static void FC3D_compute_AWpB(void* data_opaque, double* reaction, double* velocity, double* workV1, double* workV2, NumericsMatrix* AWpB)
{
FC3D_Newton_data* dat = (FC3D_Newton_data*) data_opaque;
assert(dat->AwpB_data_computed);
FrictionContactProblem* problem = dat->problem;
// AW + B
computeAWpB(dat->Ax, problem->M, dat->Bx, AWpB);
dat->AwpB_data_computed = false;
}
void fc3d_nonsmooth_Newton_solvers_solve(fc3d_nonsmooth_Newton_solvers* equation,
double* reaction,
double* velocity,
int* info,
SolverOptions* options)
{
assert(equation);
FrictionContactProblem* problem = equation->problem;
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(problem->M->matrix0 || problem->M->matrix1 || problem->M->matrix2);
assert(!options->iparam[4]); // only host
unsigned int problemSize = 3 * problem->numberOfContacts;
unsigned int iter = 0;
unsigned int itermax = options->iparam[0];
unsigned int erritermax = options->iparam[7];
int nzmax;
if (problem->M->storageType == NM_DENSE)
{
nzmax = problemSize * problemSize;
}
else
{
nzmax = options->iparam[3];
}
assert(itermax > 0);
assert(nzmax > 0);
double tolerance = options->dparam[0];
assert(tolerance > 0);
if (verbose > 0)
printf("------------------------ FC3D - _nonsmooth_Newton_solversSolve - Start with tolerance = %g\n", tolerance);
unsigned int _3problemSize = 3 * problemSize;
double normq = cblas_dnrm2(problemSize , problem->q , 1);
void *buffer;
if (!options->dWork)
{
buffer = malloc((11 * problemSize) * sizeof(double)); // F(1),
// tmp1(1),
// tmp2(1),
// tmp3(1),
// A(3),
// B(3), rho
}
else
{
buffer = options->dWork;
}
double *F = (double *) buffer;
double *tmp1 = (double *) F + problemSize;
double *tmp2 = (double *) tmp1 + problemSize;
double *tmp3 = (double *) tmp2 + problemSize;
double *Ax = tmp3 + problemSize;
double *Bx = Ax + _3problemSize;
double *rho = Bx + _3problemSize;
NumericsMatrix *AWpB, *AWpB_backup;
if (!options->dWork)
{
AWpB = createNumericsMatrix(problem->M->storageType,
problem->M->size0, problem->M->size1);
AWpB_backup = createNumericsMatrix(problem->M->storageType,
problem->M->size0, problem->M->size1);
}
else
{
AWpB = (NumericsMatrix*) (rho + problemSize);
AWpB_backup = (NumericsMatrix*) (AWpB + sizeof(NumericsMatrix*));
}
/* just for allocations */
NM_copy(problem->M, AWpB);
if (problem->M->storageType != NM_DENSE)
{
switch(options->iparam[13])
{
case 0:
{
NM_linearSolverParams(AWpB)->solver = NS_CS_LUSOL;
break;
}
case 1:
{
NM_linearSolverParams(AWpB)->solver = NS_MUMPS;
#ifdef HAVE_MPI
assert (options->solverData);
if ((MPI_Comm) options->solverData == MPI_COMM_NULL)
{
options->solverData = NM_MPI_com(MPI_COMM_NULL);
}
else
{
NM_MPI_com((MPI_Comm) options->solverData);
}
#endif
break;
}
default:
{
numerics_error("fc3d_nonsmooth_Newton_solvers_solve", "Unknown linear solver.\n");
}
}
}
// compute rho here
for (unsigned int i = 0; i < problemSize; ++i) rho[i] = options->dparam[3];
// velocity <- M*reaction + qfree
cblas_dcopy(problemSize, problem->q, 1, velocity, 1);
NM_gemv(1., problem->M, reaction, 1., velocity);
double linear_solver_residual=0.0;
while (iter++ < itermax)
{
equation->function(equation->data,
problemSize,
reaction, velocity, equation->problem->mu,
rho,
F, Ax, Bx);
// AW + B
computeAWpB(Ax, problem->M, Bx, AWpB);
cblas_dcopy_msan(problemSize, F, 1, tmp1, 1);
cblas_dscal(problemSize, -1., tmp1, 1);
/* Solve: AWpB X = -F */
NM_copy(AWpB, AWpB_backup);
int lsi = NM_gesv(AWpB, tmp1);
/* NM_copy needed here */
NM_copy(AWpB_backup, AWpB);
if (lsi)
{
if (verbose > 0)
{
numerics_warning("fc3d_nonsmooth_Newton_solvers_solve",
"warning! linear solver exit with code = %d\n", lsi);
}
}
if (verbose > 0)
{
cblas_dcopy_msan(problemSize, F, 1, tmp3, 1);
NM_gemv(1., AWpB, tmp1, 1., tmp3);
linear_solver_residual = cblas_dnrm2(problemSize, tmp3, 1);
/* fprintf(stderr, "fc3d esolve: linear equation residual = %g\n", */
/* cblas_dnrm2(problemSize, tmp3, 1)); */
/* for the component wise scaled residual: cf mumps &
* http://www.netlib.org/lapack/lug/node81.html */
}
// line search
double alpha = 1;
int info_ls = 0;
cblas_dcopy_msan(problemSize, tmp1, 1, tmp3, 1);
switch (options->iparam[11])
{
case -1:
/* without line search */
info_ls = 1;
break;
case 0:
/* Goldstein Price */
info_ls = globalLineSearchGP(equation, reaction, velocity, problem->mu, rho, F, Ax, Bx, problem->M, problem->q, AWpB, tmp1, tmp2, &alpha, options->iparam[12]);
break;
case 1:
/* FBLSA */
info_ls = frictionContactFBLSA(equation, reaction, velocity, problem->mu, rho, F, Ax, Bx,
problem->M, problem->q, AWpB, tmp1, tmp2, &alpha, options->iparam[12]);
break;
default:
{
numerics_error("fc3d_nonsmooth_Newton_solvers_solve",
"Unknown line search option.\n");
}
}
if (!info_ls)
// tmp2 should contains the reaction iterate of the line search
// for GP this should be the same as cblas_daxpy(problemSize, alpha, tmp1, 1, reaction, 1);
cblas_dcopy(problemSize, tmp2, 1, reaction, 1);
else
cblas_daxpy(problemSize, 1., tmp3, 1., reaction, 1);
// velocity <- M*reaction + qfree
cblas_dcopy(problemSize, problem->q, 1, velocity, 1);
NM_gemv(1., problem->M, reaction, 1., velocity);
options->dparam[1] = INFINITY;
if (!(iter % erritermax))
{
fc3d_compute_error(problem, reaction, velocity,
// fc3d_FischerBurmeister_compute_error(problem, reaction, velocity,
tolerance, options, normq, &(options->dparam[1]));
DEBUG_EXPR_WE(equation->function(equation->data, problemSize,
reaction, velocity, equation->problem->mu, rho,
F, NULL, NULL));
DEBUG_EXPR_WE(assert((cblas_dnrm2(problemSize, F, 1)
/ (1 + cblas_dnrm2(problemSize, problem->q, 1)))
<= (10 * options->dparam[1] + 1e-15)));
}
if (verbose > 0)
{
equation->function(equation->data, problemSize,
reaction, velocity, equation->problem->mu, rho,
F, NULL, NULL);
printf(" ---- fc3d_nonsmooth_Newton_solvers_solve: iteration %d : , linear solver residual =%g, residual=%g, ||F||=%g\n", iter, linear_solver_residual, options->dparam[1],cblas_dnrm2(problemSize, F, 1));
}
if (options->callback)
{
options->callback->collectStatsIteration(options->callback->env, problemSize, reaction, velocity,
options->dparam[1], NULL);
}
if (isnan(options->dparam[1]))
{
if (verbose > 0)
{
printf(" fc3d_nonsmooth_Newton_solvers_solve: iteration %d : computed residual is not a number, stop.\n", iter);
}
info[0] = 2;
break;
}
if (options->dparam[1] < tolerance)
{
info[0] = 0;
break;
}
}
if (verbose > 0)
{
if (!info[0])
printf("------------------------ FC3D - NSN - convergence after %d iterations, residual : %g < %g \n", iter, options->dparam[1],tolerance);
else
{
printf("------------------------ FC3D - NSN - no convergence after %d iterations, residual : %g < %g \n", iter, options->dparam[1], tolerance);
}
}
options->iparam[SICONOS_IPARAM_ITER_DONE] = iter;
if (!options->dWork)
{
assert(buffer);
free(buffer);
options->dWork = NULL;
}
else
{
assert(buffer == options->dWork);
}
if (!options->dWork)
{
freeNumericsMatrix(AWpB);
freeNumericsMatrix(AWpB_backup);
free(AWpB);
free(AWpB_backup);
}
if (verbose > 0)
printf("------------------------ FC3D - NSN - End\n");
}
