Wave equation on surfaces

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Inspired by a course Misha Kazhdan gave at SGP this year, I started playing around with the wave equation on surfaces. Below is a simple matlab demo:

The core formula here is to update the "height" H_i (extrusion along normal) at vertices for each time step i based on the last two steps:

``````((1 + b * dt) * M - a * dt^2 *L) H_i = (M * (( 2 - b * dt) * H_{i-1} - H_{i-2}));
``````

b is the dampening factor, dt is the time step size, M is the mass matrix, 1/sqrt(a) is the speed of the wave, L is the cotangent Laplacian, H_i is the unknown heights, H_{i-1} and H_{i-2} are the heights at the previous two time steps. This is discretization with implicit time stepping of the wave equation:

``````∂²/∂t² u = a∆u - b ∂u/∂t
``````

There's surely a more canonical place to find this, but I liked the description in "Fast and Exact (Poisson) Solvers on Symmetric Geometries" [Kazhdan 2015].

Save in `wave_demo.m`

``````function wave_demo(V,F)
V = bsxfun(@minus,V,mean(V));
V = V./max(abs(V(:)));
V(:,end+1:3) = 0;
N = per_vertex_normals(V,F);
L = cotmatrix(V,F);
M = massmatrix(V,F);
M = M / max(abs(M(:)));

dt = 0.0075;
% 1/sqrt(a) is the speed of the wave
a = 1;
H = zeros(size(V,1),1);
% dampening
b = 0.05;
A = ((1+b*dt)*M - a*dt^2*L);
% Pre-factor
[cL,p,cS] = chol(A,'lower');
cU = cL';
cP = cS';
cQ = cS;
chol_solve = @(X) cQ * (cU \ (cL \ ( cP * X)));
G = H;
G_m1 = G;

[VV,FF,S] = loop([V+bsxfun(@times,G,N) H],F);
tsh = trisurf(FF,VV(:,1),VV(:,2),VV(:,3),  ...
'FaceColor','interp','FaceLighting','phong', ...
'EdgeColor','none','CData',VV(:,4));
tsh.SpecularStrength = 0.2;
tsh.SpecularExponent = 100;
tsh.ButtonDownFcn = @ondown;

CM = parula(30);colormap(CM(end-11:end,:));
set(gcf,'Color',[0.3 0.4 1.0]);
set(gca,'Visible','off');
l = light('Position',[-0.4 -0.4 1.0],'Style','infinite');
axis equal;
axis manual;
expand_axis(1.2);
view(2);
caxis([-max(abs(H)) max(abs(H))]);
T = get(gca,'tightinset');
set(gca,'position',[T(1) T(2) 1-T(1)-T(3) 1-T(2)-T(4)]);

t = 0;
draw_t = 0;
tic;
while true
G_m2 = G_m1;
G_m1 = G;
G = chol_solve(M*((2-b*dt)*G_m1 - G_m2 + dt*0));

t = t+dt;
draw_t = draw_t+toc;
if draw_t > 0.033
VV = S*[V+bsxfun(@times,G,N) G];
tsh.Vertices = VV(:,1:3);
tsh.CData = VV(:,4);
title(sprintf('t: %g, max(H): %g',t,max(abs(G))),'FontSize',15);
drawnow;
tic;
draw_t = 0;
end
end

function ondown(src,ev)
H = a/10*mean(diag(M))*(M\(S'*sparse( ...
knnsearch(VV(:,1:3),ev.IntersectionPoint,'k',2),1,[1;-1],size(VV,1),1)));
G = G+H;
end
end
``````