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Merged
hugtalbot merged 22 commits into from
Dec 13, 2024
Merged

[Constraint.Lagrangian] Add augmented lagrangians #5003

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c48e9d9
Add AugmentedLagrangianConstraint response
bakpaul Aug 30, 2024
8f80ea4
accelerate GS convergence
bakpaul Aug 30, 2024
e0b41a5
Added virtualization layer for constraints, but linker issue arise. N…
bakpaul Sep 16, 2024
dc7f1d9
FIX linking
bakpaul Sep 17, 2024
14cb3a9
Add virtualization layer for contact response
bakpaul Sep 17, 2024
e7d04fb
Fix OBBCapsule
bakpaul Sep 18, 2024
1fd7dfc
Fix Distance grid and simplify fix for OBB
bakpaul Sep 18, 2024
1e0c177
Fix default friction used by tests
bakpaul Sep 24, 2024
129be9a
Try fix macos compilation
bakpaul Sep 30, 2024
9816f41
Merge remote-tracking branch 'origin/master' into test_augmented_lagr…
bakpaul Nov 12, 2024
4a3244c
Add tag for augmented lagrangian
bakpaul Dec 5, 2024
42f3da1
add details to the description of epsilon data
bakpaul Dec 5, 2024
a207091
remove multiple registration in factory
bakpaul Dec 5, 2024
55653e7
MAke parameters struct final
bakpaul Dec 5, 2024
3805cd1
USe data accessor instead
bakpaul Dec 5, 2024
3020c2e
fix compilation
bakpaul Dec 5, 2024
60a7848
Merge branch 'master' into test_augmented_lagrangians
bakpaul Dec 9, 2024
1d57829
Try fix scene tests
bakpaul Dec 9, 2024
16f36a5
Merge branch 'master' into test_augmented_lagrangians
hugtalbot Dec 11, 2024
d5f426a
Apply suggestions from code review
bakpaul Dec 13, 2024
38bde64
Add reference
bakpaul Dec 13, 2024
e65d923
Merge branch 'master' into test_augmented_lagrangians
hugtalbot Dec 13, 2024
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6 changes: 6 additions & 0 deletions Sofa/Component/Collision/Response/Contact/CMakeLists.txt
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Expand Up @@ -6,6 +6,10 @@ set(SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR "src/sofa/component/collisi
set(HEADER_FILES
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/config.h.in
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/init.h
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/AugmentedLagrangianResponse.h
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/AugmentedLagrangianResponse.inl
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BaseUnilateralContactResponse.h
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BaseUnilateralContactResponse.inl
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricPenalityContact.h
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricPenalityContact.inl
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricStickContact.h
Expand All @@ -26,6 +30,7 @@ set(HEADER_FILES

set(SOURCE_FILES
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/init.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/AugmentedLagrangianResponse.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricPenalityContact.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricStickContact.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/CollisionResponse.cpp
Expand All @@ -36,6 +41,7 @@ set(SOURCE_FILES
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/RayContact.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/RuleBasedContactManager.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/StickContactConstraint.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronAugmentedLagrangianContact.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronBarycentricPenalityContact.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronFrictionContact.cpp
${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronRayContact.cpp
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85 changes: 85 additions & 0 deletions ...nse/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.cpp
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.inl>
#include <sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl>
#include <sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl>

#include <sofa/component/collision/response/mapper/RigidContactMapper.inl>
#include <sofa/component/collision/response/mapper/BarycentricContactMapper.inl>

namespace sofa::component::collision::response::contact
{

using namespace defaulttype;
using namespace sofa::helper;
using namespace sofa::component::collision::geometry;
using simulation::Node;

Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<PointCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>> > PointPointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>> > LineSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>> > LinePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>> > LineLineAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>> > TriangleSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>> > TrianglePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>> > TriangleLineAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, TriangleCollisionModel<sofa::defaulttype::Vec3Types>> > TriangleTriangleAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>> > SphereSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>> > SpherePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<RigidSphereModel, RigidSphereModel> > RigidSphereRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel> > SphereRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel> > LineRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel> > TriangleRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);
Creator<sofa::core::collision::Contact::Factory, AugmentedLagrangianResponse<RigidSphereModel, PointCollisionModel<sofa::defaulttype::Vec3Types>> > RigidSpherePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true);

template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<PointCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, TriangleCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<RigidSphereModel, RigidSphereModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse<RigidSphereModel, PointCollisionModel<sofa::defaulttype::Vec3Types>,constraint::lagrangian::model::AugmentedLagrangianContactParameters>;

template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<PointCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, TriangleCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, SphereCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<RigidSphereModel, RigidSphereModel>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<SphereCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<LineCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, RigidSphereModel>;
template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse<RigidSphereModel, PointCollisionModel<sofa::defaulttype::Vec3Types>>;

} //namespace sofa::component::collision::response::contact
67 changes: 67 additions & 0 deletions ...ponse/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <sofa/component/collision/response/contact/config.h>

#include <sofa/helper/Factory.h>
#include <sofa/core/collision/Contact.h>
#include <sofa/core/collision/Intersection.h>
#include <sofa/core/behavior/MechanicalState.h>
#include <sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.h>
#include <sofa/component/collision/response/contact/BaseUnilateralContactResponse.h>
#include <sofa/component/collision/response/contact/ContactIdentifier.h>

#include <sofa/core/objectmodel/RenamedData.h>

namespace sofa::component::collision::response::contact
{
//Work inspired by: Zimmerman BK, Ateshian GA. "A Surface-to-Surface Finite Element Algorithm for Large Deformation Frictional Contact in febio."
// J Biomech Eng. 2018 Aug 1;140(8):0810131–08101315. doi: 10.1115/1.4040497. PMID: 30003262; PMCID: PMC6056201.
template <class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes = sofa::defaulttype::Vec3Types >
class AugmentedLagrangianResponse : public BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2,constraint::lagrangian::model::AugmentedLagrangianContactParameters, ResponseDataTypes>
{
public:
SOFA_CLASS(SOFA_TEMPLATE3(AugmentedLagrangianResponse, TCollisionModel1, TCollisionModel2, ResponseDataTypes), SOFA_TEMPLATE4(BaseUnilateralContactResponse, TCollisionModel1, TCollisionModel2,constraint::lagrangian::model::AugmentedLagrangianContactParameters, ResponseDataTypes));

typedef typename Inherit1::DataTypes1 DataTypes1;
typedef typename Inherit1::DataTypes2 DataTypes2;
typedef typename Inherit1::CollisionModel1 CollisionModel1;
typedef typename Inherit1::CollisionModel2 CollisionModel2;
typedef typename Inherit1::Intersection Intersection;

typedef core::behavior::MechanicalState<DataTypes1> MechanicalState1;
typedef core::behavior::MechanicalState<DataTypes2> MechanicalState2;

Data<SReal> d_mu; ///< friction parameter
Data<SReal> d_epsilon; ///< Penalty parameter

AugmentedLagrangianResponse();
AugmentedLagrangianResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod);

virtual ~AugmentedLagrangianResponse() = default;

virtual constraint::lagrangian::model::AugmentedLagrangianContactParameters getParameterFromDatas() const override;
virtual void setupConstraint(MechanicalState1 *,MechanicalState2 *) override;

};

} // namespace sofa::component::collision::response::contact
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