[Constraint.Lagrangian] Add augmented lagrangians #5003

bakpaul · 2024-09-17T15:01:57Z

This PR adds a first implementation of the augmented lagrangian collision (see A Surface-to-Surface Finite Element Algorithm for Large Deformation Frictional Contact).

To do so, because it is very close to the classical Unilateral constraint, I've tried to factorize code by adding a virtualization layer for both the constraints and the associated contact responses (see added class BaseContactLagrangianConstraint and BaseUnilateralContactResponse). It rely on a contact param template which is the only thing that differs in term of data and of course the type of ConstraintResolution used.

An example scene is introduced in the Demo folder, simply copying the falling beam example and replacing the response by the augmented lagrangian one.

There are still one todo for the future, even if this PR is already working on its own : adding the per-contact-point penalty modulation. This should be done by going back to the collision element using the DetectionOutput.elem attribute. This allows to go back to the topology. The only unknown is how to compute the element volume when the colliding topology is mapped to the simulated one.

[ci-depends-on https://github.com/SofaDefrost/ModelOrderReduction/pull/142]

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bakpaul · 2024-09-17T15:02:40Z

[ci-build][with-all-tests]

bakpaul · 2024-09-18T14:48:36Z

[ci-build][with-all-tests]

sofabot · 2024-09-18T14:48:45Z

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bakpaul · 2024-09-18T15:33:41Z

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…eed to fix it then add virutalization in Contact response

sofabot · 2024-09-22T23:12:10Z

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…angians

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bakpaul · 2024-11-14T15:41:32Z

Ready to be reviewed !

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...sponse/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl

...Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h

examples/Demos/fallingBeamAugmentedLagrangianCollision.scn

...ian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.inl

...ngian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl

...Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h

...sponse/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl

hugtalbot · 2024-12-11T13:02:22Z

...sponse/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl

+    , d_mu (initData(&d_mu, 0.0, "mu", "friction coefficient (0 for frictionless contacts)"))
+    , d_epsilon (initData(&d_epsilon, 0.0, "epsilon", "Penalty parameter. It can be think of as a proportional controller, the lagrange multiplier is augmented by the violation multiplied by this factor at each solving iteration."))
+{
+


Possibly adding callback on both entry data to check their value when they're modified (possibly on the fly) by the user. That would allow to also remove other value checks in the code for my and epsilon

Those tests are only to check if there is friction. I don't think that relying on a boolean member that need to be kept updated is a better mechanism. It makes code more complex and error prone instead of testing it directly when needed. It is a simple double comparison, and it is not done that often that the computation difference makes it worth the potential errors.

...Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl

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* change the description * cache drawTool * remove calls to removed functions commit 02b3366 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Dec 17 02:06:24 2024 +0100 [All] Fix visualisation (sofa-framework#5152) * Fix visualisation * Remove inheritance from visual model; Remove the use of visitor for VisualStyle and instead call the fwdDraw directly in the two visualVisitor * Change methods name * Update Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com> --------- Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com> commit 4eda9c7 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Dec 13 15:52:24 2024 +0100 [Constraint.Lagrangian] Add augmented lagrangians (sofa-framework#5003) * Add AugmentedLagrangianConstraint response * accelerate GS convergence * Added virtualization layer for constraints, but linker issue arise. Need to fix it then add virutalization in Contact response * FIX linking * Add virtualization layer for contact response * Fix OBBCapsule * Fix Distance grid and simplify fix for OBB * Fix default friction used by tests * Try fix macos compilation * Add tag for augmented lagrangian * add details to the description of epsilon data * remove multiple registration in factory * MAke parameters struct final * USe data accessor instead * fix compilation * Try fix scene tests * Apply suggestions from code review Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> * Add reference --------- Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit 8ba12f0 Author: Hugo <hugo.talbot@sofa-framework.org> Date: Fri Dec 13 03:22:11 2024 +0100 [examples] Make symplectic option explicit (sofa-framework#5159) [Explicit] Make symplectic option explicit commit 6ae972f Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Dec 11 13:56:40 2024 +0100 [Constraint.Projective] Make LinearVelocityProjectiveConstraint work with FreeMotionAL (sofa-framework#5025) * Implement missing methods to work in FreeMotionAnimationLoop and add feature to keep the constraint applied after all the key event have passed * Apply suggestions from code review Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> * Use constexpr when possible * Add example scene * Simplify the example and added the complete scene in the demo folder * Refactor finished mechanism and fix behavior when finished * Update scenes and regression tests * Put the boolean test on wether the constraint is still active or not inside a method --------- Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> commit 6141aac Author: Frederick Roy <fredroy@users.noreply.github.com> Date: Wed Dec 11 18:29:09 2024 +0900 [All] Remove spam warnings (sofa-framework#5156) * fix duplicated macro * fix unused variables * use new vecids

bakpaul added pr: status to review To notify reviewers to review this pull-request pr: new feature Implement a new feature pr: highlighted in next release Highlight this contribution in the notes of the upcoming release labels Sep 17, 2024

bakpaul mentioned this pull request Sep 18, 2024

Fix parameters usage and some deleted attributes regarding SOFA PR 5003 SofaDefrost/ModelOrderReduction#142

Merged

bakpaul added 7 commits September 23, 2024 08:11

Add AugmentedLagrangianConstraint response

c48e9d9

accelerate GS convergence

8f80ea4

Added virtualization layer for constraints, but linker issue arise. N…

e0b41a5

…eed to fix it then add virutalization in Contact response

FIX linking

dc7f1d9

Add virtualization layer for contact response

14cb3a9

Fix OBBCapsule

e7d04fb

Fix Distance grid and simplify fix for OBB

1fd7dfc

fredroy force-pushed the test_augmented_lagrangians branch from e665d6f to 1fd7dfc Compare September 22, 2024 23:11

Fix default friction used by tests

1e0c177

Try fix macos compilation

129be9a

Merge remote-tracking branch 'origin/master' into test_augmented_lagr…

9816f41

…angians

bakpaul added 2 commits December 5, 2024 14:50

USe data accessor instead

3805cd1

fix compilation

3020c2e

bakpaul requested a review from alxbilger December 5, 2024 15:52

Merge branch 'master' into test_augmented_lagrangians

60a7848

Try fix scene tests

1d57829

hugtalbot added pr: status ready Approved a pull-request, ready to be squashed and removed pr: status to review To notify reviewers to review this pull-request labels Dec 11, 2024

Merge branch 'master' into test_augmented_lagrangians

16f36a5

hugtalbot requested changes Dec 11, 2024

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hugtalbot added pr: status to review To notify reviewers to review this pull-request and removed pr: status ready Approved a pull-request, ready to be squashed labels Dec 11, 2024

Apply suggestions from code review

d5f426a

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

Add reference

38bde64

bakpaul requested a review from hugtalbot December 13, 2024 10:05

hugtalbot added pr: status ready Approved a pull-request, ready to be squashed and removed pr: status to review To notify reviewers to review this pull-request labels Dec 13, 2024

hugtalbot approved these changes Dec 13, 2024

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Merge branch 'master' into test_augmented_lagrangians

e65d923

hugtalbot merged commit 4eda9c7 into sofa-framework:master Dec 13, 2024
5 of 11 checks passed

[Constraint.Lagrangian] Add augmented lagrangians #5003

[Constraint.Lagrangian] Add augmented lagrangians #5003

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bakpaul commented Sep 17, 2024 •

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