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cloth_spring_model.cc
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cloth_spring_model.cc
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#include "drake/examples/mass_spring_cloth/cloth_spring_model.h"
#include "drake/common/eigen_types.h"
namespace drake {
namespace examples {
namespace mass_spring_cloth {
template <typename T>
ClothSpringModel<T>::ClothSpringModel(int nx, int ny, T h, double dt)
: nx_(nx),
ny_(ny),
num_particles_(nx * ny),
h_(h),
dt_(dt),
bottom_left_corner_(0),
top_left_corner_(ny_ - 1),
H_(3 * num_particles_, 3 * num_particles_) {
systems::BasicVector<T> initial_state = InitializePositionAndVelocity();
if (dt > 0) {
// Discrete system.
// Adding 3*N positions and 3*N velocities.
this->DeclareDiscreteState(initial_state);
this->DeclareVectorOutputPort("particle_positions", 3 * num_particles_,
&ClothSpringModel::CopyDiscreteStateOut);
this->DeclarePeriodicDiscreteUpdateEvent(
dt_, 0., &ClothSpringModel::UpdateDiscreteState);
} else {
// Continuous system.
// Adding 3*N positions and 3*N velocities.
this->DeclareContinuousState(initial_state, 3 * num_particles_,
3 * num_particles_, 0);
// A 3*N dimensional output vector for positions.
this->DeclareVectorOutputPort(systems::kUseDefaultName, 3 * num_particles_,
&ClothSpringModel::CopyContinuousStateOut);
}
param_index_ = this->DeclareNumericParameter(ClothSpringModelParams<T>());
BuildConnectingSprings(true);
// As in symbolic assembly, we allocate for the nonzero entries in the H
// matrix now that we know the sparsity pattern.
if (dt > 0) {
// The H matrix is organized into num_particles * num_particles blocks of 3
// * 3 sub-matrices. The ij-th 3*3 sub-matrix consists of M_ij (mass matrix)
// and ∂f_i/∂v_j (damping force derivative). M_ij is a diagonal matrix with
// the mass of each particle on the diagonal. If there exists a spring
// connecting particles i and j, the blocks
// ∂f_i/∂v_i,∂f_j/∂v_j,∂f_i/∂v_j,and ∂f_j/∂v_i will contain nonzero entries.
VectorX<int> num_nonzero_entries =
VectorX<int>::Ones(3 * num_particles_) * 3;
for (const Spring& s : springs_) {
for (int d = 0; d < 3; ++d) {
num_nonzero_entries[3 * s.particle0 + d] += 3;
num_nonzero_entries[3 * s.particle1 + d] += 3;
}
}
H_.reserve(num_nonzero_entries);
H_.setZero();
// CG is guaranteed to converge when iteration reaches the number of DOFs.
// It usually takes far fewer iterations to converge.
set_linear_solve_max_iterations(num_particles_ * 3);
// Set the default accuracy for the linear solve.
set_linear_solve_accuracy();
}
}
template <typename T>
systems::BasicVector<T> ClothSpringModel<T>::InitializePositionAndVelocity()
const {
// Each particle has 6 state variables, 3 for positions, 3 for velocities.
VectorX<T> state_values(6 * num_particles_);
auto q = state_values.head(3 * num_particles_);
auto v = state_values.tail(3 * num_particles_);
for (int i = 0; i < nx_; ++i) {
for (int j = 0; j < ny_; ++j) {
int particle_index = i * ny_ + j;
/* The particles are ordered in the following fashion:
+y
^
┊
┊ny-1 2ny-1 nx*ny-1
●━━━━━━━●━━┄┄┄┄━━●━━━━━━━●
┃ ┃ ┃ ┃
┃ny-2 ┃2ny-2 ┃ ┃
●━━━━━━━●━━┄┄┄┄━━●━━━━━━━●
┃ ┃ ┃ ┃
┊ ┊ ┊ ┊
┊ ┊ ┊ ┊
┃ ┃ ┃ ┃
┃1 ┃ny+1 ┃ ┃
●━━━━━━━●━━┄┄┄┄━━●━━━━━━━●
┃ ┃ ┃ ┃
┃0 ┃ny ┃ ┃(nx-1)*ny
┄┄●━━━━━━━●━━┄┄┄┄━━●━━━━━━━●┄┄┄┄┄┄┄┄┄> +x
┊
Note that we replaced nx_/ny_ with nx/ny in the diagram above for more
readability.
*/
this->set_particle_state(particle_index, {i * h_, j * h_, 0.0}, &q);
this->set_particle_state(particle_index, {0.0, 0.0, 0.0}, &v);
}
}
return systems::BasicVector<T>(state_values);
}
template <typename T>
void ClothSpringModel<T>::BuildConnectingSprings(bool use_shearing_springs) {
const int num_stretching_springs = (nx_ - 1) * ny_ + (ny_ - 1) * nx_;
const int num_shearing_springs =
use_shearing_springs ? (nx_ - 1) * (ny_ - 1) * 2 : 0;
springs_.resize(num_stretching_springs + num_shearing_springs);
int ns = 0;
// Build springs in the y-direction.
for (int i = 0; i < nx_; ++i) {
for (int j = 0; j < ny_ - 1; ++j) {
const int p = i * ny_ + j;
springs_[ns++] = Spring{p, p + 1, h_};
}
}
// Build springs in the x-direction.
for (int i = 0; i < nx_ - 1; ++i) {
for (int j = 0; j < ny_; ++j) {
const int p = i * ny_ + j;
springs_[ns++] = Spring{p, p + ny_, h_};
}
}
if (use_shearing_springs) {
for (int i = 0; i < nx_ - 1; ++i) {
for (int j = 0; j < ny_ - 1; ++j) {
// For each particle p, build diagonal and anti-diagonal springs for the
// cell that p is on the bottom-left corner of.
/*
| p+1 | p+ny+1
────•───────•────
| \ / |
| X |
| / \ |
────•───────•────
| p | p+ny
*/
const int p = i * ny_ + j;
springs_[ns++] = Spring{p, p + ny_ + 1, std::sqrt(2) * h_};
springs_[ns++] = Spring{p + 1, p + ny_, std::sqrt(2) * h_};
}
}
}
}
template <typename T>
void ClothSpringModel<T>::CopyContinuousStateOut(
const systems::Context<T>& context, systems::BasicVector<T>* output) const {
output->SetFrom(context.get_continuous_state().get_generalized_position());
}
template <typename T>
void ClothSpringModel<T>::CopyDiscreteStateOut(
const systems::Context<T>& context, systems::BasicVector<T>* output) const {
const systems::BasicVector<T>& discrete_state_vector =
context.get_discrete_state(0);
output->SetFromVector(
discrete_state_vector.value().head(3 * num_particles_));
}
template <typename T>
void ClothSpringModel<T>::DoCalcTimeDerivatives(
const systems::Context<T>& context,
systems::ContinuousState<T>* derivatives) const {
const systems::VectorBase<T>& v =
context.get_continuous_state().get_generalized_velocity();
systems::VectorBase<T>& qdot =
derivatives->get_mutable_generalized_position();
qdot.SetFrom(v);
systems::VectorBase<T>& vdot =
derivatives->get_mutable_generalized_velocity();
// Store spring force in vdot and then divide by mass to get acceleration.
VectorX<T> tmp_vdot = VectorX<T>::Zero(vdot.size());
AccumulateContinuousSpringForce(context, &tmp_vdot);
const ClothSpringModelParams<T>& p = GetParameters(context);
const T mass_per_particle = p.mass() / static_cast<T>(num_particles_);
// Mass of each particle must be positive.
DRAKE_THROW_UNLESS(mass_per_particle > 0);
for (int i = 0; i < vdot.size(); ++i) {
tmp_vdot[i] /= mass_per_particle;
}
// Apply gravity to acceleration.
const Vector3<T> gravity{0, 0, p.gravity()};
for (int i = 0; i < num_particles_; ++i) {
accumulate_particle_state(i, gravity, &tmp_vdot);
}
ApplyDirichletBoundary(&tmp_vdot);
vdot.SetFromVector(tmp_vdot);
}
template <typename T>
void ClothSpringModel<T>::UpdateDiscreteState(
const systems::Context<T>& context,
systems::DiscreteValues<T>* next_states) const {
const VectorX<T>& current_state_values = context.get_discrete_state().value();
const auto& q_n = current_state_values.head(3 * num_particles_);
const auto& v_n = current_state_values.tail(3 * num_particles_);
// v_hat is the velocity of the particles after adding the effect of the
// explicit elastic and gravity forces.
VectorX<T> v_hat(v_n);
const ClothSpringModelParams<T>& p = GetParameters(context);
// Add contribution of gravity to v_hat.
const Vector3<T> gravity_dv{0, 0, p.gravity() * dt_};
for (int i = 0; i < num_particles_; ++i) {
accumulate_particle_state(i, gravity_dv, &v_hat);
}
// Add the contribution of explicit spring elastic force to v_hat.
VectorX<T> elastic_force = VectorX<T>::Zero(v_hat.size());
AccumulateElasticForce(p, q_n, &elastic_force);
T mass_per_particle = p.mass() / static_cast<T>(num_particles_);
v_hat += elastic_force * dt_ / mass_per_particle;
ApplyDirichletBoundary(&v_hat);
// dv is the change in velocity contributed by the implicit damping force.
// Freezing q to be q_n, the momentum equation
//
// M * dv = f(vⁿ⁺¹) * dt
//
// is equivalent to
//
// M * dv = (f(v_hat) + ∂f/∂v(v_hat) * dv) * dt
// because the damping force is linear in v. Moving terms, we end up with
// (M - ∂f/∂v(v_hat)) * dv = f(v_hat) * dt,
// which we abbreviate as H * dv = f * dt.
VectorX<T> dv = VectorX<T>::Zero(v_hat.size());
VectorX<T> damping_force = VectorX<T>::Zero(v_hat.size());
AccumulateDampingForce(p, q_n, v_hat, &damping_force);
CalcDiscreteDv(p, q_n, &damping_force, &dv);
// Write v_hat + dv into the velocity at the next time step.
Eigen::VectorBlock<VectorX<T>> next_state_values =
next_states->get_mutable_value();
auto next_q = next_state_values.head(3 * num_particles_);
auto next_v = next_state_values.tail(3 * num_particles_);
next_v = v_hat + dv;
// Apply BC again to prevent numerical drift.
ApplyDirichletBoundary(&next_v);
// Update position using velocity at time n+1.
next_q = q_n + dt_ * next_v;
}
template <typename T>
void ClothSpringModel<T>::AccumulateContinuousSpringForce(
const systems::Context<T>& context, EigenPtr<VectorX<T>> forces) const {
DRAKE_DEMAND(forces != nullptr);
const VectorX<T> continuous_states =
context.get_continuous_state().CopyToVector();
const auto& q = continuous_states.head(num_positions());
const auto& v = continuous_states.segment(num_positions(), num_velocities());
const ClothSpringModelParams<T>& p = GetParameters(context);
AccumulateElasticForce(p, q, forces);
AccumulateDampingForce(p, q, v, forces);
}
template <typename T>
void ClothSpringModel<T>::AccumulateElasticForce(
const ClothSpringModelParams<T>& param,
const Eigen::Ref<const VectorX<T>>& q,
EigenPtr<VectorX<T>> elastic_force) const {
DRAKE_DEMAND(elastic_force != nullptr);
for (const Spring& s : springs_) {
// Get the positions of the two particles connected by the spring.
const int p0 = s.particle0;
const int p1 = s.particle1;
const Vector3<T> p_WP0 = particle_state(p0, q);
const Vector3<T> p_WP1 = particle_state(p1, q);
const Vector3<T> p_P0P1_W = p_WP1 - p_WP0;
const T spring_length = p_P0P1_W.norm();
ThrowIfInvalidSpringLength(spring_length, s.rest_length);
const Vector3<T> n = p_P0P1_W / spring_length;
// If the n is the unit vector point from P0 to P1,
// the spring elastic force = k * (current_length - rest_length) * n
const Vector3<T> f = param.k() * (spring_length - s.rest_length) * n;
accumulate_particle_state(p0, f, elastic_force);
accumulate_particle_state(p1, -f, elastic_force);
}
}
template <typename T>
void ClothSpringModel<T>::AccumulateDampingForce(
const ClothSpringModelParams<T>& param,
const Eigen::Ref<const VectorX<T>>& q,
const Eigen::Ref<const VectorX<T>>& v,
EigenPtr<VectorX<T>> damping_force) const {
DRAKE_DEMAND(damping_force != nullptr);
for (const Spring& s : springs_) {
// Get the positions and velocities of the two particles connected by
// the spring.
const int p0 = s.particle0;
const int p1 = s.particle1;
const Vector3<T> p_WP0 = particle_state(p0, q);
const Vector3<T> p_WP1 = particle_state(p1, q);
const Vector3<T> v_WP0 = particle_state(p0, v);
const Vector3<T> v_WP1 = particle_state(p1, v);
const Vector3<T> p_P0P1_W = p_WP1 - p_WP0;
const T spring_length = p_P0P1_W.norm();
ThrowIfInvalidSpringLength(spring_length, s.rest_length);
const Vector3<T> n = p_P0P1_W / spring_length;
// If the n is the unit vector point from q0 to q1,
// the damping force = (damping coefficient * velocity difference)
// projected in the direction of n.
const Vector3<T> f = param.d() * (v_WP1 - v_WP0).dot(n) * n;
accumulate_particle_state(p0, f, damping_force);
accumulate_particle_state(p1, -f, damping_force);
}
}
template <typename T>
void ClothSpringModel<T>::CalcDiscreteDv(const ClothSpringModelParams<T>& param,
const VectorX<T>& q, VectorX<T>* f,
VectorX<T>* dv) const {
DRAKE_DEMAND(q.size() == dv->size());
DRAKE_DEMAND(q.size() == f->size());
const T mass_per_particle = param.mass() / static_cast<T>(num_particles_);
// Here we construct the H matrix. Take extreme care to overwrite the stale
// data from the previous time step. Initialize the diagonal of the matrix to
// be mass_per_particle.
for (int i = 0; i < num_particles_; ++i) {
for (int j = 0; j < 3; ++j) {
for (int k = 0; k < 3; ++k) {
H_.coeffRef(3 * i + j, 3 * i + k) =
(j == k) ? mass_per_particle : T(0.0);
}
}
}
// Add in the contribution from damping force differential.
for (const Spring& s : springs_) {
// Get the positions of the two particles connected by the spring.
const int p0 = s.particle0;
const int p1 = s.particle1;
const Vector3<T> p_WP0 = particle_state(p0, q);
const Vector3<T> p_WP1 = particle_state(p1, q);
const Vector3<T> p_P0P1_W = p_WP1 - p_WP0;
const T spring_length = p_P0P1_W.norm();
ThrowIfInvalidSpringLength(spring_length, s.rest_length);
const Vector3<T> n = p_P0P1_W / spring_length;
// If the n is the unit vector point from q0 to q1,
// the spring elastic force = elastic stiffness * (length - restlength) *
// n, and damping force = (damping coefficient * velocity difference)
// projected in the direction of n.
const Matrix3<T> minus_damping_force_derivative =
param.d() * dt_ * n * n.transpose();
// H_ is a sparse matrix. If it were a DenseMatrix, these for loops would
// be equivalent to:
// H_.block<3,3>(3*p0, 3*p0) += minus_damping_force_derivative;
// H_.block<3,3>(3*p1, 3*p1) += minus_damping_force_derivative;
// H_.block<3,3>(3*p0, 3*p1) = -minus_damping_force_derivative;
// H_.block<3,3>(3*p1, 3*p0) = -minus_damping_force_derivative;
for (int j = 0; j < 3; ++j) {
for (int k = 0; k < 3; ++k) {
// The diagonal blocks get contribution from multiple springs. We can
// safely add to the diagonal blocks because they were reset earlier.
H_.coeffRef(3 * p0 + j, 3 * p0 + k) +=
minus_damping_force_derivative(j, k);
H_.coeffRef(3 * p1 + j, 3 * p1 + k) +=
minus_damping_force_derivative(j, k);
// Do not add in the off-diagonal terms involving fixed particles.
if (p0 != bottom_left_corner_ && p0 != top_left_corner_ &&
p1 != bottom_left_corner_ && p1 != top_left_corner_) {
// Each off-diagonal block only gets contribution from a single
// spring. It's important to overwrite the value from previous
// time-step.
H_.coeffRef(3 * p1 + j, 3 * p0 + k) =
-minus_damping_force_derivative(j, k);
H_.coeffRef(3 * p0 + j, 3 * p1 + k) =
-minus_damping_force_derivative(j, k);
}
}
}
}
// Set the blocks in H corresponding to the particles subject to boundary
// condition to the identity matrix.
for (int j = 0; j < 3; ++j) {
for (int k = 0; k < 3; ++k) {
H_.coeffRef(3 * bottom_left_corner_ + j, 3 * bottom_left_corner_ + k) =
(j == k) ? 1.0 : 0.0;
H_.coeffRef(3 * top_left_corner_ + j, 3 * top_left_corner_ + k) =
(j == k) ? 1.0 : 0.0;
}
}
// Set the right-hand-side entries corresponding to particles subject to
// boundary conditions to zero.
set_particle_state(bottom_left_corner_, {0.0, 0.0, 0.0}, f);
set_particle_state(top_left_corner_, {0.0, 0.0, 0.0}, f);
cg_.compute(H_);
(*dv) = cg_.solve((*f) * dt_);
DRAKE_THROW_UNLESS(cg_.info() == Eigen::ComputationInfo::Success);
}
template <typename T>
void ClothSpringModel<T>::ThrowIfInvalidSpringLength(
const T& spring_length, const T& rest_length) const {
constexpr double kRelativeTolerance =
10 * std::numeric_limits<double>::epsilon();
constexpr char prefix[] =
"Two particles are nearly coincident; the simulation reached an "
"invalid state.";
constexpr char postfix[] = "Try simulating a less energetic condition.";
if (spring_length < kRelativeTolerance * rest_length) {
if (dt_ > 0) {
throw std::runtime_error(
fmt::format("{} Current discrete time step ({} s) may be too "
"large. Try a smaller value. If that does not work, {}",
prefix, dt_, postfix));
} else {
throw std::runtime_error(fmt::format("{} {}", prefix, postfix));
}
}
}
template class ClothSpringModel<double>;
} // namespace mass_spring_cloth
} // namespace examples
} // namespace drake