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liminchenliminchen
committed
DBC stiff warm start for all
1 parent 0dc29c3 commit 9d3f131

8 files changed

Lines changed: 39 additions & 41 deletions

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‎5_mov_dirichlet/simulator.py‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -40,6 +40,7 @@
4040
is_DBC = [False] * len(x)
4141
for i in DBC:
4242
is_DBC[i] = True
43+
DBC_stiff = [1000] # DBC stiffness, adjusted and warm-started across time steps
4344
contact_area = [side_len / n_seg] * len(x) # perimeter split to each node
4445

4546
# simulation with visualization
@@ -76,7 +77,7 @@ def screen_projection(x):
7677
pygame.display.flip() # flip the display
7778

7879
# step forward simulation and wait for screen refresh
79-
[x, v] = time_integrator.step_forward(x, e, v, m, l2, k, ground_n, ground_o, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, h, 1e-2)
80+
[x, v] = time_integrator.step_forward(x, e, v, m, l2, k, ground_n, ground_o, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff, h, 1e-2)
8081
time_step += 1
8182
pygame.time.wait(int(h * 1000))
8283
square_mesh.write_to_file(time_step, x, n_seg)

‎5_mov_dirichlet/time_integrator.py‎

Lines changed: 8 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
1313
import FrictionEnergy
1414
import SpringEnergy
1515

16-
def step_forward(x, e, v, m, l2, k, n, o, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, h, tol):
16+
def step_forward(x, e, v, m, l2, k, n, o, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff, h, tol):
1717
x_tilde = x + v * h # implicit Euler predictive position
1818
x_n = copy.deepcopy(x)
1919
mu_lambda = BarrierEnergy.compute_mu_lambda(x, n, o, contact_area, mu) # compute mu * lambda for each node using x^n
@@ -24,33 +24,32 @@ def step_forward(x, e, v, m, l2, k, n, o, contact_area, mu, is_DBC, DBC, DBC_v,
2424
DBC_target.append(x_n[DBC[i]] + h * DBC_v[i])
2525
else:
2626
DBC_target.append(x_n[DBC[i]])
27-
DBC_stiff = 10 # initialize stiffness for DBC springs
2827
# ANCHOR_END: dbc_initialization
2928

3029
# Newton loop
3130
iter = 0
32-
E_last = IP_val(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
31+
E_last = IP_val(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
3332
# ANCHOR: convergence_criteria
34-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
33+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
3534
while (LA.norm(p, inf) / h > tol) | (sum(DBC_satisfied) != len(DBC)): # also check whether all DBCs are satisfied
3635
print('Iteration', iter, ':')
3736
print('residual =', LA.norm(p, inf) / h)
3837

3938
if (LA.norm(p, inf) / h <= tol) & (sum(DBC_satisfied) != len(DBC)):
4039
# increase DBC stiffness and recompute energy value record
41-
DBC_stiff *= 2
42-
E_last = IP_val(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
40+
DBC_stiff[0] *= 2
41+
E_last = IP_val(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
4342
# ANCHOR_END: convergence_criteria
4443

4544
# filter line search
4645
alpha = BarrierEnergy.init_step_size(x, n, o, p) # avoid interpenetration and tunneling
47-
while IP_val(x + alpha * p, e, x_tilde, m, l2, k, n, o, contact_area, (x + alpha * p - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h) > E_last:
46+
while IP_val(x + alpha * p, e, x_tilde, m, l2, k, n, o, contact_area, (x + alpha * p - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h) > E_last:
4847
alpha /= 2
4948
print('step size =', alpha)
5049

5150
x += alpha * p
52-
E_last = IP_val(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
53-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
51+
E_last = IP_val(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
52+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, l2, k, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
5453
iter += 1
5554

5655
v = (x - x_n) / h # implicit Euler velocity update

‎6_inv_free/simulator.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -44,13 +44,13 @@
4444
is_DBC = [False] * len(x)
4545
for i in DBC:
4646
is_DBC[i] = True
47+
DBC_stiff = [1000] # DBC stiffness, adjusted and warm-started across time steps
4748
contact_area = [side_len / n_seg] * len(x) # perimeter split to each node
4849

4950
# simulation with visualization
5051
resolution = np.array([900, 900])
5152
offset = resolution / 2
5253
scale = 200
53-
DBC_stiff = [1000]
5454
def screen_projection(x):
5555
return [offset[0] + scale * x[0], resolution[1] - (offset[1] + scale * x[1])]
5656

‎6_inv_free/time_integrator.py‎

Lines changed: 8 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@
1616

1717

1818

19-
def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff_,h, tol):
19+
def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff, h, tol):
2020
x_tilde = x + v * h # implicit Euler predictive position
2121
x_n = copy.deepcopy(x)
2222
mu_lambda = BarrierEnergy.compute_mu_lambda(x, n, o, contact_area, mu) # compute mu * lambda for each node using x^n
@@ -26,33 +26,31 @@ def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, contact_area, mu, is_D
2626
DBC_target.append(x_n[DBC[i]] + h * DBC_v[i])
2727
else:
2828
DBC_target.append(x_n[DBC[i]])
29-
DBC_stiff = DBC_stiff_[0]
3029

3130
# Newton loop
3231
iter = 0
33-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
34-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
32+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
33+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
3534
while (LA.norm(p, inf) / h > tol) | (sum(DBC_satisfied) != len(DBC)): # also check whether all DBCs are satisfied
3635
print('Iteration', iter, ':')
3736
print('residual =', LA.norm(p, inf) / h)
3837

3938
if (LA.norm(p, inf) / h <= tol) & (sum(DBC_satisfied) != len(DBC)):
4039
# increase DBC stiffness and recompute energy value record
41-
DBC_stiff_[0] *= 2
42-
DBC_stiff = DBC_stiff_[0]
43-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
40+
DBC_stiff[0] *= 2
41+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
4442

4543
# filter line search
4644
# ANCHOR: apply_filter
4745
alpha = min(BarrierEnergy.init_step_size(x, n, o, p), NeoHookeanEnergy.init_step_size(x, e, p)) # avoid interpenetration, tunneling, and inversion
4846
# ANCHOR_END: apply_filter
49-
while IP_val(x + alpha * p, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x + alpha * p - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h) > E_last:
47+
while IP_val(x + alpha * p, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x + alpha * p - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h) > E_last:
5048
alpha /= 2
5149
print('step size =', alpha)
5250

5351
x += alpha * p
54-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
55-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
52+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
53+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
5654
iter += 1
5755

5856
v = (x - x_n) / h # implicit Euler velocity update

‎7_self_contact/simulator.py‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,7 @@
4545
is_DBC = [False] * len(x)
4646
for i in DBC:
4747
is_DBC[i] = True
48+
DBC_stiff = [1000] # DBC stiffness, adjusted and warm-started across time steps
4849
contact_area = [side_len / n_seg] * len(x) # perimeter split to each node
4950

5051
# simulation with visualization
@@ -83,7 +84,7 @@ def screen_projection(x):
8384
pygame.display.flip() # flip the display
8485

8586
# step forward simulation and wait for screen refresh
86-
[x, v] = time_integrator.step_forward(x, e, v, m, vol, IB, mu_lame, lam, ground_n, ground_o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, h, 1e-2)
87+
[x, v] = time_integrator.step_forward(x, e, v, m, vol, IB, mu_lame, lam, ground_n, ground_o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff, h, 1e-2)
8788
time_step += 1
8889
pygame.time.wait(int(h * 1000))
8990
square_mesh.write_to_file(time_step, x, e)

‎7_self_contact/time_integrator.py‎

Lines changed: 8 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
1313
import FrictionEnergy
1414
import SpringEnergy
1515

16-
def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, h, tol):
16+
def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff, h, tol):
1717
x_tilde = x + v * h # implicit Euler predictive position
1818
x_n = copy.deepcopy(x)
1919
mu_lambda = BarrierEnergy.compute_mu_lambda(x, n, o, bp, be, contact_area, mu) # compute mu * lambda for each node using x^n
@@ -23,30 +23,29 @@ def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area,
2323
DBC_target.append(x_n[DBC[i]] + h * DBC_v[i])
2424
else:
2525
DBC_target.append(x_n[DBC[i]])
26-
DBC_stiff = 1000 # initialize stiffness for DBC springs
2726

2827
# Newton loop
2928
iter = 0
30-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
31-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
29+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
30+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
3231
while (LA.norm(p, inf) / h > tol) | (sum(DBC_satisfied) != len(DBC)): # also check whether all DBCs are satisfied
3332
print('Iteration', iter, ':')
3433
print('residual =', LA.norm(p, inf) / h)
3534

3635
if (LA.norm(p, inf) / h <= tol) & (sum(DBC_satisfied) != len(DBC)):
3736
# increase DBC stiffness and recompute energy value record
38-
DBC_stiff *= 2
39-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
37+
DBC_stiff[0] *= 2
38+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
4039

4140
# filter line search
4241
alpha = min(BarrierEnergy.init_step_size(x, n, o, bp, be, p), NeoHookeanEnergy.init_step_size(x, e, p)) # avoid interpenetration, tunneling, and inversion
43-
while IP_val(x + alpha * p, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x + alpha * p - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h) > E_last:
42+
while IP_val(x + alpha * p, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x + alpha * p - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h) > E_last:
4443
alpha /= 2
4544
print('step size =', alpha)
4645

4746
x += alpha * p
48-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff, h)
49-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
47+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, DBC, DBC_target, DBC_stiff[0], h)
48+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
5049
iter += 1
5150

5251
v = (x - x_n) / h # implicit Euler velocity update

‎8_self_friction/simulator.py‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -43,6 +43,7 @@
4343
is_DBC = [False] * len(x)
4444
for i in DBC:
4545
is_DBC[i] = True
46+
DBC_stiff = [1000] # DBC stiffness, adjusted and warm-started across time steps
4647
contact_area = [side_len / n_seg] * len(x) # perimeter split to each node
4748

4849
# simulation with visualization
@@ -81,7 +82,7 @@ def screen_projection(x):
8182
pygame.display.flip() # flip the display
8283

8384
# step forward simulation and wait for screen refresh
84-
[x, v] = time_integrator.step_forward(x, e, v, m, vol, IB, mu_lame, lam, ground_n, ground_o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, h, 1e-2)
85+
[x, v] = time_integrator.step_forward(x, e, v, m, vol, IB, mu_lame, lam, ground_n, ground_o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff, h, 1e-2)
8586
time_step += 1
8687
pygame.time.wait(int(h * 1000))
8788
square_mesh.write_to_file(time_step, x, e)

‎8_self_friction/time_integrator.py‎

Lines changed: 8 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
1313
import FrictionEnergy
1414
import SpringEnergy
1515

16-
def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, h, tol):
16+
def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, mu, is_DBC, DBC, DBC_v, DBC_limit, DBC_stiff, h, tol):
1717
x_tilde = x + v * h # implicit Euler predictive position
1818
x_n = copy.deepcopy(x)
1919
[mu_lambda, mu_lambda_self] = BarrierEnergy.compute_mu_lambda(x, n, o, bp, be, contact_area, mu) # compute mu * lambda for each node using x^n
@@ -23,30 +23,29 @@ def step_forward(x, e, v, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area,
2323
DBC_target.append(x_n[DBC[i]] + h * DBC_v[i])
2424
else:
2525
DBC_target.append(x_n[DBC[i]])
26-
DBC_stiff = 1000 # initialize stiffness for DBC springs
2726

2827
# Newton loop
2928
iter = 0
30-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff, h)
31-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
29+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff[0], h)
30+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
3231
while (LA.norm(p, inf) / h > tol) | (sum(DBC_satisfied) != len(DBC)): # also check whether all DBCs are satisfied
3332
print('Iteration', iter, ':')
3433
print('residual =', LA.norm(p, inf) / h)
3534

3635
if (LA.norm(p, inf) / h <= tol) & (sum(DBC_satisfied) != len(DBC)):
3736
# increase DBC stiffness and recompute energy value record
38-
DBC_stiff *= 2
39-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff, h)
37+
DBC_stiff[0] *= 2
38+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff[0], h)
4039

4140
# filter line search
4241
alpha = min(BarrierEnergy.init_step_size(x, n, o, bp, be, p), NeoHookeanEnergy.init_step_size(x, e, p)) # avoid interpenetration, tunneling, and inversion
43-
while IP_val(x + alpha * p, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x + alpha * p - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff, h) > E_last:
42+
while IP_val(x + alpha * p, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x + alpha * p - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff[0], h) > E_last:
4443
alpha /= 2
4544
print('step size =', alpha)
4645

4746
x += alpha * p
48-
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff, h)
49-
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, is_DBC, DBC, DBC_target, DBC_stiff, tol, h)
47+
E_last = IP_val(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, DBC, DBC_target, DBC_stiff[0], h)
48+
[p, DBC_satisfied] = search_dir(x, e, x_tilde, m, vol, IB, mu_lame, lam, n, o, bp, be, contact_area, (x - x_n) / h, mu_lambda, mu_lambda_self, is_DBC, DBC, DBC_target, DBC_stiff[0], tol, h)
5049
iter += 1
5150

5251
v = (x - x_n) / h # implicit Euler velocity update

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