int main()
{
DECL_TIMER(T0);
DECL_TIMER(T1);
int info = 0;
int r = -1;
FILE* file = fopen("./data/ACinputs.dat", "r");
unsigned int dim = 0;
double* reactions;
double* velocities;
double *mus;
double *rhos;
r = fscanf(file, "%d\n", &dim);
assert(r > 0);
if (r <= 0) return(r);
reactions = (double *) malloc(3 * dim * sizeof(double));
velocities = (double *) malloc(3 * dim * sizeof(double));
mus = (double *) malloc(dim * sizeof(double));
rhos = (double *) malloc(3 * dim * sizeof(double));
for (unsigned int i = 0; i < dim * 3 ; ++i)
{
r = fscanf(file, "%lf\n", &reactions[i]);
assert(r > 0);
};
for (unsigned int i = 0; i < dim * 3 ; ++i)
{
r = fscanf(file, "%lf\n", &velocities[i]);
assert(r > 0);
};
for (unsigned int k = 0; k < dim ; ++k)
{
r = fscanf(file, "%lf\n", &mus[k]);
assert(r > 0);
};
for (unsigned int i = 0; i < dim * 3 ; ++i)
{
r = fscanf(file, "%lf\n", &rhos[i]);
assert(r > 0);
};
double F1[3], A1[9], B1[9],
F2[3], A2[9], B2[9];
for (unsigned int k = 0; k < dim; ++k)
{
double* p;
p = F1;
OP3(*p++ = NAN);
p = F2;
OP3(*p++ = NAN);
p = A1;
OP3X3(*p++ = NAN);
p = B1;
OP3X3(*p++ = NAN);
p = B2;
OP3X3(*p++ = NAN);
p = A2;
OP3X3(*p++ = NAN);
START_TIMER(T0);
DO(computeAlartCurnierSTDOld(&reactions[k * 3], &velocities[k * 3], mus[k], &rhos[k * 3], F1, A1, B1));
STOP_TIMER(T0);
START_TIMER(T1);
DO(computeAlartCurnierSTD(&reactions[k * 3], &velocities[k * 3], mus[k], &rhos[k * 3], F1, A1, B1));
STOP_TIMER(T1);
PRINT_ELAPSED(T0);
PRINT_ELAPSED(T1);
#ifdef WITH_TIMERS
printf("T1/T0 = %g\n", ELAPSED(T1) / ELAPSED(T0));
#endif
p = F1;
OP3(info |= isnan(*p++));
assert(!info);
p = A1;
OP3X3(info |= isnan(*p++));
assert(!info);
p = B1;
OP3X3(info |= isnan(*p++));
assert(!info);
frictionContact3D_AlartCurnierFunctionGenerated(&reactions[k * 3], &velocities[k * 3], mus[k], &rhos[k * 3], F2, A2, B2);
p = F1;
OP3(info |= isnan(*p++));
assert(!info);
p = A1;
OP3X3(info |= isnan(*p++));
assert(!info);
p = B1;
OP3X3(info |= isnan(*p++));
assert(!info);
sub3(F1, F2);
sub3x3(A1, A2);
sub3x3(B1, B2);
#define EPS 1e-6
p = F2;
OP3(info |= !(*p++ < EPS));
assert(!info);
p = A2;
OP3X3(info |= !(*p++ < EPS));
assert(!info);
p = B2;
OP3X3(info |= !(*p++ < EPS));
assert(!info);
}
free(reactions);
free(velocities);
free(mus);
free(rhos);
fclose(file);
return (info);
}
int LocalNonsmoothNewtonSolver(FrictionContactProblem* localproblem, double * R, int *iparam, double *dparam)
{
double mu = localproblem->mu[0];
double * qLocal = localproblem->q;
double * MLocal = localproblem->M->matrix0;
double Tol = dparam[0];
double itermax = iparam[0];
int i, j, k, inew;
// store the increment
double dR[3] = {0., 0., 0.};
// store the value fo the function
double F[3] = {0., 0., 0.};
// Store the (sub)-gradient of the function
double A[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
double B[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
// Value of AW+B
double AWplusB[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
// Compute values of Rho (should be here ?)
double rho[3] = {1., 1., 1.};
#ifdef OPTI_RHO
computerho(localproblem, rho);
#endif
// compute the velocity
double velocity[3] = {0., 0., 0.};
for (i = 0; i < 3; i++) velocity[i] = MLocal[i + 0 * 3] * R[0] + qLocal[i]
+ MLocal[i + 1 * 3] * R[1] +
+ MLocal[i + 2 * 3] * R[2] ;
for (inew = 0 ; inew < itermax ; ++inew) // Newton iteration
{
//Update function and gradient
Function(R, velocity, mu, rho, F, A, B);
#ifndef AC_Generated
#ifndef NDEBUG
double Fg[3] = {0., 0., 0.};
double Ag[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
double Bg[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
double AWpB[9];
assert(*rho > 0. && *(rho + 1) > 0. && *(rho + 2) > 0.);
#ifdef AC_STD
frictionContact3D_AlartCurnierFunctionGenerated(R, velocity, mu, rho, Fg, Ag, Bg);
#endif
#ifdef AC_JeanMoreau
frictionContact3D_AlartCurnierJeanMoreauFunctionGenerated(R, velocity, mu, rho, Fg, Ag, Bg);
#endif
sub3(F, Fg);
sub3x3(A, Ag);
sub3x3(B, Bg);
assert(hypot3(Fg) <= 1e-7);
assert(hypot9(Ag) <= 1e-7);
assert(hypot9(Bg) <= 1e-7);
cpy3x3(A, Ag);
cpy3x3(B, Bg);
mm3x3(A, MLocal, AWpB);
add3x3(B, AWpB);
#endif
#endif
// compute -(A MLocal +B)
for (i = 0; i < 3; i++)
{
for (j = 0; j < 3; j++)
{
AWplusB[i + 3 * j] = 0.0;
for (k = 0; k < 3; k++)
{
AWplusB[i + 3 * j] -= A[i + 3 * k] * MLocal[k + j * 3];
}
AWplusB[i + 3 * j] -= B[i + 3 * j];
}
}
#ifdef AC_STD
#ifndef NDEBUG
scal3x3(-1., AWpB);
sub3x3(AWplusB, AWpB);
assert(hypot9(AWpB) <= 1e-7);
#endif
#endif
// Solve the linear system
solv3x3(AWplusB, dR, F);
// upate iterates
R[0] += dR[0];
R[1] += dR[1];
R[2] += dR[2];
// compute new residue
for (i = 0; i < 3; i++) velocity[i] = MLocal[i + 0 * 3] * R[0] + qLocal[i]
+ MLocal[i + 1 * 3] * R[1] +
+ MLocal[i + 2 * 3] * R[2] ;
Function(R, velocity, mu, rho, F, NULL, NULL);
dparam[1] = 0.5 * (F[0] * F[0] + F[1] * F[1] + F[2] * F[2]) / (1.0 + sqrt(R[0] * R[0] + R[1] * R[1] + R[2] * R[2])) ; // improve with relative tolerance
/* dparam[2] =0.0;
FrictionContact3D_unitary_compute_and_add_error( R , velocity,mu, &(dparam[2]));*/
if (verbose > 1) printf("----------------------------------- LocalNewtonSolver number of iteration = %i error = %.10e \n", inew, dparam[1]);
if (dparam[1] < Tol)
{
/* printf("----------------------------------- LocalNewtonSolver number of iteration = %i error = %.10e \t error2 = %.10e \n",inew,dparam[1], dparam[2]); */
return 0;
}
}// End of the Newton iteration
/* printf("----------------------------------- LocalNewtonSolver number of iteration = %i error = %.10e \t error2 = %.10e \n",inew,dparam[1], dparam[2]); */
return 1;
}
