void initComponentGeneral()
{
static bool first = true;
if (first)
{
first = false;
}
initValidation();
initExporter();
initEngine();
initGraphComponent();
initTopologyMapping();
initBoundaryCondition();
initUserInteraction();
initConstraint();
initHaptics();
initDenseSolver();
#ifdef SOFA_HAVE_CSPARSE
initSparseSolver();
#endif
initPreconditioner();
initOpenGLVisual();
}
/*
* This routine performs a preconditioned conjugate-gradient
* iteration in order to solve the newton equations for a search
* direction for a truncated-newton algorithm.
* When the value of the quadratic model is sufficiently reduced,
* the iteration is terminated.
*/
static int tnc_direction(double *zsol, double *diagb,
double *x, double g[], int n,
int maxCGit, int maxnfeval, int *nfeval,
logical upd1, double yksk, double yrsr,
double *sk, double *yk, double *sr, double *yr,
logical lreset, tnc_function *function, void *state,
double xscale[], double xoffset[], double fscale,
int *pivot, double accuracy,
double gnorm, double xnorm, double low[], double up[])
{
double alpha, beta, qold, qnew, rhsnrm, tol, vgv, rz, rzold, qtest, pr, gtp;
int i, k, frc;
/* Temporary vectors */
double *r = NULL, *zk = NULL, *v = NULL, *emat = NULL, *gv = NULL;
/* No CG it. => dir = -grad */
if (maxCGit == 0)
{
dcopy1(n, g, zsol);
dneg1(n, zsol);
project(n, zsol, pivot);
return 0;
}
/* General initialization */
rhsnrm = gnorm;
tol = 1e-12;
qold = 0.0;
rzold = 0.0; /* Uneeded */
frc = -1; /* ENOMEM here */
r = malloc(sizeof(*r)*n); /* Residual */
if (r == NULL) goto cleanup;
v = malloc(sizeof(*v)*n);
if (v == NULL) goto cleanup;
zk = malloc(sizeof(*zk)*n);
if (zk == NULL) goto cleanup;
emat = malloc(sizeof(*emat)*n); /* Diagonal preconditoning matrix */
if (emat == NULL) goto cleanup;
gv = malloc(sizeof(*gv)*n); /* hessian times v */
if (gv == NULL) goto cleanup;
/* Initialization for preconditioned conjugate-gradient algorithm */
frc = initPreconditioner(diagb, emat, n, lreset, yksk, yrsr, sk, yk, sr, yr,
upd1);
if (frc) goto cleanup;
for (i = 0; i < n; i++)
{
r[i] = -g[i];
v[i] = 0.0;
zsol[i] = 0.0; /* Computed search direction */
}
/* Main iteration */
for (k = 0; k < maxCGit; k++)
{
/* CG iteration to solve system of equations */
project(n, r, pivot);
frc = msolve(r, zk, n, sk, yk, diagb, sr, yr, upd1, yksk, yrsr, lreset);
if (frc) goto cleanup;
project(n, zk, pivot);
rz = ddot1(n, r, zk);
if ((rz / rhsnrm < tol) || ((*nfeval) >= (maxnfeval-1)))
{
/* Truncate algorithm in case of an emergency
or too many function evaluations */
if (k == 0)
{
dcopy1(n, g, zsol);
dneg1(n, zsol);
project(n, zsol, pivot);
}
break;
}
if (k == 0) beta = 0.0;
else beta = rz / rzold;
for (i = 0; i < n; i++)
v[i] = zk[i] + beta * v[i];
project(n, v, pivot);
frc = hessianTimesVector(v, gv, n, x, g, function, state,
xscale, xoffset, fscale, accuracy, xnorm, low, up);
++(*nfeval);
if (frc) goto cleanup;
project(n, gv, pivot);
vgv = ddot1(n, v, gv);
if (vgv / rhsnrm < tol)
{
/* Truncate algorithm in case of an emergency */
if (k == 0)
{
frc = msolve(g, zsol, n, sk, yk, diagb, sr, yr, upd1, yksk, yrsr,
lreset);
if (frc) goto cleanup;
dneg1(n, zsol);
project(n, zsol, pivot);
}
break;
}
diagonalScaling(n, emat, v, gv, r);
/* Compute linear step length */
alpha = rz / vgv;
/* Compute current solution and related vectors */
daxpy1(n, alpha, v, zsol);
daxpy1(n, -alpha, gv, r);
/* Test for convergence */
gtp = ddot1(n, zsol, g);
pr = ddot1(n, r, zsol);
qnew = (gtp + pr) * 0.5;
qtest = (k + 1) * (1.0 - qold / qnew);
if (qtest <= 0.5) break;
/* Perform cautionary test */
if (gtp > 0.0)
{
/* Truncate algorithm in case of an emergency */
daxpy1(n, -alpha, v, zsol);
break;
}
qold = qnew;
rzold = rz;
}
/* Terminate algorithm */
/* Store (or restore) diagonal preconditioning */
dcopy1(n, emat, diagb);
cleanup:
if (r) free(r);
if (v) free(v);
if (zk) free(zk);
if (emat) free(emat);
if (gv) free(gv);
return frc;
}