added anchors

Author: liminchen

3_contact/BarrierEnergy.py

@@ -1,3 +1,4 @@
+# ANCHOR: val_grad_hess
 import math
 import numpy as np
 
@@ -33,10 +34,13 @@ def hess(x, y_ground, contact_area):
         else:
             IJV[2][i] = 0.0
     return IJV
+# ANCHOR_END: val_grad_hess
 
+# ANCHOR: init_step_size
 def init_step_size(x, y_ground, p):
     alpha = 1
     for i in range(0, len(x)):
         if p[i][1] < 0:
             alpha = min(alpha, 0.9 * (y_ground - x[i][1]) / p[i][1])
-    return alpha
+    return alpha
+# ANCHOR_END: init_step_size

3_contact/simulator.py

@@ -30,7 +30,9 @@
 is_DBC = [False] * len(x)
 for i in DBC:
     is_DBC[i] = True
+# ANCHOR: contact_area
 contact_area = [side_len / n_seg] * len(x)     # perimeter split to each node
+# ANCHOR_END: contact_area
 
 # simulation with visualization
 resolution = np.array([900, 900])

3_contact/time_integrator.py

@@ -23,10 +23,12 @@ def step_forward(x, e, v, m, l2, k, y_ground, contact_area, is_DBC, h, tol):
         print('Iteration', iter, ':')
         print('residual =', LA.norm(p, inf) / h)
 
+        # ANCHOR: filter_ls
         # filter line search
         alpha = BarrierEnergy.init_step_size(x, y_ground, p)  # avoid interpenetration and tunneling
         while IP_val(x + alpha * p, e, x_tilde, m, l2, k, y_ground, contact_area, h) > E_last:
             alpha /= 2
+        # ANCHOR_END: filter_ls
         print('step size =', alpha)
 
         x += alpha * p