Optionally set absolute convergence tolerance

NTForked · Nov 17, 2021 · 338599b · 338599b
1 parent d65b0a4
commit 338599b
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Showing 5 changed files with 65 additions and 37 deletions.
diff --git a/src/CollisionObject/MeshCO.cpp b/src/CollisionObject/MeshCO.cpp
@@ -783,10 +783,11 @@ void MeshCO<dim>::largestFeasibleStepSize_TightInclusion(
  /*ms=*/std::min(TIGHT_INCLUSION_DIST_P * d_sqrt, TIGHT_INCLUSION_MIN_DIST),
  toi,
  tolerance,
- stepSize,
- /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
+ /*t_max=*/stepSize,
+ /*max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::vertexFaceCCD_double(
@@ -805,7 +806,8 @@ void MeshCO<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/-1,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -851,7 +853,8 @@ void MeshCO<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::vertexFaceCCD_double(
@@ -870,7 +873,8 @@ void MeshCO<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/-1,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -917,7 +921,8 @@ void MeshCO<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  double output_tolerance;
@@ -937,7 +942,8 @@ void MeshCO<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/-1,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision) {
  toi *= 0.8;
@@ -1416,7 +1422,8 @@ void MeshCO<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::vertexFaceCCD_double(
@@ -1435,7 +1442,8 @@ void MeshCO<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/-1,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -1503,7 +1511,8 @@ void MeshCO<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::vertexFaceCCD_double(
@@ -1522,7 +1531,8 @@ void MeshCO<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/-1,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -1587,7 +1597,8 @@ void MeshCO<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::vertexFaceCCD_double(
@@ -1606,7 +1617,8 @@ void MeshCO<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/-1,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -2855,7 +2867,8 @@ bool MeshCO<dim>::updateActiveSet_QP(
  /*max_t=*/1,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  break;
 #else
  spdlog::error("Tight Inclusion CCD is disabled in CMake (CCD_WRAPPER_WITH_TIGHT_INCLUSION=OFF)!");
@@ -2941,7 +2954,8 @@ bool MeshCO<dim>::updateActiveSet_QP(
  /*max_t=*/1,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  break;
 #else
  spdlog::error("Tight Inclusion CCD is disabled in CMake (CCD_WRAPPER_WITH_TIGHT_INCLUSION=OFF)!");
@@ -3062,7 +3076,8 @@ bool MeshCO<dim>::updateActiveSet_QP(
  /*max_t=*/1,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_MAX_ITER);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  break;
 #else
  spdlog::error("Tight Inclusion CCD is disabled in CMake (CCD_WRAPPER_WITH_TIGHT_INCLUSION=OFF)!");

diff --git a/src/CollisionObject/SelfCollisionHandler.cpp b/src/CollisionObject/SelfCollisionHandler.cpp
@@ -749,7 +749,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::edgeEdgeCCD_double(
@@ -768,7 +769,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -812,7 +814,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::vertexFaceCCD_double(
@@ -831,7 +834,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -1427,7 +1431,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::vertexFaceCCD_double(
@@ -1446,7 +1451,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -1544,7 +1550,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
 
  if (has_collision && toi < 1e-6) {
  has_collision = inclusion_ccd::edgeEdgeCCD_double(
@@ -1563,7 +1570,8 @@ void SelfCollisionHandler<dim>::largestFeasibleStepSize_CCD_TightInclusion(
  /*max_t=*/stepSize,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  if (has_collision) {
  toi *= 0.8;
  }
@@ -1954,7 +1962,8 @@ bool SelfCollisionHandler<dim>::updateActiveSet_QP(
  /*max_t=*/1,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  break;
 #else
  spdlog::error("Tight Inclusion CCD is disabled in CMake (CCD_WRAPPER_WITH_TIGHT_INCLUSION=OFF)!");
@@ -2054,7 +2063,8 @@ bool SelfCollisionHandler<dim>::updateActiveSet_QP(
  /*max_t=*/1,
  /* max_itr=*/TIGHT_INCLUSION_MAX_ITER,
  output_tolerance,
- /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE);
+ /*CCD_TYPE=*/TIGHT_INCLUSION_CCD_TYPE,
+ /*no_zero_toi=*/TIGHT_INCLUSION_NO_ZERO_TOI);
  break;
 #else
  spdlog::error("Tight Inclusion CCD is disabled in CMake (CCD_WRAPPER_WITH_TIGHT_INCLUSION=OFF)!");

diff --git a/src/Config.hpp b/src/Config.hpp
@@ -12,7 +12,7 @@
 #include "CollisionObject.h"
 #include "CollisionConstraints.hpp"
 #include "LinSysSolver.hpp"
-#include <ccd.hpp>
+#include "CCDUtils.hpp"
 
 #include <iostream>
 #include <map>
@@ -142,7 +142,7 @@ class Config {
  // like initial velocity, position, etc
 
  ccd::CCDMethod ccdMethod = ccd::CCDMethod::FLOATING_POINT_ROOT_FINDER;
- double ccdTolerance = 1e-6;
+ double ccdTolerance = DEFAULT_CCD_TOLERANCE;
 
  /// @brief Constraint type for SQP method of handling collisions.
  CollisionConstraintType constraintType = CollisionConstraintType::VOLUME;

diff --git a/src/TimeStepper/Optimizer.cpp b/src/TimeStepper/Optimizer.cpp
@@ -2940,13 +2940,14 @@ void Optimizer<dim>::stepForward(const Eigen::MatrixXd& dataV0,
 template <int dim>
 void Optimizer<dim>::updateTargetGRes(void)
 {
- targetGRes = std::sqrt(relGL2Tol * bboxDiagSize2 * dtSq);
+ targetGRes = std::sqrt(
+ relGL2Tol * (animConfig.useAbsParameters ? 1 : bboxDiagSize2 * dtSq));
 }
 
 template <int dim>
 void Optimizer<dim>::getFaceFieldForVis(Eigen::VectorXd& field)
 {
- //  field = Eigen::VectorXd::Zero(result.F.rows());
+ // field = Eigen::VectorXd::Zero(result.F.rows());
  field = result.u;
 }
 

diff --git a/src/Utils/CCDUtils.hpp b/src/Utils/CCDUtils.hpp
@@ -9,15 +9,17 @@
 #include <CollisionObject/CollisionObject.h>
 #include <Mesh.hpp>
 
+namespace IPC {
+
+static constexpr double DEFAULT_CCD_TOLERANCE = 1e-6;
 #ifdef IPC_WITH_TIGHT_INCLUSION
-#define TIGHT_INCLUSION_MAX_ITER 1e6
-#define TIGHT_INCLUSION_CCD_TYPE 1
-#define TIGHT_INCLUSION_DIST_P 0.2
-#define TIGHT_INCLUSION_MIN_DIST tolerance
+static constexpr int TIGHT_INCLUSION_MAX_ITER = 1e6;
+static constexpr int TIGHT_INCLUSION_CCD_TYPE = 1;
+static constexpr bool TIGHT_INCLUSION_NO_ZERO_TOI = true;
+static constexpr double TIGHT_INCLUSION_DIST_P = 0.2;
+static constexpr double TIGHT_INCLUSION_MIN_DIST = DEFAULT_CCD_TOLERANCE;
 #endif
 
-namespace IPC {
-
 #ifdef IPC_WITH_TIGHT_INCLUSION
 extern std::array<double, 3> tight_inclusion_vf_err, tight_inclusion_ee_err;
 #endif