int gfc3d_LmgcDriver(double *reaction,
double *velocity,
double *globalVelocity,
double *q,
double *b,
double *mu,
double *Mdata,
unsigned int nzM,
unsigned int *rowM,
unsigned int *colM,
double* Hdata,
unsigned int nzH,
unsigned int *rowH,
unsigned int *colH,
unsigned int n,
unsigned int nc,
int solver_id,
int isize,
int *iparam,
int dsize,
double *dparam,
int verbose,
int outputFile,
int freq_output)
{
/* NumericsMatrix M, H; */
NumericsMatrix * M =newNumericsMatrix();
M->storageType = 2; /* sparse */
M->size0 = n;
M->size1 = n;
NumericsMatrix * H =newNumericsMatrix();
H->storageType = 2;
H->size0 = M->size0;
H->size1 = 3 * nc;
NumericsSparseMatrix * SM =newNumericsSparseMatrix();
M->matrix2 = SM;
SM->triplet = (CSparseMatrix * )malloc(sizeof(CSparseMatrix));
CSparseMatrix * _M = SM->triplet;
SM->origin = NS_TRIPLET;
csi * _colM = alloc_memory_csi(nzM, colM);
csi * _rowM = alloc_memory_csi(nzM, rowM);
_M->nzmax = nzM;
_M->nz = nzM;
_M->m = M->size0;
_M->n = M->size1;
_M->p = (csi *) _colM;
_M->i = (csi *) _rowM;
double * _Mdata = alloc_memory_double(nzM, Mdata);
_M->x = _Mdata;
DEBUG_PRINTF("_M->n=%li\t",_M->n);
DEBUG_PRINTF("_M->m=%li\n",_M->m);
NumericsSparseMatrix * SH =newNumericsSparseMatrix();
H->matrix2 = SH;
SH->triplet = (CSparseMatrix * )malloc(sizeof(CSparseMatrix));
CSparseMatrix * _H = SH->triplet;
SH->origin = NS_TRIPLET;
csi * _colH = alloc_memory_csi(nzH, colH);
csi * _rowH = alloc_memory_csi(nzH, rowH);
_H->nzmax = nzH;
_H->nz = nzH;
_H->m = H->size0;
_H->n = H->size1;
_H->p = _colH;
_H->i = _rowH;
double * _Hdata = alloc_memory_double(nzH, Hdata);
_H->x = _Hdata;
for (int i=0; i< _M->nz; ++i)
{
_M->p[i] --;
_M->i[i] --;
/* DEBUG_PRINTF("%d -> %d,%d\n", i, _M->p[i], _M->i[i]); */
}
for (int i=0; i< _H->nz; ++i)
{
_H->p[i] --;
_H->i[i] --;
/* DEBUG_PRINTF("%d -> %d,%d\n", i, _H->p[i], _H->i[i]); */
}
GlobalFrictionContactProblem * problem =(GlobalFrictionContactProblem*)malloc(sizeof(GlobalFrictionContactProblem));
problem->dimension = 3;
problem->numberOfContacts = nc;
problem->env = NULL;
problem->workspace = NULL;
problem->M = M;
problem->H = H;
problem->q = q;
problem->b = b;
problem->mu = mu;
SolverOptions numerics_solver_options;
gfc3d_setDefaultSolverOptions(&numerics_solver_options, solver_id);
int iSize_min = isize < numerics_solver_options.iSize ? isize : numerics_solver_options.iSize;
for (int i = 0; i < iSize_min; ++i)
numerics_solver_options.iparam[i] = iparam[i];
int dSize_min = dsize < numerics_solver_options.dSize ? dsize : numerics_solver_options.dSize;
for (int i=0; i < dSize_min; ++i)
numerics_solver_options.dparam[i] = dparam[i];
/* solver_options_print(&numerics_solver_options); */
/* FILE * file = fopen("toto.dat", "w"); */
/* globalFrictionContact_printInFile(problem, file); */
/* fclose(file); */
int rinfo = gfc3d_driver(problem,
reaction,
velocity,
globalVelocity,
&numerics_solver_options);
/* FILE * file1 = fopen("tutu.dat", "w"); */
/* globalFrictionContact_printInFile(problem, file1); */
/* fclose(file1); */
if(outputFile == 1)
{
/* dump in C format */
}
else if (outputFile == 2)
{
/* dump in Numerics .dat format */
}
else if (outputFile == 3)
{
#ifdef WITH_FCLIB
fccounter++;
if (fccounter % freq_output == 0)
{
char fname[256];
snprintf(fname, sizeof(fname), "LMGC_GFC3D-i%.5d-%i-%.5d.hdf5", numerics_solver_options.iparam[7], nc, fccounter);
printf("Dump LMGC_GFC3D-i%.5d-%i-%.5d.hdf5.\n", numerics_solver_options.iparam[7], nc, fccounter);
/* printf("ndof = %i.\n", ndof); */
FILE * foutput = fopen(fname, "w");
int n = 100;
char * title = (char *)malloc(n * sizeof(char *));
strncpy(title, "LMGC dump in hdf5", n);
char * description = (char *)malloc(n * sizeof(char *));
snprintf(description, n, "Rewriting in hdf5 through siconos of %s in FCLIB format", fname);
char * mathInfo = (char *)malloc(n * sizeof(char *));
strncpy(mathInfo, "unknown", n);
globalFrictionContact_fclib_write(problem,
title,
description,
mathInfo,
fname);
fclose(foutput);
}
#else
printf("Fclib is not available ...\n");
#endif
}
freeNumericsMatrix(M);
freeNumericsMatrix(H);
free(M);
free(H);
free(problem);
/* free(_colM); */
/* free(_colH); */
/* free(_rowM); */
/* free(_rowH); */
return rinfo;
}
int gfc3d_LmgcDriver(double *reaction,
double *velocity,
double *globalVelocity,
double *q,
double *b,
double *mu,
double *Mdata,
unsigned int nzM,
unsigned int *rowM,
unsigned int *colM,
double* Hdata,
unsigned int nzH,
unsigned int *rowH,
unsigned int *colH,
unsigned int n,
unsigned int nc,
int solver_id,
int isize,
int *iparam,
int dsize,
double *dparam,
int verbose_in,
int outputFile,
int freq_output)
{
verbose = verbose_in;
/* NumericsMatrix M, H; */
NumericsMatrix * M =NM_new();
M->storageType = 2; /* sparse */
M->size0 = n;
M->size1 = n;
NumericsMatrix * H =NM_new();
H->storageType = 2;
H->size0 = M->size0;
H->size1 = 3 * nc;
NumericsSparseMatrix * SM =NSM_new();
M->matrix2 = SM;
SM->triplet = (CSparseMatrix * )malloc(sizeof(CSparseMatrix));
CSparseMatrix * _M = SM->triplet;
SM->origin = NSM_TRIPLET;
CS_INT * _colM = alloc_memory_csi(nzM, colM);
CS_INT * _rowM = alloc_memory_csi(nzM, rowM);
_M->nzmax = nzM;
_M->nz = nzM;
_M->m = M->size0;
_M->n = M->size1;
_M->p = (CS_INT *) _colM;
_M->i = (CS_INT *) _rowM;
double * _Mdata = alloc_memory_double(nzM, Mdata);
_M->x = _Mdata;
DEBUG_PRINTF("_M->n=%lli\t",_M->n);
DEBUG_PRINTF("_M->m=%lli\n",_M->m);
NumericsSparseMatrix * SH =NSM_new();
H->matrix2 = SH;
SH->triplet = (CSparseMatrix * )malloc(sizeof(CSparseMatrix));
CSparseMatrix * _H = SH->triplet;
SH->origin = NSM_TRIPLET;
CS_INT * _colH = alloc_memory_csi(nzH, colH);
CS_INT * _rowH = alloc_memory_csi(nzH, rowH);
_H->nzmax = nzH;
_H->nz = nzH;
_H->m = H->size0;
_H->n = H->size1;
_H->p = _colH;
_H->i = _rowH;
double * _Hdata = alloc_memory_double(nzH, Hdata);
_H->x = _Hdata;
for (int i=0; i< _M->nz; ++i)
{
_M->p[i] --;
_M->i[i] --;
/* DEBUG_PRINTF("%d -> %d,%d\n", i, _M->p[i], _M->i[i]); */
}
for (int i=0; i< _H->nz; ++i)
{
_H->p[i] --;
_H->i[i] --;
/* DEBUG_PRINTF("%d -> %d,%d\n", i, _H->p[i], _H->i[i]); */
}
#ifdef USE_NM_DENSE
assert(M);
assert(H);
NumericsMatrix *MMtmp = NM_new();
NumericsMatrix *HHtmp = NM_new();
NM_copy(M,MMtmp);
NM_copy(H,HHtmp);
NM_clearSparse(M);
NM_clearSparse(H);
M = NM_create(NM_DENSE, H->size0, H->size0);
H = NM_create(NM_DENSE, H->size0, H->size1);
NM_to_dense(MMtmp,M);
NM_to_dense(HHtmp,H);
/* NM_display(M); */
/* NM_display(H); */
#endif
GlobalFrictionContactProblem * problem =(GlobalFrictionContactProblem*)malloc(sizeof(GlobalFrictionContactProblem));
problem->dimension = 3;
problem->numberOfContacts = nc;
problem->env = NULL;
problem->M = M;
problem->H = H;
problem->q = q;
problem->b = b;
problem->mu = mu;
SolverOptions numerics_solver_options;
int infi = 0;
infi = gfc3d_setDefaultSolverOptions(&numerics_solver_options, solver_id);
assert(!infi);
int iSize_min = isize < numerics_solver_options.iSize ? isize : numerics_solver_options.iSize;
DEBUG_PRINTF("iSize_min = %i", iSize_min);
for (int i = 0; i < iSize_min; ++i)
if (abs(iparam[i])>0)
numerics_solver_options.iparam[i] = iparam[i];
int dSize_min = dsize < numerics_solver_options.dSize ? dsize : numerics_solver_options.dSize;
for (int i=0; i < dSize_min; ++i)
if (fabs(dparam[i]) > 0)
numerics_solver_options.dparam[i] = dparam[i];
/* solver_options_print(&numerics_solver_options); */
/* FILE * file = fopen("toto.dat", "w"); */
/* globalFrictionContact_printInFile(problem, file); */
/* fclose(file); */
int rinfo = gfc3d_driver(problem,
reaction,
velocity,
globalVelocity,
&numerics_solver_options);
iparam[SICONOS_IPARAM_ITER_DONE] = numerics_solver_options.iparam[SICONOS_IPARAM_ITER_DONE];
dparam[SICONOS_DPARAM_TOL] = numerics_solver_options.dparam[SICONOS_DPARAM_TOL];
/* FILE * file1 = fopen("tutu.dat", "w"); */
/* globalFrictionContact_printInFile(problem, file1); */
/* fclose(file1); */
if(outputFile == 1)
{
/* dump in C format */
}
else if (outputFile == 2)
{
/* dump in Numerics .dat format */
}
else if (outputFile == 3)
{
#ifdef WITH_FCLIB
gfccounter++;
struct stat st = {};
if (stat("./fclib-hdf5/", &st) == -1) {
mkdir("./fclib-hdf5/", 0700);
}
printf("################################## gfcccounter = %i\n", gfccounter);
if (gfccounter % freq_output == 0)
{
char fname[256];
snprintf(fname, sizeof(fname), "./fclib-hdf5/LMGC_GFC3D-i%.5d-%i-%.5d.hdf5", numerics_solver_options.iparam[SICONOS_IPARAM_ITER_DONE], nc, gfccounter);
printf("Dump ./fclib-hdf5/LMGC_GFC3D-i%.5d-%i-%.5d.hdf5.\n", numerics_solver_options.iparam[SICONOS_IPARAM_ITER_DONE], nc, gfccounter);
/* printf("ndof = %i.\n", ndof); */
FILE * foutput = fopen(fname, "w");
int n = 100;
char * title = (char *)malloc(n * sizeof(char *));
strncpy(title, "LMGC dump in hdf5", n);
char * description = (char *)malloc(n * sizeof(char *));
snprintf(description, n, "Rewriting in hdf5 through siconos of %s in FCLIB format", fname);
char * mathInfo = (char *)malloc(n * sizeof(char *));
strncpy(mathInfo, "unknown", n);
globalFrictionContact_fclib_write(problem,
title,
description,
mathInfo,
fname);
fclose(foutput);
}
#else
printf("Fclib is not available ...\n");
#endif
}
NM_free(M);
NM_free(H);
free(M);
free(H);
free(problem);
/* free(_colM); */
/* free(_colH); */
/* free(_rowM); */
/* free(_rowH); */
return rinfo;
}
