void gfc3d_init_workspace(GlobalFrictionContactProblem* problem)
{
assert(problem);
assert(problem->M);
if (!problem->workspace)
{
problem->workspace = (GFC3D_workspace*) malloc(sizeof(GFC3D_workspace));
problem->workspace->factorized_M = NULL;
problem->workspace->globalVelocity = NULL;
}
if (!problem->workspace->factorized_M)
{
problem->workspace->factorized_M = createNumericsMatrix(problem->M->storageType,
problem->M->size0,
problem->M->size1);
NM_copy(problem->M, problem->workspace->factorized_M);
}
if (!problem->workspace->globalVelocity)
{
problem->workspace->globalVelocity = (double*)malloc(problem->M->size1 * sizeof(double));
}
}
int main(void)
{
NumericsOptions NO;
setDefaultNumericsOptions(&NO);
NO.verboseMode = 1; // turn verbose mode to off by default
int total_info = 0;
double q[] = { -1, 1, 3, -1, 1, 3, -1, 1, 3};
double mu[] = {0.1, 0.1, 0.1};
double Wdata[81] = {1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1};
NumericsMatrix* tmpM = createNumericsMatrixFromData(NM_DENSE, 9, 9, Wdata);
NumericsMatrix* W = createNumericsMatrix(NM_SPARSE, 9, 9);
NM_copy_to_sparse(tmpM, W);
int solvers_to_test[] = {SICONOS_FRICTION_3D_NSGS,
SICONOS_FRICTION_3D_NSN_AC,
SICONOS_FRICTION_3D_NSN_FB,
SICONOS_FRICTION_3D_NSN_NM,
SICONOS_FRICTION_3D_SOCLCP,
SICONOS_FRICTION_3D_PROX};
for (size_t s = 0; s < sizeof(solvers_to_test); ++s)
{
int solver_id = solvers_to_test[s];
FrictionContactProblem* FC = frictionContactProblem_new(3, 3, W, q, mu);
double r[9] = {0.};
double u[9] = {0.};
SolverOptions SO;;
fc3d_setDefaultSolverOptions(&SO, solver_id);
int info = fc3d_driver(FC, r, u, &SO, &NO);
if (info)
{
fprintf(stderr, "Solver %s failed with error %d\n", idToName(solver_id), info);
total_info = 1;
}
FC->M = NULL;
FC->q = NULL;
FC->mu = NULL;
deleteSolverOptions(&SO);
freeFrictionContactProblem(FC);
free(FC);
}
freeNumericsMatrix(W);
tmpM->matrix0 = NULL;
freeNumericsMatrix(tmpM);
free(W);
free(tmpM);
return total_info;
}
void fc3d_nonsmooth_Newton_solvers_solve(fc3d_nonsmooth_Newton_solvers* equation,
double* reaction,
double* velocity,
int* info,
SolverOptions* options)
{
assert(equation);
FrictionContactProblem* problem = equation->problem;
assert(problem);
assert(reaction);
assert(velocity);
assert(info);
assert(options);
assert(problem->dimension == 3);
assert(options->iparam);
assert(options->dparam);
assert(problem->q);
assert(problem->mu);
assert(problem->M);
assert(problem->M->matrix0 || problem->M->matrix1 || problem->M->matrix2);
assert(!options->iparam[4]); // only host
unsigned int problemSize = 3 * problem->numberOfContacts;
unsigned int iter = 0;
unsigned int itermax = options->iparam[0];
unsigned int erritermax = options->iparam[7];
int nzmax;
if (problem->M->storageType == NM_DENSE)
{
nzmax = problemSize * problemSize;
}
else
{
nzmax = options->iparam[3];
}
assert(itermax > 0);
assert(nzmax > 0);
double tolerance = options->dparam[0];
assert(tolerance > 0);
if (verbose > 0)
printf("------------------------ FC3D - _nonsmooth_Newton_solversSolve - Start with tolerance = %g\n", tolerance);
unsigned int _3problemSize = 3 * problemSize;
double normq = cblas_dnrm2(problemSize , problem->q , 1);
void *buffer;
if (!options->dWork)
{
buffer = malloc((11 * problemSize) * sizeof(double)); // F(1),
// tmp1(1),
// tmp2(1),
// tmp3(1),
// A(3),
// B(3), rho
}
else
{
buffer = options->dWork;
}
double *F = (double *) buffer;
double *tmp1 = (double *) F + problemSize;
double *tmp2 = (double *) tmp1 + problemSize;
double *tmp3 = (double *) tmp2 + problemSize;
double *Ax = tmp3 + problemSize;
double *Bx = Ax + _3problemSize;
double *rho = Bx + _3problemSize;
NumericsMatrix *AWpB, *AWpB_backup;
if (!options->dWork)
{
AWpB = createNumericsMatrix(problem->M->storageType,
problem->M->size0, problem->M->size1);
AWpB_backup = createNumericsMatrix(problem->M->storageType,
problem->M->size0, problem->M->size1);
}
else
{
AWpB = (NumericsMatrix*) (rho + problemSize);
AWpB_backup = (NumericsMatrix*) (AWpB + sizeof(NumericsMatrix*));
}
/* just for allocations */
NM_copy(problem->M, AWpB);
if (problem->M->storageType != NM_DENSE)
{
switch(options->iparam[13])
{
case 0:
{
NM_linearSolverParams(AWpB)->solver = NS_CS_LUSOL;
break;
}
case 1:
{
NM_linearSolverParams(AWpB)->solver = NS_MUMPS;
#ifdef HAVE_MPI
assert (options->solverData);
if ((MPI_Comm) options->solverData == MPI_COMM_NULL)
{
options->solverData = NM_MPI_com(MPI_COMM_NULL);
}
else
{
NM_MPI_com((MPI_Comm) options->solverData);
}
#endif
break;
}
default:
{
numerics_error("fc3d_nonsmooth_Newton_solvers_solve", "Unknown linear solver.\n");
}
}
}
// compute rho here
for (unsigned int i = 0; i < problemSize; ++i) rho[i] = options->dparam[3];
// velocity <- M*reaction + qfree
cblas_dcopy(problemSize, problem->q, 1, velocity, 1);
NM_gemv(1., problem->M, reaction, 1., velocity);
double linear_solver_residual=0.0;
while (iter++ < itermax)
{
equation->function(equation->data,
problemSize,
reaction, velocity, equation->problem->mu,
rho,
F, Ax, Bx);
// AW + B
computeAWpB(Ax, problem->M, Bx, AWpB);
cblas_dcopy_msan(problemSize, F, 1, tmp1, 1);
cblas_dscal(problemSize, -1., tmp1, 1);
/* Solve: AWpB X = -F */
NM_copy(AWpB, AWpB_backup);
int lsi = NM_gesv(AWpB, tmp1);
/* NM_copy needed here */
NM_copy(AWpB_backup, AWpB);
if (lsi)
{
if (verbose > 0)
{
numerics_warning("fc3d_nonsmooth_Newton_solvers_solve",
"warning! linear solver exit with code = %d\n", lsi);
}
}
if (verbose > 0)
{
cblas_dcopy_msan(problemSize, F, 1, tmp3, 1);
NM_gemv(1., AWpB, tmp1, 1., tmp3);
linear_solver_residual = cblas_dnrm2(problemSize, tmp3, 1);
/* fprintf(stderr, "fc3d esolve: linear equation residual = %g\n", */
/* cblas_dnrm2(problemSize, tmp3, 1)); */
/* for the component wise scaled residual: cf mumps &
* http://www.netlib.org/lapack/lug/node81.html */
}
// line search
double alpha = 1;
int info_ls = 0;
cblas_dcopy_msan(problemSize, tmp1, 1, tmp3, 1);
switch (options->iparam[11])
{
case -1:
/* without line search */
info_ls = 1;
break;
case 0:
/* Goldstein Price */
info_ls = globalLineSearchGP(equation, reaction, velocity, problem->mu, rho, F, Ax, Bx, problem->M, problem->q, AWpB, tmp1, tmp2, &alpha, options->iparam[12]);
break;
case 1:
/* FBLSA */
info_ls = frictionContactFBLSA(equation, reaction, velocity, problem->mu, rho, F, Ax, Bx,
problem->M, problem->q, AWpB, tmp1, tmp2, &alpha, options->iparam[12]);
break;
default:
{
numerics_error("fc3d_nonsmooth_Newton_solvers_solve",
"Unknown line search option.\n");
}
}
if (!info_ls)
// tmp2 should contains the reaction iterate of the line search
// for GP this should be the same as cblas_daxpy(problemSize, alpha, tmp1, 1, reaction, 1);
cblas_dcopy(problemSize, tmp2, 1, reaction, 1);
else
cblas_daxpy(problemSize, 1., tmp3, 1., reaction, 1);
// velocity <- M*reaction + qfree
cblas_dcopy(problemSize, problem->q, 1, velocity, 1);
NM_gemv(1., problem->M, reaction, 1., velocity);
options->dparam[1] = INFINITY;
if (!(iter % erritermax))
{
fc3d_compute_error(problem, reaction, velocity,
// fc3d_FischerBurmeister_compute_error(problem, reaction, velocity,
tolerance, options, normq, &(options->dparam[1]));
DEBUG_EXPR_WE(equation->function(equation->data, problemSize,
reaction, velocity, equation->problem->mu, rho,
F, NULL, NULL));
DEBUG_EXPR_WE(assert((cblas_dnrm2(problemSize, F, 1)
/ (1 + cblas_dnrm2(problemSize, problem->q, 1)))
<= (10 * options->dparam[1] + 1e-15)));
}
if (verbose > 0)
{
equation->function(equation->data, problemSize,
reaction, velocity, equation->problem->mu, rho,
F, NULL, NULL);
printf(" ---- fc3d_nonsmooth_Newton_solvers_solve: iteration %d : , linear solver residual =%g, residual=%g, ||F||=%g\n", iter, linear_solver_residual, options->dparam[1],cblas_dnrm2(problemSize, F, 1));
}
if (options->callback)
{
options->callback->collectStatsIteration(options->callback->env, problemSize, reaction, velocity,
options->dparam[1], NULL);
}
if (isnan(options->dparam[1]))
{
if (verbose > 0)
{
printf(" fc3d_nonsmooth_Newton_solvers_solve: iteration %d : computed residual is not a number, stop.\n", iter);
}
info[0] = 2;
break;
}
if (options->dparam[1] < tolerance)
{
info[0] = 0;
break;
}
}
if (verbose > 0)
{
if (!info[0])
printf("------------------------ FC3D - NSN - convergence after %d iterations, residual : %g < %g \n", iter, options->dparam[1],tolerance);
else
{
printf("------------------------ FC3D - NSN - no convergence after %d iterations, residual : %g < %g \n", iter, options->dparam[1], tolerance);
}
}
options->iparam[SICONOS_IPARAM_ITER_DONE] = iter;
if (!options->dWork)
{
assert(buffer);
free(buffer);
options->dWork = NULL;
}
else
{
assert(buffer == options->dWork);
}
if (!options->dWork)
{
freeNumericsMatrix(AWpB);
freeNumericsMatrix(AWpB_backup);
free(AWpB);
free(AWpB_backup);
}
if (verbose > 0)
printf("------------------------ FC3D - NSN - End\n");
}
/* Alart & Curnier solver for sparse global problem */
void gfc3d_nonsmooth_Newton_AlartCurnier(
GlobalFrictionContactProblem* problem,
double *reaction,
double *velocity,
double *globalVelocity,
int *info,
SolverOptions* options)
{
assert(problem);
assert(reaction);
assert(velocity);
assert(info);
assert(options);
assert(problem->dimension == 3);
assert(options->iparam);
assert(options->dparam);
assert(problem->q);
assert(problem->mu);
assert(problem->M);
assert(problem->H);
assert(!problem->M->matrix0);
// assert(problem->M->matrix1);
assert(!options->iparam[4]); // only host
/* M is square */
assert(problem->M->size0 == problem->M->size1);
assert(problem->M->size0 == problem->H->size0);
unsigned int iter = 0;
unsigned int itermax = options->iparam[0];
unsigned int erritermax = options->iparam[7];
if (erritermax == 0)
{
/* output a warning here */
erritermax = 1;
}
assert(itermax > 0);
assert(options->iparam[3] > 0);
double tolerance = options->dparam[0];
assert(tolerance > 0);
if (verbose > 0)
printf("------------------------ GFC3D - _nonsmooth_Newton_AlartCurnier - Start with tolerance = %g\n", tolerance);
/* sparse triplet storage */
NM_triplet(problem->M);
NM_triplet(problem->H);
unsigned int ACProblemSize = sizeOfPsi(NM_triplet(problem->M),
NM_triplet(problem->H));
unsigned int globalProblemSize = (unsigned)NM_triplet(problem->M)->m;
unsigned int localProblemSize = problem->H->size1;
assert((int)localProblemSize == problem->numberOfContacts * problem->dimension);
assert((int)globalProblemSize == problem->H->size0); /* size(velocity) ==
* Htrans*globalVelocity */
AlartCurnierFun3x3Ptr computeACFun3x3 = NULL;
switch (options->iparam[10])
{
case 0:
{
computeACFun3x3 = &computeAlartCurnierSTD;
break;
}
case 1:
{
computeACFun3x3 = &computeAlartCurnierJeanMoreau;
break;
};
case 2:
{
computeACFun3x3 = &fc3d_AlartCurnierFunctionGenerated;
break;
}
case 3:
{
computeACFun3x3 = &fc3d_AlartCurnierJeanMoreauFunctionGenerated;
break;
}
}
if(options->iparam[9] == 0)
{
/* allocate memory */
assert(options->dWork == NULL);
assert(options->iWork == NULL);
options->dWork = (double *) malloc(
(localProblemSize + /* F */
3 * localProblemSize + /* A */
3 * localProblemSize + /* B */
localProblemSize + /* rho */
ACProblemSize + /* psi */
ACProblemSize + /* rhs */
ACProblemSize + /* tmp2 */
ACProblemSize + /* tmp3 */
ACProblemSize /* solution */) * sizeof(double));
/* XXX big hack here */
options->iWork = (int *) malloc(
(3 * localProblemSize + /* iA */
3 * localProblemSize + /* iB */
3 * localProblemSize + /* pA */
3 * localProblemSize) /* pB */
* sizeof(csi));
options->iparam[9] = 1;
}
assert(options->dWork != NULL);
assert(options->iWork != NULL);
double *F = options->dWork;
double *A = F + localProblemSize;
double *B = A + 3 * localProblemSize;
double *rho = B + 3 * localProblemSize;
double * psi = rho + localProblemSize;
double * rhs = psi + ACProblemSize;
double * tmp2 = rhs + ACProblemSize;
double * tmp3 = tmp2 + ACProblemSize;
double * solution = tmp3 + ACProblemSize;
/* XXX big hack --xhub*/
csi * iA = (csi *)options->iWork;
csi * iB = iA + 3 * localProblemSize;
csi * pA = iB + 3 * localProblemSize;
csi * pB = pA + 3 * localProblemSize;
CSparseMatrix A_;
CSparseMatrix B_;
CSparseMatrix *J;
A_.p = pA;
B_.p = pB;
A_.i = iA;
B_.i = iB;
init3x3DiagBlocks(problem->numberOfContacts, A, &A_);
init3x3DiagBlocks(problem->numberOfContacts, B, &B_);
J = cs_spalloc(NM_triplet(problem->M)->n + A_.m + B_.m,
NM_triplet(problem->M)->n + A_.m + B_.m,
NM_triplet(problem->M)->nzmax + 2*NM_triplet(problem->H)->nzmax +
2*A_.n + A_.nzmax + B_.nzmax, 1, 1);
assert(A_.n == problem->H->size1);
assert(A_.nz == problem->numberOfContacts * 9);
assert(B_.n == problem->H->size1);
assert(B_.nz == problem->numberOfContacts * 9);
fc3d_AlartCurnierFunction(
localProblemSize,
computeACFun3x3,
reaction, velocity,
problem->mu, rho,
F, A, B);
csi Astart = initACPsiJacobian(NM_triplet(problem->M),
NM_triplet(problem->H),
&A_, &B_, J);
assert(Astart > 0);
assert(A_.m == A_.n);
assert(B_.m == B_.n);
assert(A_.m == problem->H->size1);
// compute rho here
for(unsigned int i = 0; i < localProblemSize; ++i) rho[i] = 1.;
// direction
for(unsigned int i = 0; i < ACProblemSize; ++i) rhs[i] = 0.;
// quick hack to make things work
// need to use the functions from NumericsMatrix --xhub
NumericsMatrix *AA_work = createNumericsMatrix(NM_SPARSE, (int)J->m, (int)J->n);
NumericsSparseMatrix* SM = newNumericsSparseMatrix();
SM->triplet = J;
NumericsMatrix *AA = createNumericsMatrixFromData(NM_SPARSE, (int)J->m, (int)J->n, SM);
info[0] = 1;
/* update local velocity from global velocity */
/* an assertion ? */
cblas_dcopy(localProblemSize, problem->b, 1, velocity, 1);
NM_tgemv(1., problem->H, globalVelocity, 1, velocity);
double linear_solver_residual=0.0;
while(iter++ < itermax)
{
/* compute psi */
ACPsi(problem, computeACFun3x3, globalVelocity, reaction, velocity, rho, psi);
/* compute A & B */
fc3d_AlartCurnierFunction(localProblemSize,
computeACFun3x3,
reaction, velocity,
problem->mu, rho,
F, A, B);
/* update J */
updateACPsiJacobian(NM_triplet(problem->M),
NM_triplet(problem->H),
&A_, &B_, J, Astart);
/* rhs = -psi */
cblas_dcopy(ACProblemSize, psi, 1, rhs, 1);
cblas_dscal(ACProblemSize, -1., rhs, 1);
/* get compress column storage for linear ops */
CSparseMatrix* Jcsc = cs_compress(J);
/* Solve: J X = -psi */
/* Solve: AWpB X = -F */
NM_copy(AA, AA_work);
int info_solver = NM_gesv(AA_work, rhs);
if (info_solver > 0)
{
fprintf(stderr, "------------------------ GFC3D - NSN_AC - solver failed info = %d\n", info_solver);
break;
info[0] = 2;
CHECK_RETURN(!cs_check_triplet(NM_triplet(AA_work)));
}
/* Check the quality of the solution */
if (verbose > 0)
{
cblas_dcopy_msan(ACProblemSize, psi, 1, tmp3, 1);
NM_gemv(1., AA, rhs, 1., tmp3);
linear_solver_residual = cblas_dnrm2(ACProblemSize, tmp3, 1);
/* fprintf(stderr, "fc3d esolve: linear equation residual = %g\n", */
/* cblas_dnrm2(problemSize, tmp3, 1)); */
/* for the component wise scaled residual: cf mumps &
* http://www.netlib.org/lapack/lug/node81.html */
}
/* line search */
double alpha = 1;
/* set current solution */
for(unsigned int i = 0; i < globalProblemSize; ++i)
{
solution[i] = globalVelocity[i];
}
for(unsigned int i = 0; i < localProblemSize; ++i)
{
solution[i+globalProblemSize] = velocity[i];
solution[i+globalProblemSize+localProblemSize] = reaction[i];
}
DEBUG_EXPR_WE(
for(unsigned int i = 0; i < globalProblemSize; ++i)
{
printf("globalVelocity[%i] = %6.4e\n",i,globalVelocity[i]);
}
for(unsigned int i = 0; i < localProblemSize; ++i)
{
printf("velocity[%i] = %6.4e\t",i,velocity[i]);
printf("reaction[%i] = %6.4e\n",i,reaction[i]);
}
);
int info_ls = _globalLineSearchSparseGP(problem,
computeACFun3x3,
solution,
rhs,
globalVelocity,
reaction, velocity,
problem->mu, rho, F, psi, Jcsc,
tmp2, &alpha, 100);
cs_spfree(Jcsc);
if(!info_ls)
{
cblas_daxpy(ACProblemSize, alpha, rhs, 1, solution, 1);
}
else
{
cblas_daxpy(ACProblemSize, 1, rhs, 1., solution, 1);
}
for(unsigned int e = 0 ; e < globalProblemSize; ++e)
{
globalVelocity[e] = solution[e];
}
for(unsigned int e = 0 ; e < localProblemSize; ++e)
{
velocity[e] = solution[e+globalProblemSize];
}
for(unsigned int e = 0; e < localProblemSize; ++e)
{
reaction[e] = solution[e+globalProblemSize+localProblemSize];
}
options->dparam[1] = INFINITY;
if(!(iter % erritermax))
{
gfc3d_compute_error(problem,
reaction, velocity, globalVelocity,
tolerance,
&(options->dparam[1]));
}
if(verbose > 0)
printf("------------------------ GFC3D - NSN_AC - iteration %d, residual = %g, linear solver residual = %g, tolerance = %g \n", iter, options->dparam[1],linear_solver_residual, tolerance);
if(options->dparam[1] < tolerance)
{
info[0] = 0;
break;
}
}
