bool SparseOptimizerIncremental::initSolver(int dimension, int batchEveryN)
{
//cerr << __PRETTY_FUNCTION__ << endl;
slamDimension = dimension;
if (dimension == 3) {
setAlgorithm(createSolver("fix3_2_cholmod"));
OptimizationAlgorithmGaussNewton* gaussNewton = dynamic_cast<OptimizationAlgorithmGaussNewton*>(solver());
assert(gaussNewton);
BlockSolver<BlockSolverTraits<3, 2> >* bs = dynamic_cast<BlockSolver<BlockSolverTraits<3, 2> >*>(gaussNewton->solver());
assert(bs && "Unable to get internal block solver");
LinearSolverCholmodOnline<Matrix3d>* s = dynamic_cast<LinearSolverCholmodOnline<Matrix3d>*>(bs->linearSolver());
bs->setAdditionalVectorSpace(300);
bs->setSchur(false);
_solverInterface = s;
_underlyingSolver = bs;
} else {
setAlgorithm(createSolver("fix6_3_cholmod"));
OptimizationAlgorithmGaussNewton* gaussNewton = dynamic_cast<OptimizationAlgorithmGaussNewton*>(solver());
assert(gaussNewton);
BlockSolver<BlockSolverTraits<6, 3> >* bs = dynamic_cast<BlockSolver<BlockSolverTraits<6, 3> >*>(gaussNewton->solver());
assert(bs && "Unable to get internal block solver");
LinearSolverCholmodOnline<Matrix<double, 6, 6> >* s = dynamic_cast<LinearSolverCholmodOnline<Matrix<double, 6, 6> >*>(bs->linearSolver());
bs->setAdditionalVectorSpace(600);
bs->setSchur(false);
_solverInterface = s;
_underlyingSolver = bs;
}
_solverInterface->cmember = &_cmember;
_solverInterface->batchEveryN = batchEveryN;
if (! solver()) {
cerr << "Error allocating solver. Allocating CHOLMOD solver failed!" << endl;
return false;
}
return true;
}
void sLinsysRoot::sync()
{
//delete children
deleteChildren();
//assert(false);
//delete local stuff
if( nxupp + nxlow > 0 ) {
delete dd;
delete dq;
}
delete nomegaInv;
delete rhs;
if (solver) delete solver;
if (kkt) delete kkt;
//allocate
// if( nxupp + nxlow > 0 ) {
//dd = OoqpVectorHandle(stochNode->newPrimalVector());
//dq = OoqpVectorHandle(stochNode->newPrimalVector());
dd = stochNode->newPrimalVector();
dq = stochNode->newPrimalVector();
data->getDiagonalOfQ( *dq );
// }
nomegaInv = stochNode->newDualZVector();
rhs = stochNode->newRhs();
data->getLocalSizes(locnx, locmy, locmz);
createChildren(data);
kkt = createKKT(data);
solver = createSolver(data, kkt);
}
sLinsysRootAggregation::sLinsysRootAggregation(sFactory* factory_,
sData* prob_,
OoqpVector* dd_,
OoqpVector* dq_,
OoqpVector* nomegaInv_,
OoqpVector* rhs_, OoqpVector* additiveDiag)
: sLinsysRoot(factory_, prob_, dd_, dq_, nomegaInv_, rhs_,additiveDiag)
{
n_col = preCond->n_col;
n_row = preCond->n_row;
JNnz = preCond->jac_nnz;
QNnz = preCond->hes_nnz;
redDim = n_col + n_row;
redNnz = JNnz + QNnz + n_col + n_row; // nnz for jac, hes and diag part
redRhs = new SimpleVector(redDim);
kkt = createKKT(prob_);
solver = createSolver(prob_, kkt);
temp_ncol = new SimpleVector(n_col);
temp_nrow = new SimpleVector(n_row);
// this is Schur Complement matrix, set it to dummy matrix
CtDC = new DenseSymMatrix(0);
}
shared_ptr<ISolver> Configuration::createSelectedSolver(IMixedSystem* system)
{
string solver_name = _global_settings->getSelectedSolver();
_solver_settings =_settings_factory->createSelectedSolverSettings();
_simcontroller_settings = shared_ptr<ISimControllerSettings>(new ISimControllerSettings(_global_settings.get()) );
_solver = createSolver(system, solver_name, _solver_settings);
return _solver;
}
sLinsysRootAug::sLinsysRootAug(sFactory * factory_, sData * prob_)
: sLinsysRoot(factory_, prob_), CtDC(NULL)
{
prob_->getLocalSizes(locnx, locmy, locmz);
kkt = createKKT(prob_);
solver = createSolver(prob_, kkt);
redRhs = new SimpleVector(locnx+locmy+locmz);
};
QpGenStochLinsysRootAugRedPrecond::
QpGenStochLinsysRootAugRedPrecond(QpGenStoch* factory_,
QpGenStochData* prob,
OoqpVector* dd_,
OoqpVector* dq_,
OoqpVector* nomegaInv_,
OoqpVector* rhs_)
: QpGenStochLinsysRootAugRed(),
Pmult(NULL), Amult(NULL), tmpVec1(NULL)
{
//QpGenStochLinsy
factory = factory_;
nx = prob->nx;
my = prob->my;
mz = prob->mz;
ixlow = prob->ixlow;
ixupp = prob->ixupp;
iclow = prob->iclow;
icupp = prob->icupp;
nxlow = prob->nxlow;
nxupp = prob->nxupp;
mclow = prob->mclow;
mcupp = prob->mcupp;
if( nxupp + nxlow > 0 ) {
//dd = OoqpVectorHandle(dd_);
dd= dd_;
//dq = OoqpVectorHandle(dq_);
dq = dq_;
}
//nomegaInv = OoqpVectorHandle(nomegaInv_);
//rhs = OoqpVectorHandle(rhs_);
nomegaInv = nomegaInv_;
rhs = rhs_;
useRefs=1;
data = prob;
stochNode = prob->stochNode;
//QpGenStochLinsysRoot
iAmDistrib = 0;
//QpGenStochLinsyRootAug
prob->getLocalSizes(locnx, locmy, locmz);
UtV = NULL;
//QpGenStochLinsyRootAug
CtDC=NULL;
redRhs = new SimpleVector(locnx+locmy+locmz);
kkt = createKKT(prob);
solver = createSolver(prob, kkt);
//intializations related to this class
me = whoAmI();
createChildren(prob);
};
QpGenStochLinsysRootAugRedPrecond::
QpGenStochLinsysRootAugRedPrecond(QpGenStoch * factory_,
QpGenStochData * prob)
: QpGenStochLinsysRootAugRed(),
Pmult(NULL), Amult(NULL), tmpVec1(NULL)
{
factory = factory_;
kkt = NULL;
solver = NULL;
nx = prob->nx;
my = prob->my;
mz = prob->mz;
ixlow = prob->ixlow;
ixupp = prob->ixupp;
iclow = prob->iclow;
icupp = prob->icupp;
nxlow = prob->nxlow;
nxupp = prob->nxupp;
mclow = prob->mclow;
mcupp = prob->mcupp;
if( nxupp + nxlow > 0 ) {
dd = factory_->tree->newPrimalVector();
dq = factory_->tree->newPrimalVector();
prob->getDiagonalOfQ( *dq );
}
nomegaInv = factory_->tree->newDualZVector();
rhs = factory_->tree->newRhs();
useRefs=0;
data = prob;
stochNode = prob->stochNode;
//QpGenStochLinsysRoot
iAmDistrib = 0;
//QpGenStochLinsyRootAug
prob->getLocalSizes(locnx, locmy, locmz);
UtV = NULL;
//QpGenStochLinsyRootAug
CtDC=NULL;
kkt = createKKT(prob);
solver = createSolver(prob, kkt);
//QpGenStochLinsyRootAugRed
redRhs = new SimpleVector(locnx+locmy+locmz);
//intializations related to this class
me = whoAmI();
createChildren(prob);
};
sLinsysRootAggregation::sLinsysRootAggregation(sFactory * factory_, sData * prob_)
: sLinsysRoot(factory_, prob_)
{
prob_->getLocalSizes(locnx, locmy, locmz);
assert(locmz==0);
n_col = preCond->n_col;
n_row = preCond->n_row;
JNnz = preCond->jac_nnz;
QNnz = preCond->hes_nnz;
redDim = n_col + n_row;
redNnz = JNnz + QNnz + n_col + n_row; // nnz for jac, hes and diag part
// vectors for the reduced system
redRhs = new SimpleVector(redDim);
temp_ncol = new SimpleVector(n_col);
temp_nrow = new SimpleVector(n_row);
temp_ixlow = new SimpleVector(n_col);
temp_ixupp = new SimpleVector(n_col);
temp_x = new SimpleVector(n_col);
temp_y = new SimpleVector(n_row);
temp_gamma = new SimpleVector(n_col);
temp_phi = new SimpleVector(n_col);
temp_v = new SimpleVector(n_col);
temp_w = new SimpleVector(n_col);
rQ = new SimpleVector(n_col);
rA = new SimpleVector(n_row);
rv = new SimpleVector(n_col);
rw = new SimpleVector(n_col);
rgamma = new SimpleVector(n_col);
rphi = new SimpleVector(n_col);
temp_rhs_x = new SimpleVector(n_col);
temp_rhs_y = new SimpleVector(n_row);
temp_xl = new SimpleVector(n_col);
temp_xu = new SimpleVector(n_col);
kkt = createKKT(prob_);
solver = createSolver(prob_, kkt);
// this is Schur Complement matrix, set it to dummy matrix
CtDC = new DenseSymMatrix(0);
setIX = false;
}
bool SparseOptimizerIncremental::initSolver(int dimension, int batchEveryN)
{
//cerr << __PRETTY_FUNCTION__ << endl;
slamDimension = dimension;
if (dimension == 3) {
setSolver(createSolver(this, "fix3_2_cholmod"));
BlockSolver<BlockSolverTraits<3, 2> >* bs = dynamic_cast<BlockSolver<BlockSolverTraits<3, 2> >*>(solver());
LinearSolverCholmodOnline<Matrix3d>* s = dynamic_cast<LinearSolverCholmodOnline<Matrix3d>*>(bs->linearSolver());
_solverInterface = s;
} else {
setSolver(createSolver(this, "fix6_3_cholmod"));
BlockSolver<BlockSolverTraits<6, 3> >* bs = dynamic_cast<BlockSolver<BlockSolverTraits<6, 3> >*>(solver());
LinearSolverCholmodOnline<Matrix<double, 6, 6> >* s = dynamic_cast<LinearSolverCholmodOnline<Matrix<double, 6, 6> >*>(bs->linearSolver());
_solverInterface = s;
}
_solverInterface->cmember = &_cmember;
_solverInterface->batchEveryN = batchEveryN;
solver()->setSchur(false);
if (! solver()) {
cerr << "Error allocating solver. Allocating CHOLMOD solver failed!" << endl;
return false;
}
return true;
}
sLinsysRootAug::sLinsysRootAug(sFactory* factory_,
sData* prob_,
OoqpVector* dd_,
OoqpVector* dq_,
OoqpVector* nomegaInv_,
OoqpVector* rhs_,
OoqpVector* additiveDiag_)
: sLinsysRoot(factory_, prob_, dd_, dq_, nomegaInv_, rhs_, additiveDiag_), CtDC(NULL)
{
prob_->getLocalSizes(locnx, locmy, locmz);
kkt = createKKT(prob_);
solver = createSolver(prob_, kkt);
redRhs = new SimpleVector(locnx+locmy+locmz);
};
int SimulationObject::initializeLbmSimulation(ntlRenderGlobals *glob)
{
if(! isSimworldOk() ) return 1;
// already inited?
if(mpLbm) return 0;
mpGlob = glob;
if(!getVisible()) {
mpAttrs->setAllUsed();
return 0;
}
mGeoInitId = mpAttrs->readInt("geoinitid", mGeoInitId,"LbmSolverInterface", "mGeoInitId", false);
//mDimension, mSolverType are deprecated
string mSolverType("");
mSolverType = mpAttrs->readString("solver", mSolverType, "SimulationObject","mSolverType", false );
mpLbm = createSolver();
/* check lbm pointer */
if(mpLbm == NULL) {
errFatal("SimulationObject::initializeLbmSimulation","Unable to init LBM solver! ", SIMWORLD_INITERROR);
return 2;
}
debMsgStd("SimulationObject::initialized",DM_MSG,"IdStr:"<<mpLbm->getIdString() <<" LBM solver! ", 2);
mpParts = new ParticleTracer();
// for non-param simulations
mpLbm->setParametrizer( mpParam );
mpParam->setAttrList( getAttributeList() );
// not needed.. done in solver_init: mpParam->setSize ... in solver_interface
mpParam->parseAttrList();
mpLbm->setAttrList( getAttributeList() );
mpLbm->setSwsAttrList( getSwsAttributeList() );
mpLbm->parseAttrList();
mpParts->parseAttrList( getAttributeList() );
if(! isSimworldOk() ) return 3;
mpParts->setName( getName() + "_part" );
mpParts->initialize( glob );
if(! isSimworldOk() ) return 4;
// init material settings
string matMc("default");
matMc = mpAttrs->readString("material_surf", matMc, "SimulationObject","matMc", false );
mShowSurface = mpAttrs->readInt("showsurface", mShowSurface, "SimulationObject","mShowSurface", false );
mShowParticles = mpAttrs->readInt("showparticles", mShowParticles, "SimulationObject","mShowParticles", false );
checkBoundingBox( mGeoStart, mGeoEnd, "SimulationObject::initializeSimulation" );
mpLbm->setLbmInitId( mGeoInitId );
mpLbm->setGeoStart( mGeoStart );
mpLbm->setGeoEnd( mGeoEnd );
mpLbm->setRenderGlobals( mpGlob );
mpLbm->setName( getName() + "_lbm" );
mpLbm->setParticleTracer( mpParts );
if(mpElbeemSettings) {
// set further settings from API struct init
if(mpElbeemSettings->outputPath) this->mOutFilename = string(mpElbeemSettings->outputPath);
mpLbm->initDomainTrafo( mpElbeemSettings->surfaceTrafo );
mpLbm->setSmoothing(1.0 * mpElbeemSettings->surfaceSmoothing, 1.0 * mpElbeemSettings->surfaceSmoothing);
mpLbm->setIsoSubdivs(mpElbeemSettings->surfaceSubdivs);
mpLbm->setSizeX(mpElbeemSettings->resolutionxyz);
mpLbm->setSizeY(mpElbeemSettings->resolutionxyz);
mpLbm->setSizeZ(mpElbeemSettings->resolutionxyz);
mpLbm->setPreviewSize(mpElbeemSettings->previewresxyz);
mpLbm->setRefinementDesired(mpElbeemSettings->maxRefine);
mpLbm->setGenerateParticles(mpElbeemSettings->generateParticles);
// set initial particles
mpParts->setNumInitialParticles(mpElbeemSettings->numTracerParticles);
// surface generation flag
mpLbm->setSurfGenSettings(mpElbeemSettings->mFsSurfGenSetting);
string dinitType = string("no");
if (mpElbeemSettings->domainobsType==FLUIDSIM_OBSTACLE_PARTSLIP) dinitType = string("part");
else if(mpElbeemSettings->domainobsType==FLUIDSIM_OBSTACLE_FREESLIP) dinitType = string("free");
else /*if(mpElbeemSettings->domainobsType==FLUIDSIM_OBSTACLE_NOSLIP)*/ dinitType = string("no");
mpLbm->setDomainBound(dinitType);
mpLbm->setDomainPartSlip(mpElbeemSettings->domainobsPartslip);
mpLbm->setDumpVelocities(mpElbeemSettings->generateVertexVectors);
mpLbm->setFarFieldSize(mpElbeemSettings->farFieldSize);
debMsgStd("SimulationObject::initialize",DM_MSG,"Added domain bound: "<<dinitType<<" ps="<<mpElbeemSettings->domainobsPartslip<<" vv"<<mpElbeemSettings->generateVertexVectors<<","<<mpLbm->getDumpVelocities(), 9 );
debMsgStd("SimulationObject::initialize",DM_MSG,"Set ElbeemSettings values "<<mpLbm->getGenerateParticles(),10);
}
if(! mpLbm->initializeSolverMemory() ) { errMsg("SimulationObject::initialize","initializeSolverMemory failed"); mPanic=true; return 10; }
if(checkCallerStatus(FLUIDSIM_CBSTATUS_STEP, 0)) { errMsg("SimulationObject::initialize","initializeSolverMemory status"); mPanic=true; return 11; }
if(! mpLbm->initializeSolverGrids() ) { errMsg("SimulationObject::initialize","initializeSolverGrids failed"); mPanic=true; return 12; }
if(checkCallerStatus(FLUIDSIM_CBSTATUS_STEP, 0)) { errMsg("SimulationObject::initialize","initializeSolverGrids status"); mPanic=true; return 13; }
if(! mpLbm->initializeSolverPostinit() ) { errMsg("SimulationObject::initialize","initializeSolverPostin failed"); mPanic=true; return 14; }
if(checkCallerStatus(FLUIDSIM_CBSTATUS_STEP, 0)) { errMsg("SimulationObject::initialize","initializeSolverPostin status"); mPanic=true; return 15; }
// print cell type stats
bool printStats = true;
if(glob_mpnum>0) printStats=false; // skip in this case
if(printStats) {
const int jmax = sizeof(CellFlagType)*8;
int totalCells = 0;
int flagCount[jmax];
for(int j=0; j<jmax ; j++) flagCount[j] = 0;
int diffInits = 0;
LbmSolverInterface::CellIdentifier cid = mpLbm->getFirstCell();
for(; mpLbm->noEndCell( cid );
mpLbm->advanceCell( cid ) ) {
int flag = mpLbm->getCellFlag(cid,0);
int flag2 = mpLbm->getCellFlag(cid,1);
if(flag != flag2) {
diffInits++;
}
for(int j=0; j<jmax ; j++) {
if( flag&(1<<j) ) flagCount[j]++;
}
totalCells++;
}
mpLbm->deleteCellIterator( &cid );
char charNl = '\n';
debugOutNnl("SimulationObject::initializeLbmSimulation celltype stats: " <<charNl, 5);
debugOutNnl("no. of cells = "<<totalCells<<", "<<charNl ,5);
for(int j=0; j<jmax ; j++) {
std::ostringstream out;
if(flagCount[j]>0) {
out<<"\t" << flagCount[j] <<" x "<< convertCellFlagType2String( (CellFlagType)(1<<j) ) <<", " << charNl;
debugOutNnl(out.str(), 5);
}
}
// compute dist. of empty/bnd - fluid - if
// cfEmpty = (1<<0), cfBnd = (1<< 2), cfFluid = (1<<10), cfInter = (1<<11),
if(1){
std::ostringstream out;
out.precision(2); out.width(4);
int totNum = flagCount[1]+flagCount[2]+flagCount[7]+flagCount[8];
double ebFrac = (double)(flagCount[1]+flagCount[2]) / totNum;
double flFrac = (double)(flagCount[7]) / totNum;
double ifFrac = (double)(flagCount[8]) / totNum;
//???
out<<"\tFractions: [empty/bnd - fluid - interface - ext. if] = [" << ebFrac<<" - " << flFrac<<" - " << ifFrac<<"] "<< charNl;
if(diffInits > 0) {
debMsgStd("SimulationObject::initializeLbmSimulation",DM_MSG,"celltype Warning: Diffinits="<<diffInits<<"!" , 5);
}
debugOutNnl(out.str(), 5);
}
} // cellstats
// might be modified by mpLbm
//mpParts->setStart( mGeoStart );? mpParts->setEnd( mGeoEnd );?
mpParts->setStart( mpLbm->getGeoStart() );
mpParts->setEnd( mpLbm->getGeoEnd() );
mpParts->setCastShadows( false );
mpParts->setReceiveShadows( false );
mpParts->searchMaterial( glob->getMaterials() );
// this has to be inited here - before, the values might be unknown
IsoSurface *surf = mpLbm->getSurfaceGeoObj();
if(surf) {
surf->setName( "final" ); // final surface mesh
// warning - this might cause overwriting effects for multiple sims and geom dump...
surf->setCastShadows( true );
surf->setReceiveShadows( false );
surf->searchMaterial( glob->getMaterials() );
if(mShowSurface) mObjects.push_back( surf );
}
#ifdef ELBEEM_PLUGIN
mShowParticles=1; // for e.g. dumping
#endif // ELBEEM_PLUGIN
if((mpLbm->getGenerateParticles()>0.0)||(mpParts->getNumInitialParticles()>0)) {
mShowParticles=1;
mpParts->setDumpParts(true);
}
//debMsgStd("SimulationObject::init",DM_NOTIFY,"Using envvar ELBEEM_DUMPPARTICLE to set mShowParticles, DEBUG!",1);
//} // DEBUG ENABLE!!!!!!!!!!
if(mShowParticles) {
mObjects.push_back(mpParts);
}
// add objects to display for debugging (e.g. levelset particles)
vector<ntlGeometryObject *> debugObjs = mpLbm->getDebugObjects();
for(size_t i=0;i<debugObjs.size(); i++) {
debugObjs[i]->setCastShadows( false );
debugObjs[i]->setReceiveShadows( false );
debugObjs[i]->searchMaterial( glob->getMaterials() );
mObjects.push_back( debugObjs[i] );
debMsgStd("SimulationObject::init",DM_NOTIFY,"Added debug obj "<<debugObjs[i]->getName(), 10 );
}
return 0;
}
virtual OptimizationAlgorithm* construct()
{
return createSolver(property().name);
}
virtual Solver* construct(SparseOptimizer* optimizer)
{
return createSolver(optimizer, property().name);
}
