Surface Evolver Documentation: Hints

# Surface Evolver Documentation

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# HINTS

This is a collection helpful hints gained from my own experience with Evolver and from helping others.

- Evolver works in dimensionless units, and the default settings work best when size, surface tension, volume, etc. are near 1. If you decide to work in units that give very large or small numbers, you may have to adjust parameters such as scale_limit, target_tolerance, and constraint_tolerance.

- When drawing a sketch for constructing the initial datafile, make it as big as you can. You will have lots of notation to put on it. Number all vertices, edges, and facets. Put orientation arrows on the edges, and indicate the orientation of facets (I like to use curved arrows around the facet numbers).

- Initial faces should be convex. Although Evolver handles nonconvex faces, the triangulation algorithm is very simple-minded, and the triangulation of a nonconvex face can be ugly. Just put in an extra edge or two to divide the face into a couple of convex faces.

- Make separate constraints for edges with constraint energy or content integrals, and for edges without. Even if the other edges are fixed, it is much easier to check that the integrands are correct when only the precisely needed edges are on constraints with integrals.

- If you don't have all your elements numbered consecutively (which usually happens due to numbering schemes you use, or adding or deleting elements), run Evolver with the -i command line option so mouse-picking reports the same element numbers as in your datafile. You can instead put "keep_originals" in the top of your datafile for the same effect.

- Make sure all your body facets are oriented properly. Evolver will complain if there are mismatched facet orientations on an ordinary edge, but fixed edges, constrained edges, etc. are exempt from this checking. A good way to check is by coloring, for example:

         set body[1].facet color green

- Make sure vertices, edges, and facets are on their proper constraints. You can check visually by coloring, e.g.

        set edge color red where on_constraint 1
        set facet color green where on_constraint 1

  You can't color vertices directly, but you can get close to the same effect by refining a couple of times and coloring edges adjacent to vertices:

        foreach vertex vv where on_constraint 1 do set vv.edge color blue

- Check that all the energies, volumes, quantities, etc. in your initial datafile are correct. See the section below for more details on how to check in great detail.

- If you are doing liquids with contact lines on solid walls, I suggest making the first datafile with all the boundary surfaces of the liquid represented explicitly as facets, and then make a second version of the datafile using constraint energy and content integrals to replace the facets on the fixed walls. It is far easier to get the energies and volumes right in the first version, but it is also far more prone to problems during evolution. Use the first version to check the correctness of the second version, and use the second version for serious work.

- If your edges on curved constraints try to short-cut the curve, there are several ways to discourage that:
  - Make a second guide constraint, so that the intersection of the two constraints define guiderails for vertices to run along. By using vertex attributes to customize the guide constraint, you only need one guide constraint. For example:

            define vertex attribute guides real[2]
            constraint 1
            formula:  x^2 + y^2 = rad^2   // curved constraint
            constraint 2
            formula:  guides[1]*x + guides[2]*y = 0  // radial guide planes

    Then you can set the guide coefficients at runtime with

           set vertex.guides[1] -y where on_constraint 1
           set vertex.guides[1] x where on_constraint 1

  - If you understand exactly what energy or volume condition is encouraging the short-cutting, you can adjust the energy or content integrand on the curved constraint to compensate enough to eliminate the encouragement. This basically means calculating the surface area of the gap between the edge and the curved constraint, or the volume bounded by the gap.
  - Declare the curved constraint CONVEX. This adds an energy roughly proportional to the gap area. This is simple to do, and works if you set the gap_constant high enough (you should leave the gap constant as low as will work, however), but you cannot use any Hessian commands if you use convex constraints.

- Run at low resolution before refining. A good evolution script usually winds up having alternating refining and evolultion. Having many triangles not only takes a long time to calculate, but motion can propagate only one triangle per iteration. Don't over-evolve at a particular refinement. Remember it's an approximation. There is not much point in evolving to 12 digits precision an approximation that is only accurate to 4 digits.

- Groom your surface triangulation with V (vertex averaging), u (equiangulation), l (long edge division), and t (tiny edge deletion). It may take some experimenting to get the right sequence, along with refinements. It may be better to divide certain long edges than simply refine the whole surface. However, overdoing it may be counterproductive to convergence; sometimes the converged surface doesn't want to be entirely equiangulated or averaged, and you can get into an endless loop of iteration and grooming. Once you work out a good script, write it down in a handy command at the end of the datafile for easy use.

- Use the dump or d commands to save your evolved surface regularly. Remember that Evolver has no undo feature to roll back disastrous commands.

- Use conjugate gradient mode for faster gradient descent, but not too soon. Use regular gradient descent to adjust to volume or constraint changes. Conjugate gradient should be used only when regular motion has settled down. Conjugate gradient assumes a quadratic energy function, and may get confused when it's not. Conjugate gradient may need to be toggled off and on to make it forget its history.

- During gradient descent (including conjugate gradient), keep an eye on the scale factor. The scale factor should remain fairly steady. A scale factor going to 0 does NOT mean convergence; it means the surface is having trouble. However, a good scale factor may depend on refinement and other considerations. See the section on reasonable scale factors.

- Second-order Hessian convergence is much faster than first-order gradient descent, when Hessian works. So my advice is to use gradient descent just to get to where it's safe to use hessian hessian_seek. Actually, hessian_seek is pretty much always safe to use, since it makes sure energy is decreasing. I have found circumstances where hessian_seek does an amazingly good job as an iteration step, even though the surface is nowhere near convergence.

- Beware saddle points of energy. A symmetric surface, e.g. a blob of solder on a pad or around a wire, may seem to converge with gradient descent, but just have reached a saddle point. Use the eigenprobe command to test for stability, and if not stable, use the saddle command to get off the saddle point.

- Judging convergence in gradient descent is tough. If iterations run at a more or less constant scale factor and energy isn't changing much, and running in conjugate gradient mode for a long time doesn't change much, then you're probably in good shape. But use the eigenprobe command to make sure, and hessian to finish off convergence.

- If you intend to use quadratic mode or Lagrange mode for higher precision, evolve in linear model first until the final stage, since it is much quicker and there are more triangulation grooming commands available.

#### Checking your datafile

You should always check your initial datafile to be sure it is doing exactly what you want. It is easy to get signs on integrands wrong, or apply quantities to the wrong elements. When you load the initial datafile, the initial energy, body volumes, and quantities values should be exactly what you expect, either from hand calculation or from another datafile you trust. In particular, when using constraint integrals to replace omitted facets, I suggest you make a separate datafile with facets instead of integrals just for checking the agreement between the two.

With the named methods and quantities feature, it is possible to get very detailed information on where numbers are coming from. If you give the "convert_to_quantities" command, every energy, volume, and constraint integrand will be internally converted to named methods and quantities (although the user interface for all remains the same). These internal quantities are ordinarily not displayed by the 'v' or 'Q' commands, but if you do "show_all_quantities" then they will be displayed. Further, 'Q' will show all the component method instances also. For an example, consider the following output:

     Enter command: convert_to_quantities
     Enter command: show_all_quantities
     Enter command: Q
    Quantities and instances:
    (showing internal quantities also; to suppress, do "show_all_quantities off")
     1. default_length                        64.2842712474619  info_only quantity
                                modulus       1.00000000000000
     2. default_area                          4.00000000000000  energy quantity
                                modulus       1.00000000000000
     3. constraint_1_energy                 -0.342020143325669  energy quantity
                                modulus       1.00000000000000
     4. constraint_2_energy                 -0.342020143325669  energy quantity
                                modulus       1.00000000000000
     5. body_1_vol                            1.00000000000000  fixed quantity
                                 target       1.00000000000000
                                modulus       1.00000000000000
        body_1_vol_meth                      0.000000000000000  method instance
                                modulus       1.00000000000000
        body_1_con_2_meth                     1.00000000000000  method instance
                                modulus       1.00000000000000
     6. gravity_quant                        0.000000000000000  energy quantity
                                modulus      0.000000000000000

Here's a detailed explanation of the output of the Q command above:

default_length - total edge length, using the edge_length method. This would be the default energy in the string model, and I guess it really doesn't need to exist here. But it's an info_only quantity, which means it is only evaluated when somebody asks to know its value.

default_area - the default energy in the soapfilm model, and included in the energy here, as indicated by "energy quantity" at the right.

constraint_1_energy - the energy integral of constraint 1, using the edge_vector_integral method applied to all edges on constraint 1.

constraint_2_energy - the energy integral of constraint 2, using the edge_vector_integral method applied to all edges on constraint 2.

body_1_vol - the volume of body 1, as a sum of several method instances. body_1_vol_meth is the facet_vector_integral of (0,0,z) over all the facets on the body. body_con_2_meth is the integral of the constraint 2 content integrand over all edges on facets of body 1 which are edges on constraint 2.

gravity_quant - the total gravitational energy of all bodies with assigned densities. This quantity is always present even if you don't have any bodies, or don't have any body densities. But you'll notice the modulus is 0, which means its evaluation is skipped, so the presence of this quantity doesn't harm anything.

You can find the quantity or method contribution of single elements by using the quantity or method name as an attribute of elements. Using a quantity name really means summing over all its constituent methods that apply to the element. For example, in plates_column,

     Enter command: foreach edge ee where on_constraint 2 do printf "%d  %f\n",id, ee.body_1_con_2_meth
    5  0.000000
    6  0.000000
    7  1.000000
    8  0.000000
    Enter command: foreach edge where constraint_1_energy != 0 do print constraint_1_energy
      -0.342020143325669

### Reasonable scale factors.

Trouble in evolving is usually signaled by a small scale, which means there is some obstacle to evolution. Of course, that means you have to know what a reasonable scale is, and that depends on the type of energy you are using and how refined your surface si. In normal evolution, the size of the scale is set by the development of small-scale roughness in the surface. Combined with a little dimensional analysis, that leads to the conclusion that the scale should vary as L2-q, where L is the typical edge length and the units of energy are lengthq. The dimensional analysis goes like this: Let D be the perturbation of one vertex away from an equilibrium surface. In general, energy is quadratic around an equibrium, so

      E = D2Lq-2

So the gradient of energy at the vertex is

      grad E = 2 D Lq-2

The motion is the scale times the gradient, which we want proportional to D, so

     scale * grad E = scale * 2 D Lq-2 = D

So scale is on the order of L 2-q. Some examples:

Dimensional Dependence of Scale
Energy | Energy dimension | Scale | Example file
Area of soapfilm | L2 | L0 | quad.fe
Length of string | L1 | L1 | flower.fe
Squared curvature of string | L-1 | L3 | elastic8.fe
Squared mean curvature of soapfilm | L0 | L2 | sqcube.fe

In particular, the scale for area evolution is independent of refinement, but for most other energies the scale decreases with refinement.

Another common influence on the scale for area evolution is the surface tension. Doing a liquid solder simulation in a system of units where the surface tension of facets is assigned a value 470, say, means that all calculated gradients are multiplied by 470, so the scale decreases by a factor of 470 to get the same geometric motion. Thus you should set scale_limit to be the inverse of the surface tension.

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