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;
}
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;
}