void freeGlobalFrictionContactProblem(GlobalFrictionContactProblem* problem)
{

  if (problem->M)
  {
    freeNumericsMatrix(problem->M);
    free(problem->M);
    problem->M = NULL;
  }

  if (problem->H)
  {
    freeNumericsMatrix(problem->H);
    free(problem->H);
    problem->H = NULL;
  }

  if (problem->mu)
  {
    free(problem->mu);
    problem->mu = NULL;
  }

  if (problem->q)
  {
    free(problem->q);
    problem->q = NULL;
  }

  if (problem->b)
  {
    free(problem->b);
    problem->b = NULL;
  }

  if (problem->env) assert(0 && "freeGlobalFrictionContactProblem :: problem->env != NULL, don't know what to do");

  gfc3d_free_workspace(problem);

  free(problem);

}
int main(int argc, char* argv[])
{


  // Problem Definition
  int info = -1;



  int NC = 1;//Number of contacts
  int Ndof = 9;//Number of DOF
  // Problem Definition
  double M11[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // Warning Fortran Storage
  double M22[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // Warning Fortran Storage
  double M33[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // Warning Fortran Storage
  /*     double M[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}; */


  double H00[9] =  {1, 0, 0, 0, 1, 0, 0, 0, 1};
  double H20[9] =  { -1, 0, 0, 0, -1, 0, 0, 0, -1};

  /*     double H[27] = {1, 0, 0, 0, 0, 0, -1, 0, 0, */
  /*        0, 1, 0, 0, 0, 0, 0, -1, 0, */
  /*        0, 0, 1, 0, 0, 0, 0, 0, -1}; */


  double q[9] = { -3, -3, -3, -1, 1, 3, -1, 1, 3};
  double b[3] = {0, 0, 0};
  double mu[1] = {0.1};

  /*    DSCAL(9,-1.0,q,1); */




  /*     int NC = 3;//Number of contacts  */
  /*     int Ndof = 9;//Number of DOF  */
  /*     double M[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}; */
  /*     double H[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}; */


  /*     double q[9] = {-1, 1, 3, -1, 1, 3, -1, 1, 3}; */
  /*     double b[9] = {0, 0, 0,0, 0, 0,0, 0, 0 }; */
  /*     double mu[3] = {0.1,0.1,0.1};    */


  int k;
  int m = 3 * NC;
  int n = Ndof;

  GlobalFrictionContactProblem numericsProblem;
  globalFrictionContact_null(&numericsProblem);
  numericsProblem.numberOfContacts = NC;
  numericsProblem.dimension = 3;
  numericsProblem.mu = mu;
  numericsProblem.q = q;
  numericsProblem.b = b;

  numericsProblem.M = newNumericsMatrix();
  NumericsMatrix *MM =  numericsProblem.M;
  MM->storageType = NM_SPARSE_BLOCK;
  MM->size0 = Ndof;
  MM->size1 = Ndof;


  MM->matrix1 = newSBM();
  SparseBlockStructuredMatrix *MBlockMatrix = MM->matrix1;
  MBlockMatrix->nbblocks = 3;
  double * block[3] = {M11, M22, M33};
  MBlockMatrix->block = block;
  MBlockMatrix->blocknumber0 = 3;
  MBlockMatrix->blocknumber1 = 3;
  unsigned int blocksize[3] = {3, 6, 9} ;
  MBlockMatrix->blocksize0 = blocksize;
  MBlockMatrix->blocksize1 = blocksize;
  MBlockMatrix->filled1 = 4;
  MBlockMatrix->filled2 = 3;
  size_t index1_data[4] = {0, 1, 2, 3} ;
  size_t index2_data[3] = {0, 1, 2} ;
  MBlockMatrix->index1_data =  index1_data;
  MBlockMatrix->index2_data =  index2_data;


  numericsProblem.H = newNumericsMatrix();
  NumericsMatrix *HH =  numericsProblem.H;
  HH->storageType = 1;
  HH->size0 = Ndof;
  HH->size1 = 3 * NC;

  HH->matrix1 = (SparseBlockStructuredMatrix*)malloc(sizeof(SparseBlockStructuredMatrix));
  SparseBlockStructuredMatrix *HBlockMatrix = HH->matrix1;
  HBlockMatrix->nbblocks = 2;
  double * hblock[3] = {H00, H20};
  HBlockMatrix->block = hblock;
  HBlockMatrix->blocknumber0 = 3;
  HBlockMatrix->blocknumber1 = 1;
  unsigned int blocksize0[3] = {3, 6, 9} ;
  unsigned int blocksize1[1] = {3} ;
  HBlockMatrix->blocksize0 = blocksize0;
  HBlockMatrix->blocksize1 = blocksize1;
  HBlockMatrix->filled1 = 4;
  HBlockMatrix->filled2 = 2;
  size_t hindex1_data[4] = {0, 1, 1, 2} ;
  size_t hindex2_data[3] = {0, 0} ;
  HBlockMatrix->index1_data =  hindex1_data;
  HBlockMatrix->index2_data =  hindex2_data;

  FILE * foutput = fopen("Example_GlobalFrictionContact_SBM.dat", "w");
  globalFrictionContact_printInFile(&numericsProblem,  foutput);
  fclose(foutput);


  // Unknown Declaration

  double *reaction = (double*)calloc(m, sizeof(double));
  double *velocity = (double*)calloc(m, sizeof(double));
  double *globalVelocity = (double*)calloc(n, sizeof(double));
  // Solver Options
  SolverOptions * numerics_solver_options = (SolverOptions *)malloc(sizeof(SolverOptions));
  //    char solvername[10]= "NSGS";

  /*\warning Must be adpated  for future globalFrictionContact3D_setDefaultSolverOptions*/
  gfc3d_setDefaultSolverOptions(numerics_solver_options, SICONOS_GLOBAL_FRICTION_3D_NSGS);
  numerics_solver_options->dparam[0] = 1e-14;
  numerics_solver_options->iparam[0] = 100000;

  //Driver call
  info = gfc3d_driver(&numericsProblem,
		      reaction , velocity, globalVelocity,
		      numerics_solver_options);
  solver_options_delete(numerics_solver_options);

  free(numerics_solver_options);
  // Solver output
  printf("\n");
  for (k = 0 ; k < m; k++) printf("velocity[%i] = %12.8e \t \t reaction[%i] = %12.8e \n ", k, velocity[k], k , reaction[k]);
  for (k = 0 ; k < n; k++) printf("globalVelocity[%i] = %12.8e \t \n ", k, globalVelocity[k]);
  printf("\n");


  free(reaction);
  free(velocity);
  free(globalVelocity);

  //     freeSBM(MM->matrix1);
  //     freeSBM(HH->matrix1);
  free(MM->matrix1);
  MM->matrix1 = NULL;
  free(HH->matrix1);
  HH->matrix1 = NULL;
  freeNumericsMatrix(MM);
  freeNumericsMatrix(HH);
  free(MM);
  free(HH);
  gfc3d_free_workspace(&numericsProblem);


  /*     while (1) sleep(60); */


  return info;


}
Esempio n. 3
0
int main(int argc, char* argv[])
{


  // Problem Definition
  int info = -1;



  int NC = 1;//Number of contacts
  int m = 3;
  int n = 9;
  double M[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
                 };

  double H[27] = {1, 0, 0, 0, 0, 0, -1, 0, 0,
                  0, 1, 0, 0, 0, 0, 0, -1, 0,
                  0, 0, 1, 0, 0, 0, 0, 0, -1
                 };

  double q[9] = { -3, -3, -3, -1, 1, 3, -1, 1, 3};
  double b[3] = {0, 0, 0};
  double mu[1] = {0.1};

  /*     int NC = 3;//Number of contacts  */
  /*     int Ndof = 9;//Number of DOF  */
  /*     double M[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}; */
  /*     double H[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}; */


  /*     double q[9] = {-1, 1, 3, -1, 1, 3, -1, 1, 3}; */
  /*     double b[9] = {0, 0, 0,0, 0, 0,0, 0, 0 }; */
  /*     double mu[3] = {0.1,0.1,0.1};    */


  int i = 0, k = 0;

  GlobalFrictionContactProblem numericsProblem;
  globalFrictionContact_null(&numericsProblem);
  numericsProblem.numberOfContacts = NC;
  numericsProblem.dimension = 3;
  numericsProblem.mu = mu;
  numericsProblem.q = q;
  numericsProblem.b = b;


  numericsProblem.M = newNumericsMatrix();
  NumericsMatrix *MM = numericsProblem.M ;
  MM->storageType = NM_DENSE;
  MM->matrix0 = M;
  MM->size0 = n;
  MM->size1 = n;


  numericsProblem.H  = newNumericsMatrix();
  NumericsMatrix *HH = numericsProblem.H;
  HH->storageType = NM_DENSE;
  HH->matrix0 = H;
  HH->size0 = n;
  HH->size1 = m;


  /*     FILE * foutput = fopen("Example_GlobalFrictionContact.dat", "w"); */
  /*     globalFrictionContact_printInFile(&numericsProblem,  foutput ); */
  /*     fclose(foutput); */



  // Unknown Declaration

  double *reaction = (double*)calloc(m, sizeof(double));
  double *velocity = (double*)calloc(m, sizeof(double));
  double *globalVelocity = (double*)calloc(n, sizeof(double));

  // Numerics and Solver Options

  NumericsOptions numerics_options;
  numerics_options.verboseMode = 1; // turn verbose mode to off by default


  SolverOptions * numerics_solver_options = (SolverOptions *)malloc(sizeof(SolverOptions)) ;
  //char solvername[10]= "NSGS";
  /*\warning Must be adpated  for future globalFrictionContact3D_setDefaultSolverOptions*/
  gfc3d_setDefaultSolverOptions(numerics_solver_options, SICONOS_GLOBAL_FRICTION_3D_NSGS);
  numerics_solver_options->dparam[0] = 1e-14;
  numerics_solver_options->iparam[0] = 100000;
  //Driver call
  i = 0;
  info = gfc3d_driver(&numericsProblem,
                                        reaction , velocity, globalVelocity,
                                        numerics_solver_options, &numerics_options);

  deleteSolverOptions(numerics_solver_options);
  // Solver output
  printf("\n");
  for (k = 0 ; k < m; k++) printf("velocity[%i] = %12.8e \t \t reaction[%i] = %12.8e \n ", k, velocity[k], k , reaction[k]);
  for (k = 0 ; k < n; k++) printf("globalVelocity[%i] = %12.8e \t \n ", k, globalVelocity[k]);
  printf("\n");

  free(numerics_solver_options);
  free(reaction);
  free(velocity);
  free(globalVelocity);
  free(numericsProblem.M);
  free(numericsProblem.H);
  gfc3d_free_workspace(&numericsProblem);
  return info;


}