Approximating Continuous Motions of Geometric Constraint Systems

TL;DR

This paper introduces a numerical framework combining Riemannian optimization and algebraic geometry to approximate continuous motions in geometric constraint systems, ensuring genuine solutions and robustness.

Contribution

It presents a novel, general numerical method for approximating continuous deformations of quadratic geometric constraint systems using homotopy continuation and optimization techniques.

Findings

The framework effectively computes continuous motions across various test cases.

It ensures solutions are genuine by using homotopy continuation.

The Julia package DeformationPaths.jl demonstrates robust performance.

Abstract

The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural engineering and soft matter physics. When a geometric constraint system is flexible, it admits continuous deformations. The ability to explicitly compute such continuous motions is essential for analyzing the constraint system's quasistatic or elastic properties. However, this task is computationally challenging, even for comparatively simple geometric constraint systems, making numerical strategies attractive. In this article, we present a general numerical framework for approximating continuous motions of geometric constraint systems given by quadratic polynomials. Our approach combines Riemannian optimization with numerical algebraic geometry to construct continuous motions via the metric projection onto the constraint set. By using homotopy continuation, we ensure that the computed motions correspond to genuine solutions of the constraint system and avoid numerical artifacts such as path-jumping. To handle singularities and over-determined systems, we introduce theoretical enhancements including randomization, adaptive step size control and a second-order analysis. These methods are implemented in the Julia package DeformationPaths.jl, which supports a broad class of geometric constraint systems and demonstrates its robust and effective performance across a wide range of test cases.