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;
}
static int globalFrictionContact3D_AVI_gams_base(GlobalFrictionContactProblem* problem, double *reaction, double *velocity, SolverOptions* options, const char* solverName)
{
assert(problem);
assert(problem->numberOfContacts > 0);
assert(problem->M);
assert(problem->q);
/* Handles to the GAMSX, GDX, and Option objects */
gamsxHandle_t Gptr = NULL;
idxHandle_t Xptr = NULL;
optHandle_t Optr = NULL;
optHandle_t solverOptPtr = NULL;
int status;
char sysdir[GMS_SSSIZE], model[GMS_SSSIZE], msg[GMS_SSSIZE];
const char defModel[] = SPACE_CONC(GAMS_MODELS_SHARE_DIR, "/fc_vi.gms");
const char defGAMSdir[] = GAMS_DIR;
int size = problem->dimension*problem->numberOfContacts;
NumericsMatrix Htmat;
fillNumericsMatrix(&Htmat, NM_SPARSE, problem->H->size0, problem->H->size1, NULL);
SN_Gams_set_dirs(options->solverParameters, defModel, defGAMSdir, model, sysdir, "/fc_vi.gms");
/* Create objects */
if (! gamsxCreateD (&Gptr, sysdir, msg, sizeof(msg))) {
printf("Could not create gamsx object: %s\n", msg);
return 1;
}
if (! idxCreateD (&Xptr, sysdir, msg, sizeof(msg))) {
printf("Could not create gdx object: %s\n", msg);
return 1;
}
if (! optCreateD (&Optr, sysdir, msg, sizeof(msg))) {
printf("Could not create opt object: %s\n", msg);
return 1;
}
if (! optCreateD (&solverOptPtr, sysdir, msg, sizeof(msg))) {
printf("Could not create opt object: %s\n", msg);
return 1;
}
getGamsSolverOpt(solverOptPtr, sysdir, solverName);
optSetDblStr(solverOptPtr, "convergence_tolerance", options->dparam[0]);
// strncpy(msg, "./", sizeof(deffile));
strncpy(msg, solverName, sizeof(msg));
strncat(msg, ".opt", sizeof(msg));
optWriteParameterFile(solverOptPtr, msg);
FILE* f = fopen("jams.opt", "w");
if (f)
{
char contents[] = "subsolveropt 1";
fprintf(f, contents);
fclose(f);
}
else
{
printf("Failed to create jams.opt!\n");
}
getGamsOpt(Optr, sysdir);
if (strcmp(solverName, "path"))
{
optSetStrStr(Optr, "emp", solverName);
}
idxOpenWrite(Xptr, "fc3d_avi.gdx", "Siconos/Numerics NM_to_GDX", &status);
if (status)
idxerrorR(status, "idxOpenWrite");
DEBUG_PRINT("GFC3D_AVI_GAMS :: fc3d_avi.gdx opened");
if ((status=NM_to_GDX(Xptr, "M", "M matrix", problem->M))) {
printf("Model data not written\n");
goto TERMINATE;
}
DEBUG_PRINT("FC3D_AVI_GAMS :: M matrix written");
if ((status=NM_to_GDX(Xptr, "H", "H matrix", problem->H))) {
printf("Model data not written\n");
goto TERMINATE;
}
DEBUG_PRINT("FC3D_AVI_GAMS :: H matrix written");
NM_copy_to_sparse(problem->H, &Htmat);
cs_fkeep(NM_csc(&Htmat), &SN_rm_normal_part, NULL);
cblas_dcopy(size, problem->b, 1, reaction, 1);
for (unsigned i = 0; i < size; i += 3)
{
reaction[i] = 0.;
}
if ((status=NM_to_GDX(Xptr, "Ht", "Ht matrix", &Htmat))) {
printf("Model data not written\n");
goto TERMINATE;
}
if ((status=NV_to_GDX(Xptr, "q", "q vector", problem->q, size))) {
printf("Model data not written\n");
goto TERMINATE;
}
if ((status=NV_to_GDX(Xptr, "b", "b vector", problem->b, size))) {
printf("Model data not written\n");
goto TERMINATE;
}
if ((status=NV_to_GDX(Xptr, "bt", "bt vector", reaction, size))) {
printf("Model data not written\n");
goto TERMINATE;
}
if (idxClose(Xptr))
idxerrorR(idxGetLastError(Xptr), "idxClose");
if ((status=CallGams(Gptr, Optr, sysdir, model))) {
printf("Call to GAMS failed\n");
goto TERMINATE;
}
/************************************************
* Read back solution
************************************************/
idxOpenRead(Xptr, "fc3d_avi_sol.gdx", &status);
if (status)
idxerrorR(status, "idxOpenRead");
if ((status=GDX_to_NV(Xptr, "reaction", reaction, size))) {
printf("Model data not read\n");
goto TERMINATE;
}
if ((status=GDX_to_NV(Xptr, "velocities", reaction, size))) {
printf("Model data not read\n");
goto TERMINATE;
}
if (idxClose(Xptr))
idxerrorR(idxGetLastError(Xptr), "idxClose");
TERMINATE:
optFree(&Optr);
optFree(&solverOptPtr);
idxFree(&Xptr);
gamsxFree(&Gptr);
freeNumericsMatrix(&Htmat);
return status;
}