sdf_hertz.py

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import math
import numpy as np
 
R = 10 # radius of the indenter
d = 0.1 # indentation depth
 
xc = 0
yc = R
zc = 0
 
def sdf(delta_t, t, x, y, z, tx, ty, tz, block_id):
    return Sphere.sDF(R, xc, yc - d * t, zc, x, y, z)
 
def grad_sdf(delta_t, t, x, y, z, tx, ty, tz, block_id):
    return Sphere.gradSdf(xc, yc - d * t, zc, x, y, z)
 
def hess_sdf(delta_t, t, x, y, z, tx, ty, tz, block_id):
    return Sphere.hessSdf(xc, yc - d * t, zc, x, y, z)
 
class Sphere:
    def sDF(r, xc, yc, zc, x, y, z):
        return np.sqrt((x - xc)**2 + (y - yc)**2 + (z - zc)**2) - r
 
    def gradSdf(xc, yc, zc, x, y, z):
        c_val_A = 1./np.sqrt((x-xc)**2 + (y-yc)**2 + (z-zc)**2)
        return np.hstack([(c_val_A * (x-xc)).reshape((-1,1)), (c_val_A * (y-yc)).reshape((-1,1)), (c_val_A * (z-zc)).reshape((-1,1))])
 
    def hessSdf(xc, yc, zc, x, y, z):
        x, y, z = x-xc, y-yc, z-zc
        denom = (x**2 + y**2 + z**2)**(3/2)
        sqrt_denom = np.sqrt(x**2 + y**2 + z**2)
        Hxx = -x**2/denom + 1/sqrt_denom
        Hzx = -x*z/denom
        Hxy = -x*y/denom
        Hyy = -y**2/denom + 1/sqrt_denom
        Hzy = -y*z/denom
        Hzz = -z**2/denom + 1/sqrt_denom
        # xx, yx, zx, yy, zy, zz
        return np.hstack([Hxx.reshape((-1,1)), Hxy.reshape((-1,1)), Hzx.reshape((-1,1)), Hyy.reshape((-1,1)), Hzy.reshape((-1,1)), Hzz.reshape((-1,1))])