int fc3d_driver(FrictionContactProblem* problem,
double *reaction, double *velocity,
SolverOptions* options,
NumericsOptions* global_options)
{
if (options == NULL)
numericsError("fc3d_driver", "null input for solver and/or global options");
int setnumericsoptions=0;
/* Set global options */
if (global_options)
{
setNumericsOptions(global_options);
options->numericsOptions = (NumericsOptions*) malloc(sizeof(NumericsOptions));
options->numericsOptions->verboseMode = global_options->verboseMode;
setnumericsoptions=1;
}
int NoDefaultOptions = options->isSet; /* true(1) if the SolverOptions structure has been filled in else false(0) */
if (!NoDefaultOptions)
readSolverOptions(3, options);
if (verbose > 0)
printSolverOptions(options);
/* Solver name */
/*char * name = options->solverName;*/
int info = -1 ;
if (problem->dimension != 3)
numericsError("fc3d_driver", "Dimension of the problem : problem-> dimension is not compatible or is not set");
/* Check for trivial case */
info = checkTrivialCase(problem, velocity, reaction, options);
if (info == 0)
goto exit;
switch (options->solverId)
{
/* Non Smooth Gauss Seidel (NSGS) */
case SICONOS_FRICTION_3D_NSGS:
{
snPrintf(1, options,
" ========================== Call NSGS solver for Friction-Contact 3D problem ==========================\n");
fc3d_nsgs(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_NSGSV:
{
snPrintf(1, options,
" ========================== Call NSGSV solver for Friction-Contact 3D problem ==========================\n");
fc3d_nsgs_velocity(problem, reaction , velocity , &info , options);
break;
}
/* Proximal point algorithm */
case SICONOS_FRICTION_3D_PROX:
{
snPrintf(1, options,
" ========================== Call PROX (Proximal Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_proximal(problem, reaction , velocity , &info , options);
break;
}
/* Tresca Fixed point algorithm */
case SICONOS_FRICTION_3D_TFP:
{
snPrintf(1, options,
" ========================== Call TFP (Tresca Fixed Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_TrescaFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* ACLM Fixed point algorithm */
case SICONOS_FRICTION_3D_ACLMFP:
{
snPrintf(1, options,
" ========================== Call ACLM (Acary Cadoux Lemarechal Malick Fixed Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_ACLMFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* SOCLCP Fixed point algorithm */
case SICONOS_FRICTION_3D_SOCLCP:
{
snPrintf(1, options,
" ========================== Call SOCLCP solver for Friction-Contact 3D problem (Associated one) ==========================\n");
fc3d_SOCLCP(problem, reaction , velocity , &info , options);
break;
}
/* De Saxce Fixed point algorithm */
case SICONOS_FRICTION_3D_DSFP:
{
snPrintf(1, options,
" ========================== Call DeSaxce Fixed Point (DSFP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_DeSaxceFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* Fixed point projection algorithm */
case SICONOS_FRICTION_3D_FPP:
{
snPrintf(1, options,
" ========================== Call Fixed Point Projection (FPP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_fixedPointProjection(problem, reaction , velocity , &info , options);
break;
}
/* Extra Gradient algorithm */
case SICONOS_FRICTION_3D_EG:
{
snPrintf(1, options,
" ========================== Call ExtraGradient (EG) solver for Friction-Contact 3D problem ==========================\n");
fc3d_ExtraGradient(problem, reaction , velocity , &info , options);
break;
}
/* VI Fixed Point Projection algorithm */
case SICONOS_FRICTION_3D_VI_FPP:
{
snPrintf(1, options,
" ========================== Call VI_FixedPointProjection (VI_FPP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_VI_FixedPointProjection(problem, reaction , velocity , &info , options);
break;
}
/* VI Extra Gradient algorithm */
case SICONOS_FRICTION_3D_VI_EG:
{
snPrintf(1, options,
" ========================== Call VI_ExtraGradient (VI_EG) solver for Friction-Contact 3D problem ==========================\n");
fc3d_VI_ExtraGradient(problem, reaction , velocity , &info , options);
break;
}
/* Hyperplane Projection algorithm */
case SICONOS_FRICTION_3D_HP:
{
snPrintf(1, options,
" ========================== Call Hyperplane Projection (HP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_HyperplaneProjection(problem, reaction , velocity , &info , options);
break;
}
/* Alart Curnier in local coordinates */
case SICONOS_FRICTION_3D_NSN_AC:
{
snPrintf(1, options,
" ========================== Call Alart Curnier solver for Friction-Contact 3D problem ==========================\n");
if (problem->M->matrix0)
{
fc3d_nonsmooth_Newton_AlartCurnier(problem, reaction , velocity , &info , options);
}
else
{
fc3d_nonsmooth_Newton_AlartCurnier(problem, reaction , velocity , &info , options);
}
break;
}
/* Fischer Burmeister in local coordinates */
case SICONOS_FRICTION_3D_NSN_FB:
{
snPrintf(1, options,
" ========================== Call Fischer Burmeister solver for Friction-Contact 3D problem ==========================\n");
fc3d_nonsmooth_Newton_FischerBurmeister(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_NSN_NM:
{
snPrintf(1, options,
" ========================== Call natural map solver for Friction-Contact 3D problem ==========================\n");
fc3d_nonsmooth_Newton_NaturalMap(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_QUARTIC_NU:
case SICONOS_FRICTION_3D_ONECONTACT_QUARTIC:
{
snPrintf(1, options,
" ========================== Call Quartic solver for Friction-Contact 3D problem ==========================\n");
fc3d_unitary_enumerative(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_NSN_AC:
case SICONOS_FRICTION_3D_ONECONTACT_NSN_AC_GP:
{
snPrintf(1, options,
" ========================== Call Newton-based solver for one contact Friction-Contact 3D problem ==========================\n");
fc3d_onecontact_nonsmooth_Newton_solvers_initialize(problem, problem, options);
info = fc3d_onecontact_nonsmooth_Newton_solvers_solve(problem, reaction , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_ProjectionOnConeWithLocalIteration:
{
snPrintf(1, options,
" ========================== Call Projection on cone solver for one contact Friction-Contact 3D problem ==========================\n");
fc3d_projectionOnConeWithLocalIteration_initialize(problem, problem, options);
info = fc3d_projectionOnConeWithLocalIteration_solve(problem, reaction , options);
fc3d_projectionOnConeWithLocalIteration_free(problem, problem, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_PATH:
{
snPrintf(1, options,
" ========================== Call PATH solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
fc3d_AVI_gams_path(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_PATHVI:
{
snPrintf(1, options,
" ========================== Call PATHVI solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
fc3d_AVI_gams_pathvi(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_LCP_PATH:
{
snPrintf(1, options,
" ========================== Call PATH solver via GAMS for an LCP-based reformulation of the AVI Friction-Contact 3D problem ==========================\n");
fc3d_lcp_gams_path(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_LCP_PATHVI:
{
snPrintf(1, options,
" ========================== Call PATHVI solver via GAMS for an LCP-based reformulation of the AVI Friction-Contact 3D problem ==========================\n");
fc3d_lcp_gams_pathvi(problem, reaction , velocity, &info, options);
break;
}
default:
{
fprintf(stderr, "Numerics, fc3d_driver failed. Unknown solver.\n");
exit(EXIT_FAILURE);
}
}
exit:
if (setnumericsoptions)
{
free(options->numericsOptions);
options->numericsOptions = NULL;
}
return info;
}
int fc3d_driver(FrictionContactProblem* problem,
double *reaction, double *velocity,
SolverOptions* options)
{
if (options == NULL)
numerics_error("fc3d_driver", "null input for solver options");
assert(options->isSet); /* true(1) if the SolverOptions structure has been filled in else false(0) */
if (verbose > 1)
solver_options_print(options);
int info = -1 ;
if (problem->dimension != 3)
numerics_error("fc3d_driver", "Dimension of the problem : problem-> dimension is not compatible or is not set");
/* Check for trivial case */
info = checkTrivialCase(problem, velocity, reaction, options);
if (info == 0)
{
/* If a trivial solution is found, we set the number of iterations to 0
and the reached acuracy to 0.0 .
Since the indexing of parameters is non uniform, this may have side
effects for some solvers. The two main return parameters iparam[7] and
dparam[1] have to be defined and protected by means of enum*/
options->iparam[7] = 0;
options->dparam[1] = 0.0;
goto exit;
}
switch (options->solverId)
{
/* Non Smooth Gauss Seidel (NSGS) */
case SICONOS_FRICTION_3D_NSGS:
{
numerics_printf(" ========================== Call NSGS solver for Friction-Contact 3D problem ==========================\n");
fc3d_nsgs(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_NSGSV:
{
numerics_printf(" ========================== Call NSGSV solver for Friction-Contact 3D problem ==========================\n");
fc3d_nsgs_velocity(problem, reaction , velocity , &info , options);
break;
}
/* Proximal point algorithm */
case SICONOS_FRICTION_3D_PROX:
{
numerics_printf(" ========================== Call PROX (Proximal Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_proximal(problem, reaction , velocity , &info , options);
break;
}
/* Tresca Fixed point algorithm */
case SICONOS_FRICTION_3D_TFP:
{
numerics_printf(" ========================== Call TFP (Tresca Fixed Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_TrescaFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* ACLM Fixed point algorithm */
case SICONOS_FRICTION_3D_ACLMFP:
{
numerics_printf(" ========================== Call ACLM (Acary Cadoux Lemarechal Malick Fixed Point) solver for Friction-Contact 3D problem ==========================\n");
fc3d_ACLMFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* SOCLCP Fixed point algorithm */
case SICONOS_FRICTION_3D_SOCLCP:
{
numerics_printf(" ========================== Call SOCLCP solver for Friction-Contact 3D problem (Associated one) ==========================\n");
fc3d_SOCLCP(problem, reaction , velocity , &info , options);
break;
}
/* De Saxce Fixed point algorithm */
case SICONOS_FRICTION_3D_DSFP:
{
numerics_printf(" ========================== Call DeSaxce Fixed Point (DSFP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_DeSaxceFixedPoint(problem, reaction , velocity , &info , options);
break;
}
/* Fixed point projection algorithm */
case SICONOS_FRICTION_3D_FPP:
{
numerics_printf(" ========================== Call Fixed Point Projection (FPP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_fixedPointProjection(problem, reaction , velocity , &info , options);
break;
}
/* Extra Gradient algorithm */
case SICONOS_FRICTION_3D_EG:
{
numerics_printf(" ========================== Call ExtraGradient (EG) solver for Friction-Contact 3D problem ==========================\n");
fc3d_ExtraGradient(problem, reaction , velocity , &info , options);
break;
}
/* VI Fixed Point Projection algorithm */
case SICONOS_FRICTION_3D_VI_FPP:
{
numerics_printf(" ========================== Call VI_FixedPointProjection (VI_FPP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_VI_FixedPointProjection(problem, reaction , velocity , &info , options);
break;
}
/* VI Extra Gradient algorithm */
case SICONOS_FRICTION_3D_VI_EG:
{
numerics_printf(" ========================== Call VI_ExtraGradient (VI_EG) solver for Friction-Contact 3D problem ==========================\n");
fc3d_VI_ExtraGradient(problem, reaction , velocity , &info , options);
break;
}
/* Hyperplane Projection algorithm */
case SICONOS_FRICTION_3D_HP:
{
numerics_printf(" ========================== Call Hyperplane Projection (HP) solver for Friction-Contact 3D problem ==========================\n");
fc3d_HyperplaneProjection(problem, reaction , velocity , &info , options);
break;
}
/* Alart Curnier in local coordinates */
case SICONOS_FRICTION_3D_NSN_AC:
{
numerics_printf(" ========================== Call Alart Curnier solver for Friction-Contact 3D problem ==========================\n");
if (problem->M->matrix0)
{
fc3d_nonsmooth_Newton_AlartCurnier(problem, reaction , velocity , &info , options);
}
else
{
fc3d_nonsmooth_Newton_AlartCurnier(problem, reaction , velocity , &info , options);
}
break;
}
/* Fischer Burmeister in local coordinates */
case SICONOS_FRICTION_3D_NSN_FB:
{
numerics_printf(" ========================== Call Fischer Burmeister solver for Friction-Contact 3D problem ==========================\n");
fc3d_nonsmooth_Newton_FischerBurmeister(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_NSN_NM:
{
numerics_printf(" ========================== Call natural map solver for Friction-Contact 3D problem ==========================\n");
fc3d_nonsmooth_Newton_NaturalMap(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_QUARTIC_NU:
case SICONOS_FRICTION_3D_ONECONTACT_QUARTIC:
{
numerics_printf(" ========================== Call Quartic solver for Friction-Contact 3D problem ==========================\n");
fc3d_unitary_enumerative(problem, reaction , velocity , &info , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_NSN:
case SICONOS_FRICTION_3D_ONECONTACT_NSN_GP:
{
numerics_printf(" ========================== Call Newton-based solver for one contact Friction-Contact 3D problem ==========================\n");
fc3d_onecontact_nonsmooth_Newton_solvers_initialize(problem, problem, options);
info = fc3d_onecontact_nonsmooth_Newton_solvers_solve(problem, reaction , options);
break;
}
case SICONOS_FRICTION_3D_ONECONTACT_ProjectionOnConeWithLocalIteration:
{
numerics_printf(" ========================== Call Projection on cone solver for one contact Friction-Contact 3D problem ==========================\n");
fc3d_projectionOnConeWithLocalIteration_initialize(problem, problem, options);
info = fc3d_projectionOnConeWithLocalIteration_solve(problem, reaction , options);
fc3d_projectionOnConeWithLocalIteration_free(problem, problem, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_PATH:
{
numerics_printf(" ========================== Call PATH solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
fc3d_AVI_gams_path(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_PATHVI:
{
numerics_printf(" ========================== Call PATHVI solver via GAMS for an AVI Friction-Contact 3D problem ==========================\n");
fc3d_AVI_gams_pathvi(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_LCP_PATH:
{
numerics_printf(" ========================== Call PATH solver via GAMS for an LCP-based reformulation of the AVI Friction-Contact 3D problem ==========================\n");
fc3d_lcp_gams_path(problem, reaction , velocity, &info, options);
break;
}
case SICONOS_FRICTION_3D_GAMS_LCP_PATHVI:
{
numerics_printf(" ========================== Call PATHVI solver via GAMS for an LCP-based reformulation of the AVI Friction-Contact 3D problem ==========================\n");
fc3d_lcp_gams_pathvi(problem, reaction , velocity, &info, options);
break;
}
default:
{
fprintf(stderr, "Numerics, fc3d_driver failed. Unknown solver.\n");
exit(EXIT_FAILURE);
}
}
exit:
return info;
}
void fc3d_nonsmooth_Newton_AlartCurnier2(
FrictionContactProblem* problem,
double *reaction,
double *velocity,
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(!options->iparam[4]); // only host
AlartCurnierParams acparams;
switch (options->iparam[10])
{
case 0:
{
acparams.computeACFun3x3 = &computeAlartCurnierSTD;
break;
}
case 1:
{
acparams.computeACFun3x3 = &computeAlartCurnierJeanMoreau;
break;
};
case 2:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierFunctionGenerated;
break;
}
case 3:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierJeanMoreauFunctionGenerated;
break;
}
}
fc3d_nonsmooth_Newton_solvers equation;
equation.problem = problem;
equation.data = (void *) &acparams;
equation.function = &nonsmoothEqnAlartCurnierFun;
/*************************************************************************
* START NEW STUFF
*/
size_t problemSize = problem->M->size0;
size_t _3problemSize = problemSize + problemSize + problemSize;
FC3D_Newton_data opaque_data;
opaque_data.problem = problem;
opaque_data.equation = &equation;
opaque_data.rho = (double*)calloc(problemSize, sizeof(double));
for (size_t i = 0; i < problemSize; ++i) opaque_data.rho[i] = 1.;
opaque_data.Ax = (double*)calloc(_3problemSize, sizeof(double));
opaque_data.Bx = (double*)calloc(_3problemSize, sizeof(double));
opaque_data.normq = cblas_dnrm2(problemSize, problem->q, 1);
opaque_data.AwpB_data_computed = false;
functions_LSA functions_AC;
init_lsa_functions(&functions_AC, &FC3D_compute_F, &FC3D_compute_F_merit);
functions_AC.compute_H = &FC3D_compute_AWpB;
functions_AC.compute_error = &FC3D_compute_error;
functions_AC.get_set_from_problem_data = NULL;
set_lsa_params_data(options, problem->M);
newton_LSA_param* params = (newton_LSA_param*) options->solverParameters;
params->check_dir_quality = false;
options->iparam[SICONOS_IPARAM_LSA_SEARCH_CRITERION] = SICONOS_LSA_GOLDSTEIN;
// options->iparam[SICONOS_IPARAM_LSA_SEARCH_CRITERION] = SICONOS_LSA_ARMIJO;
/*************************************************************************
* END NEW STUFF
*/
if(options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_VI_EG_NSN)
{
SolverOptions * options_vi_eg =(SolverOptions *)malloc(sizeof(SolverOptions));
fc3d_VI_ExtraGradient_setDefaultSolverOptions(options_vi_eg);
options_vi_eg->iparam[0] = 50;
options_vi_eg->dparam[0] = sqrt(options->dparam[0]);
options_vi_eg->iparam[SICONOS_VI_IPARAM_ERROR_EVALUATION] = SICONOS_VI_ERROR_EVALUATION_LIGHT;
fc3d_VI_ExtraGradient(problem, reaction , velocity , info , options_vi_eg);
solver_options_delete(options_vi_eg);
free(options_vi_eg);
newton_LSA(problemSize, reaction, velocity, info, (void *)&opaque_data, options, &functions_AC);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_NO)
{
newton_LSA(problemSize, reaction, velocity, info, (void *)&opaque_data, options, &functions_AC);
}
else
{
numerics_error("fc3d_nonsmooth_Newton_AlartCurnier","Unknown nsn hybrid solver");
}
free(opaque_data.rho);
free(opaque_data.Ax);
free(opaque_data.Bx);
}
void fc3d_nonsmooth_Newton_AlartCurnier(
FrictionContactProblem* problem,
double *reaction,
double *velocity,
int *info,
SolverOptions *options)
{
/* verbose=1; */
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(!options->iparam[4]); // only host
AlartCurnierParams acparams;
switch (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION])
{
case 0:
{
acparams.computeACFun3x3 = &computeAlartCurnierSTD;
break;
}
case 1:
{
acparams.computeACFun3x3 = &computeAlartCurnierJeanMoreau;
break;
};
case 2:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierFunctionGenerated;
break;
}
case 3:
{
acparams.computeACFun3x3 = &fc3d_AlartCurnierJeanMoreauFunctionGenerated;
break;
}
}
fc3d_nonsmooth_Newton_solvers equation;
equation.problem = problem;
equation.data = (void *) &acparams;
equation.function = &nonsmoothEqnAlartCurnierFun;
if(options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_VI_EG_NSN)
{
SolverOptions * options_vi_eg =(SolverOptions *)malloc(sizeof(SolverOptions));
fc3d_VI_ExtraGradient_setDefaultSolverOptions(options_vi_eg);
options_vi_eg->iparam[SICONOS_IPARAM_MAX_ITER] = 50;
options_vi_eg->dparam[SICONOS_DPARAM_TOL] = sqrt(options->dparam[0]);
options_vi_eg->iparam[SICONOS_VI_IPARAM_ERROR_EVALUATION] = SICONOS_VI_ERROR_EVALUATION_LIGHT;
fc3d_VI_ExtraGradient(problem, reaction , velocity , info , options_vi_eg);
fc3d_nonsmooth_Newton_solvers_solve(&equation, reaction, velocity, info, options);
solver_options_delete(options_vi_eg);
free(options_vi_eg);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY] == SICONOS_FRICTION_3D_NSN_HYBRID_STRATEGY_NO)
{
fc3d_nonsmooth_Newton_solvers_solve(&equation, reaction, velocity, info, options);
}
else
{
numerics_error("fc3d_nonsmooth_Newton_AlartCurnier","Unknown nsn hybrid solver");
}
}
