Minimum distance to use for the barrier.

Returns:¶

The Jacobian of the friction force wrt the velocity.

size_t size() const;¶

Get the number of friction constraints.

bool empty() const;¶

Get if the friction constraints are empty.

void clear();¶

Clear the friction constraints.

FrictionConstraint& operator[](const size_t idx);¶

Get a reference to constriant idx.

Parameters:¶

const size_t idx¶

The index of the constraint.

Returns:¶

A reference to the constraint.

const FrictionConstraint& operator[](const size_t idx) const;¶

Get a const reference to constriant idx.

Parameters:¶

const size_t idx¶

The index of the constraint.

Returns:¶

A const reference to the constraint.

Public Members¶

std::vector<VertexVertexFrictionConstraint> vv_constraints;¶

std::vector<EdgeVertexFrictionConstraint> ev_constraints;¶

std::vector<EdgeEdgeFrictionConstraint> ee_constraints;¶

std::vector<FaceVertexFrictionConstraint> fv_constraints;¶

Public Static Functions¶

static inline double default_blend_mu(double mu0, double mu1);¶

Friction Constraint¶

class FrictionConstraint : public virtual ipc::CollisionStencil;¶

Subclassed by ipc::EdgeEdgeFrictionConstraint, ipc::EdgeVertexFrictionConstraint, ipc::FaceVertexFrictionConstraint, ipc::VertexVertexFrictionConstraint

Public Types¶

enum class DiffWRT;¶

Variable to differentiate the friction force with respect to.

Values:

enumerator REST_POSITIONS;¶

Differentiate w.r.t. rest positions.

enumerator LAGGED_DISPLACEMENTS;¶

Differentiate w.r.t. lagged displacements.

enumerator VELOCITIES;¶

Differentiate w.r.t. current velocities.

Public Functions¶

inline virtual ~FrictionConstraint();¶

double compute_potential(const Eigen::MatrixXd& velocities,
    const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces,
    const double epsv) const;¶

Compute the friction dissapative potential.

Parameters:¶

const Eigen::MatrixXd &velocities¶

Velocities of the vertices (rowwise)

const Eigen::MatrixXi &edges¶

Edges of the mesh

const Eigen::MatrixXi &faces¶

Faces of the mesh

const double epsv¶

Smooth friction mollifier parameter \(\epsilon_v\).

Returns:¶

The friction dissapative potential.

VectorMax12d compute_potential_gradient(
    const Eigen::MatrixXd& velocities, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double epsv) const;¶

Compute the friction dissapative potential gradient wrt velocities.

Parameters:¶

const Eigen::MatrixXd &velocities¶

Velocities of the vertices (rowwise)

const Eigen::MatrixXi &edges¶

Edges of the mesh

const Eigen::MatrixXi &faces¶

Faces of the mesh

const double epsv¶

Smooth friction mollifier parameter \(\epsilon_v\).

Returns:¶

Gradient of the friction dissapative potential wrt velocities

MatrixMax12d compute_potential_hessian(
    const Eigen::MatrixXd& velocities, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double epsv,
    const bool project_hessian_to_psd) const;¶

Compute the friction dissapative potential hessian wrt velocities.

Parameters:¶

const Eigen::MatrixXd &velocities¶

Velocities of the vertices (rowwise)

const Eigen::MatrixXi &edges¶

Edges of the mesh

const Eigen::MatrixXi &faces¶

Faces of the mesh

const double epsv¶

Smooth friction mollifier parameter \(\epsilon_v\).

const bool project_hessian_to_psd¶

Project the hessian to PSD

Returns:¶

Hessian of the friction dissapative potential wrt velocities

VectorMax12d compute_force(const Eigen::MatrixXd& rest_positions,
    const Eigen::MatrixXd& lagged_displacements,
    const Eigen::MatrixXd& velocities, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double dhat,
    const double barrier_stiffness, const double epsv,
    const double dmin = 0, const bool no_mu = false) const;¶

Compute the friction force.

Parameters:¶

const Eigen::MatrixXd &rest_positions¶

Rest positions of the vertices (rowwise)

const Eigen::MatrixXd &lagged_displacements¶

Previous displacements of the vertices (rowwise)

const Eigen::MatrixXd &velocities¶

Current displacements of the vertices (rowwise)

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

const double dhat¶

Barrier activation distance

const double barrier_stiffness¶

Barrier stiffness

const double epsv¶

Smooth friction mollifier parameter \(\epsilon_v\).

const double dmin = 0¶

Minimum distance

const bool no_mu = false¶

Whether to not multiply by mu

Returns:¶

Friction force

MatrixMax12d compute_force_jacobian(
    const Eigen::MatrixXd& rest_positions,
    const Eigen::MatrixXd& lagged_displacements,
    const Eigen::MatrixXd& velocities, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double dhat,
    const double barrier_stiffness, const double epsv,
    const DiffWRT wrt, const double dmin = 0) const;¶

Compute the friction force Jacobian.

Parameters:¶

const Eigen::MatrixXd &rest_positions¶

Rest positions of the vertices (rowwise)

const Eigen::MatrixXd &lagged_displacements¶

Previous displacements of the vertices (rowwise)

const Eigen::MatrixXd &velocities¶

Current displacements of the vertices (rowwise)

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

const double dhat¶

Barrier activation distance

const double barrier_stiffness¶

Barrier stiffness

const double epsv¶

Smooth friction mollifier parameter \(\epsilon_v\).

const DiffWRT wrt¶

Variable to differentiate the friction force with respect to.

const double dmin = 0¶

Minimum distance

Returns:¶

Friction force Jacobian

Public Members¶

double normal_force_magnitude;¶

Contact force magnitude.

double mu;¶

Coefficient of friction.

double weight = 1;¶

Weight.

Eigen::SparseVector<double> weight_gradient;¶

Gradient of weight with respect to all DOF.

VectorMax2d closest_point;¶

Barycentric coordinates of the closest point(s)

MatrixMax<double, 3, 2> tangent_basis;¶

Tangent basis of the contact (max size 3×2)

Protected Functions¶

void init(const Eigen::MatrixXd& positions,
    const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces,
    const double dhat, const double barrier_stiffness,
    const double dmin);¶

Initialize the constraint.

Parameters:¶

const Eigen::MatrixXd &positions¶

Vertex positions(rowwise)

const Eigen::MatrixXi &edges¶

Edges of the mesh

const Eigen::MatrixXi &faces¶

Faces of the mesh

const double dhat¶

Barrier activation distance

const double barrier_stiffness¶

Barrier stiffness

const double dmin¶

Minimum distance

inline int dim() const;¶

Get the dimension of the constraint.

inline int ndof() const;¶

Get the number of degrees of freedom for the constraint.

double compute_normal_force_magnitude(const VectorMax12d& positions,
    const double dhat, const double barrier_stiffness,
    const double dmin = 0) const;¶

Compute the normal force magnitude.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

const double dhat¶

Barrier activiation distance.

const double barrier_stiffness¶

Barrier stiffness.

const double dmin = 0¶

Minimum distance.

Returns:¶

Normal force magnitude.

VectorMax12d compute_normal_force_magnitude_gradient(
    const VectorMax12d& positions, const double dhat,
    const double barrier_stiffness, const double dmin = 0) const;¶

Compute the gradient of the normal force magnitude.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

const double dhat¶

Barrier activiation distance.

const double barrier_stiffness¶

Barrier stiffness.

const double dmin = 0¶

Minimum distance.

Returns:¶

Gradient of the normal force magnitude wrt positions.

virtual MatrixMax<double, 3, 2> compute_tangent_basis(
    const VectorMax12d& positions) const
    = 0;¶

Compute the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Tangent basis of the constraint.

virtual MatrixMax<double, 36, 2> compute_tangent_basis_jacobian(
    const VectorMax12d& positions) const
    = 0;¶

Compute the Jacobian of the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the tangent basis of the constraint.

virtual VectorMax2d compute_closest_point(
    const VectorMax12d& positions) const
    = 0;¶

Compute the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Barycentric coordinates of the closest point.

virtual MatrixMax<double, 2, 12> compute_closest_point_jacobian(
    const VectorMax12d& positions) const
    = 0;¶

Compute the Jacobian of the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the barycentric coordinates of the closest point.

virtual VectorMax3d relative_velocity(
    const VectorMax12d& velocities) const
    = 0;¶

Compute the relative velocity of the constraint.

Parameters:¶

const VectorMax12d &velocities¶

Constraint’s vertex velocities.

inline virtual MatrixMax<double, 3, 12>
relative_velocity_matrix() const;¶

Construct the premultiplier matrix for the relative velocity.

Note

Uses the cached closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const
    = 0;¶

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 6, 12> relative_velocity_matrix_jacobian(
    const VectorMax2d& closest_point) const
    = 0;¶

Construct the Jacobian of the relative velocity premultiplier wrt the closest points.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

Jacobian of the relative velocity premultiplier wrt the closest points.

Vertex-Vertex Friction Constraint¶

class VertexVertexFrictionConstraint
    : public ipc::VertexVertexCandidate,
      public ipc::FrictionConstraint;¶

Public Functions¶

VertexVertexFrictionConstraint(
    const VertexVertexConstraint& constraint);¶

VertexVertexFrictionConstraint(
    const VertexVertexConstraint& constraint,
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double dhat,
    const double barrier_stiffness);¶

VertexVertexCandidate(long vertex0_id, long vertex1_id);¶

Protected Functions¶

virtual MatrixMax<double, 3, 2> compute_tangent_basis(
    const VectorMax12d& positions) const override;¶

Compute the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Tangent basis of the constraint.

virtual MatrixMax<double, 36, 2> compute_tangent_basis_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the tangent basis of the constraint.

virtual VectorMax2d compute_closest_point(
    const VectorMax12d& positions) const override;¶

Compute the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Barycentric coordinates of the closest point.

virtual MatrixMax<double, 2, 12> compute_closest_point_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the barycentric coordinates of the closest point.

virtual VectorMax3d relative_velocity(
    const VectorMax12d& velocity) const override;¶

Compute the relative velocity of the constraint.

Parameters:¶

velocities

Constraint’s vertex velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const override;¶

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 6, 12> relative_velocity_matrix_jacobian(
    const VectorMax2d& closest_point) const override;¶

Construct the Jacobian of the relative velocity premultiplier wrt the closest points.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

Jacobian of the relative velocity premultiplier wrt the closest points.

inline virtual MatrixMax<double, 3, 12>
relative_velocity_matrix() const;¶

Construct the premultiplier matrix for the relative velocity.

Note

Uses the cached closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const
    = 0;

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

Edge-Vertex Friction Constraint¶

class EdgeVertexFrictionConstraint
    : public ipc::EdgeVertexCandidate,
      public ipc::FrictionConstraint;¶

Public Functions¶

EdgeVertexFrictionConstraint(
    const EdgeVertexConstraint& constraint);¶

EdgeVertexFrictionConstraint(const EdgeVertexConstraint& constraint,
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double dhat,
    const double barrier_stiffness);¶

EdgeVertexCandidate(long edge_id, long vertex_id);¶

Protected Functions¶

virtual MatrixMax<double, 3, 2> compute_tangent_basis(
    const VectorMax12d& positions) const override;¶

Compute the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Tangent basis of the constraint.

virtual MatrixMax<double, 36, 2> compute_tangent_basis_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the tangent basis of the constraint.

virtual VectorMax2d compute_closest_point(
    const VectorMax12d& positions) const override;¶

Compute the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Barycentric coordinates of the closest point.

virtual MatrixMax<double, 2, 12> compute_closest_point_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the barycentric coordinates of the closest point.

virtual VectorMax3d relative_velocity(
    const VectorMax12d& velocities) const override;¶

Compute the relative velocity of the constraint.

Parameters:¶

const VectorMax12d &velocities¶

Constraint’s vertex velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const override;¶

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 6, 12> relative_velocity_matrix_jacobian(
    const VectorMax2d& closest_point) const override;¶

Construct the Jacobian of the relative velocity premultiplier wrt the closest points.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

Jacobian of the relative velocity premultiplier wrt the closest points.

inline virtual MatrixMax<double, 3, 12>
relative_velocity_matrix() const;¶

Construct the premultiplier matrix for the relative velocity.

Note

Uses the cached closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const
    = 0;

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

Edge-Edge Friction Constraint¶

class EdgeEdgeFrictionConstraint : public ipc::EdgeEdgeCandidate,
                                   public ipc::FrictionConstraint;¶

Public Functions¶

EdgeEdgeFrictionConstraint(const EdgeEdgeConstraint& constraint);¶

EdgeEdgeFrictionConstraint(const EdgeEdgeConstraint& constraint,
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double dhat,
    const double barrier_stiffness);¶

EdgeEdgeCandidate(long edge0_id, long edge1_id);¶

Protected Functions¶

inline virtual EdgeEdgeDistanceType known_dtype() const override;¶

virtual MatrixMax<double, 3, 2> compute_tangent_basis(
    const VectorMax12d& positions) const override;¶

Compute the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Tangent basis of the constraint.

virtual MatrixMax<double, 36, 2> compute_tangent_basis_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the tangent basis of the constraint.

virtual VectorMax2d compute_closest_point(
    const VectorMax12d& positions) const override;¶

Compute the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Barycentric coordinates of the closest point.

virtual MatrixMax<double, 2, 12> compute_closest_point_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the barycentric coordinates of the closest point.

virtual VectorMax3d relative_velocity(
    const VectorMax12d& velocities) const override;¶

Compute the relative velocity of the constraint.

Parameters:¶

const VectorMax12d &velocities¶

Constraint’s vertex velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const override;¶

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 6, 12> relative_velocity_matrix_jacobian(
    const VectorMax2d& closest_point) const override;¶

Construct the Jacobian of the relative velocity premultiplier wrt the closest points.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

Jacobian of the relative velocity premultiplier wrt the closest points.

inline virtual MatrixMax<double, 3, 12>
relative_velocity_matrix() const;¶

Construct the premultiplier matrix for the relative velocity.

Note

Uses the cached closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const
    = 0;

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

Triangle-Vertex Friction Constraint¶

class FaceVertexFrictionConstraint
    : public ipc::FaceVertexCandidate,
      public ipc::FrictionConstraint;
¶

Public Functions¶

FaceVertexFrictionConstraint(
    const FaceVertexConstraint& constraint);¶

FaceVertexFrictionConstraint(const FaceVertexConstraint& constraint,
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces, const double dhat,
    const double barrier_stiffness);¶

FaceVertexCandidate(long face_id, long vertex_id);¶

Protected Functions¶

virtual MatrixMax<double, 3, 2> compute_tangent_basis(
    const VectorMax12d& positions) const override;¶

Compute the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Tangent basis of the constraint.

virtual MatrixMax<double, 36, 2> compute_tangent_basis_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the tangent basis of the constraint.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the tangent basis of the constraint.

virtual VectorMax2d compute_closest_point(
    const VectorMax12d& positions) const override;¶

Compute the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Barycentric coordinates of the closest point.

virtual MatrixMax<double, 2, 12> compute_closest_point_jacobian(
    const VectorMax12d& positions) const override;¶

Compute the Jacobian of the barycentric coordinates of the closest point.

Parameters:¶

const VectorMax12d &positions¶

Constraint’s vertex positions.

Returns:¶

Jacobian of the barycentric coordinates of the closest point.

virtual VectorMax3d relative_velocity(
    const VectorMax12d& velocities) const override;¶

Compute the relative velocity of the constraint.

Parameters:¶

const VectorMax12d &velocities¶

Constraint’s vertex velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const override;¶

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 6, 12> relative_velocity_matrix_jacobian(
    const VectorMax2d& closest_point) const override;¶

Construct the Jacobian of the relative velocity premultiplier wrt the closest points.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

Jacobian of the relative velocity premultiplier wrt the closest points.

inline virtual MatrixMax<double, 3, 12>
relative_velocity_matrix() const;¶

Construct the premultiplier matrix for the relative velocity.

Note

Uses the cached closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

virtual MatrixMax<double, 3, 12> relative_velocity_matrix(
    const VectorMax2d& closest_point) const
    = 0;

Construct the premultiplier matrix for the relative velocity.

Parameters:¶

const VectorMax2d &closest_point¶

Barycentric coordinates of the closest point.

Returns:¶

A matrix M such that relative_velocity = M * velocities.

Smooth Mollifier¶

double ipc::f0_SF(const double s, const double epsv);¶

Smooth friction mollifier function.

\[ f_0(s)= \begin{cases} -\frac{s^3}{3\epsilon_v^2} + \frac{s^2}{\epsilon_v} + \frac{\epsilon_v}{3}, & |s| < \epsilon_v \newline s, & |s| \geq \epsilon_v \end{cases} \]

Parameters:¶

const double s¶

The tangential relative speed.

const double epsv¶

Mollifier parameter \(\epsilon_v\).

Returns:¶

The value of the mollifier function at s.

double ipc::f1_SF_over_x(const double s, const double epsv);¶

Compute the derivative of f0_SF divided by s ( \(\frac{f_0'(s)}{s}\)).

\[ f_1(s) = f_0'(s) = \begin{cases} -\frac{s^2}{\epsilon_v^2}+\frac{2 s}{\epsilon_v}, & |s| < \epsilon_v \newline 1, & |s| \geq \epsilon_v \end{cases} \]

\[ \frac{f_1(s)}{s} = \begin{cases} -\frac{s}{\epsilon_v^2}+\frac{2}{\epsilon_v}, & |s| < \epsilon_v \newline \frac{1}{s}, & |s| \geq \epsilon_v \end{cases} \]

Parameters:¶

const double s¶

The tangential relative speed.

const double epsv¶

Mollifier parameter \(\epsilon_v\).

Returns:¶

The value of the derivative of f0_SF divided by s.

double ipc::df1_x_minus_f1_over_x3(
    const double s, const double epsv);¶

The derivative of f1 times s minus f1 all divided by s cubed.

\[ \frac{f_1'(s) s - f_1(s)}{s^3} = \begin{cases} -\frac{1}{s \epsilon_v^2}, & |s| < \epsilon_v \newline -\frac{1}{s^3}, & |s| \geq \epsilon_v \end{cases} \]

Parameters:¶

const double s¶

The tangential relative speed.

const double epsv¶

Mollifier parameter \(\epsilon_v\).

Returns:¶

The derivative of f1 times s minus f1 all divided by s cubed.

Normal Force Magnitude¶

double ipc::compute_normal_force_magnitude(double distance_squared,
    double dhat, double barrier_stiffness, double dmin);¶

VectorMax12d ipc::compute_normal_force_magnitude_gradient(
    double distance_squared,
    const Eigen::VectorXd& distance_squared_gradient, double dhat,
    double barrier_stiffness, double dmin);¶

Tangent Basis¶

MatrixMax<double, 3, 2> ipc::point_point_tangent_basis(
    const Eigen::Ref<const VectorMax3d>& p0,
    const Eigen::Ref<const VectorMax3d>& p1);¶

Compute a basis for the space tangent to the point-point pair.

Parameters:¶

const Eigen::Ref<const VectorMax3d> &p0¶

First point

const Eigen::Ref<const VectorMax3d> &p1¶

Second point

Returns:¶

A 3x2 matrix whose columns are the basis vectors.

MatrixMax<double, 3, 2> ipc::point_edge_tangent_basis(
    const Eigen::Ref<const VectorMax3d>& p,
    const Eigen::Ref<const VectorMax3d>& e0,
    const Eigen::Ref<const VectorMax3d>& e1);¶

Eigen::Matrix<double, 3, 2> ipc::edge_edge_tangent_basis(
    const Eigen::Ref<const Eigen::Vector3d>& ea0,
    const Eigen::Ref<const Eigen::Vector3d>& ea1,
    const Eigen::Ref<const Eigen::Vector3d>& eb0,
    const Eigen::Ref<const Eigen::Vector3d>& eb1);¶

Compute a basis for the space tangent to the edge-edge pair.

Eigen::Matrix<double, 3, 2> ipc::point_triangle_tangent_basis(
    const Eigen::Ref<const Eigen::Vector3d>& p,
    const Eigen::Ref<const Eigen::Vector3d>& t0,
    const Eigen::Ref<const Eigen::Vector3d>& t1,
    const Eigen::Ref<const Eigen::Vector3d>& t2);¶

Compute a basis for the space tangent to the point-triangle pair.

\[ \begin{bmatrix} \frac{t_1 - t_0}{\|t_1 - t_0\|} & \frac{((t_1 - t_0)\times(t_2 - t_0)) \times(t_1 - t_0)}{\|((t_1 - t_0)\times(t_2 - t_0))\times(t_1 - t_0)\|} \end{bmatrix} \]

Parameters:¶

const Eigen::Ref<const Eigen::Vector3d> &p¶

Point

const Eigen::Ref<const Eigen::Vector3d> &t0¶

Triangle’s first vertex

const Eigen::Ref<const Eigen::Vector3d> &t1¶

Triangle’s second vertex

const Eigen::Ref<const Eigen::Vector3d> &t2¶

Triangle’s third vertex

Returns:¶

A 3x2 matrix whose columns are the basis vectors.

Tangent Basis Jacobians¶

MatrixMax<double, 18, 2> ipc::point_point_tangent_basis_jacobian(
    const Eigen::Ref<const VectorMax3d>& p0,
    const Eigen::Ref<const VectorMax3d>& p1);¶

MatrixMax<double, 27, 2> ipc::point_edge_tangent_basis_jacobian(
    const Eigen::Ref<const VectorMax3d>& p,
    const Eigen::Ref<const VectorMax3d>& e0,
    const Eigen::Ref<const VectorMax3d>& e1);¶

Eigen::Matrix<double, 36, 2> ipc::edge_edge_tangent_basis_jacobian(
    const Eigen::Ref<const Eigen::Vector3d>& ea0,
    const Eigen::Ref<const Eigen::Vector3d>& ea1,
    const Eigen::Ref<const Eigen::Vector3d>& eb0,
    const Eigen::Ref<const Eigen::Vector3d>& eb1);¶

Eigen::Matrix<double, 36, 2>
ipc::point_triangle_tangent_basis_jacobian(
    const Eigen::Ref<const Eigen::Vector3d>& p,
    const Eigen::Ref<const Eigen::Vector3d>& t0,
    const Eigen::Ref<const Eigen::Vector3d>& t1,
    const Eigen::Ref<const Eigen::Vector3d>& t2);¶

Relative Velocity¶

VectorMax3d ipc::point_point_relative_velocity(
    const Eigen::Ref<const VectorMax3d>& dp0,
    const Eigen::Ref<const VectorMax3d>& dp1);¶

Compute the relative velocity of two points.

Parameters:¶

const Eigen::Ref<const VectorMax3d> &dp0¶

Velocity of the first point

const Eigen::Ref<const VectorMax3d> &dp1¶

Velocity of the second point

Returns:¶

The relative velocity of the two points

VectorMax3d ipc::point_edge_relative_velocity(
    const Eigen::Ref<const VectorMax3d>& dp,
    const Eigen::Ref<const VectorMax3d>& de0,
    const Eigen::Ref<const VectorMax3d>& de1, const double alpha);¶

Compute the relative velocity of a point and an edge.

Parameters:¶

const Eigen::Ref<const VectorMax3d> &dp¶

Velocity of the point

const Eigen::Ref<const VectorMax3d> &de0¶

Velocity of the first endpoint of the edge

const Eigen::Ref<const VectorMax3d> &de1¶

Velocity of the second endpoint of the edge

const double alpha¶

Parametric coordinate of the closest point on the edge

Returns:¶

The relative velocity of the point and the edge

Eigen::Vector3d ipc::edge_edge_relative_velocity(
    const Eigen::Ref<const Eigen::Vector3d>& dea0,
    const Eigen::Ref<const Eigen::Vector3d>& dea1,
    const Eigen::Ref<const Eigen::Vector3d>& deb0,
    const Eigen::Ref<const Eigen::Vector3d>& deb1,
    const Eigen::Ref<const Eigen::Vector2d>& coords);¶

Compute the relative velocity of the edges.

Parameters:¶

const Eigen::Ref<const Eigen::Vector3d> &dea0¶

Velocity of the first endpoint of the first edge

const Eigen::Ref<const Eigen::Vector3d> &dea1¶

Velocity of the second endpoint of the first edge

const Eigen::Ref<const Eigen::Vector3d> &deb0¶

Velocity of the first endpoint of the second edge

const Eigen::Ref<const Eigen::Vector3d> &deb1¶

Velocity of the second endpoint of the second edge

const Eigen::Ref<const Eigen::Vector2d> &coords¶

Two parametric coordinates of the closest points on the edges

Returns:¶

The relative velocity of the edges

Eigen::Vector3d ipc::point_triangle_relative_velocity(
    const Eigen::Ref<const Eigen::Vector3d>& dp,
    const Eigen::Ref<const Eigen::Vector3d>& dt0,
    const Eigen::Ref<const Eigen::Vector3d>& dt1,
    const Eigen::Ref<const Eigen::Vector3d>& dt2,
    const Eigen::Ref<const Eigen::Vector2d>& coords);¶

Compute the relative velocity of the point to the triangle.

Parameters:¶

const Eigen::Ref<const Eigen::Vector3d> &dp¶

Velocity of the point

const Eigen::Ref<const Eigen::Vector3d> &dt0¶

Velocity of the first vertex of the triangle

const Eigen::Ref<const Eigen::Vector3d> &dt1¶

Velocity of the second vertex of the triangle

const Eigen::Ref<const Eigen::Vector3d> &dt2¶

Velocity of the third vertex of the triangle

const Eigen::Ref<const Eigen::Vector2d> &coords¶

Baricentric coordinates of the closest point on the triangle

Returns:¶

The relative velocity of the point to the triangle

Relative Velocity as Multiplier Matricies¶

MatrixMax<double, 3, 6> ipc::point_point_relative_velocity_matrix(
    const int dim);¶

Compute the relative velocity premultiplier matrix.

Parameters:¶

const int dim¶

Dimension (2 or 3)

Returns:¶

The relative velocity premultiplier matrix

MatrixMax<double, 3, 9> ipc::point_edge_relative_velocity_matrix(
    const int dim, const double alpha);¶

MatrixMax<double, 3, 12> ipc::edge_edge_relative_velocity_matrix(
    const int dim, const Eigen::Ref<const Eigen::Vector2d>& coords);¶

MatrixMax<double, 3, 12>
ipc::point_triangle_relative_velocity_matrix(
    const int dim, const Eigen::Ref<const Eigen::Vector2d>& coords);¶

Relative Velocity Matrix Jacobians¶

MatrixMax<double, 3, 6>
ipc::point_point_relative_velocity_matrix_jacobian(const int dim);¶

Compute the jacobian of the relative velocity premultiplier matrix.

Parameters:¶

const int dim¶

Dimension (2 or 3)

Returns:¶

The jacobian of the relative velocity premultiplier matrix

MatrixMax<double, 3, 9>
ipc::point_edge_relative_velocity_matrix_jacobian(
    const int dim, const double alpha);¶

MatrixMax<double, 6, 12>
ipc::edge_edge_relative_velocity_matrix_jacobian(
    const int dim, const Eigen::Ref<const Eigen::Vector2d>& coords);¶

MatrixMax<double, 6, 12>
ipc::point_triangle_relative_velocity_matrix_jacobian(
    const int dim, const Eigen::Ref<const Eigen::Vector2d>& coords);¶