int fc3d_Panagiotopoulos_FixedPoint_setDefaultSolverOptions(SolverOptions* options)
{
numerics_printf("fc3d_Panagiotopoulos_FixedPoint_setDefaultSolverOptions", "set default options");
options->solverId = SICONOS_FRICTION_3D_PFP;
options->numberOfInternalSolvers = 1;
options->isSet = 1;
options->filterOn = 1;
options->iSize = 8;
options->dSize = 8;
options->iparam = (int *)calloc(options->iSize, sizeof(int));
options->dparam = (double *)calloc(options->dSize, sizeof(double));
solver_options_nullify(options);
options->iparam[SICONOS_IPARAM_MAX_ITER] = 1000;
options->iparam[SICONOS_FRICTION_3D_IPARAM_INTERNAL_ERROR_STRATEGY] = SICONOS_FRICTION_3D_INTERNAL_ERROR_STRATEGY_ADAPTIVE;
options->dparam[SICONOS_DPARAM_TOL] = 1e-4;
options->dparam[SICONOS_FRICTION_3D_DPARAM_INTERNAL_ERROR_RATIO] =10.0;
options->numberOfInternalSolvers=2;
options->internalSolvers = (SolverOptions *)malloc(options->numberOfInternalSolvers*sizeof(SolverOptions));
linearComplementarity_pgs_setDefaultSolverOptions(&options->internalSolvers[0]);
options->internalSolvers[0].iparam[SICONOS_IPARAM_MAX_ITER] =1000;
convexQP_VI_solver_setDefaultSolverOptions(&options->internalSolvers[1]);
options->internalSolvers[1].iparam[SICONOS_IPARAM_MAX_ITER] =1000;
/* convexQP_ProjectedGradient_setDefaultSolverOptions(&options->internalSolvers[1]); */
/* options->internalSolvers[1].iparam[SICONOS_IPARAM_MAX_ITER] =1000; */
return 0;
}
int soclcp_driver(SecondOrderConeLinearComplementarityProblem* problem,
double *r, double *v,
SolverOptions* options)
{
if(options == NULL)
numerics_error("soclcp_driver", "null input for solver and/or global options");
assert(options->isSet);
if(verbose > 0)
solver_options_print(options);
/* Solver name */
/*const char* const name = options->solverName;*/
int info = -1 ;
/* Check for trivial case */
info = soclcp_checkTrivialCase(problem, v, r, options);
if(info == 0)
return info;
switch(options->solverId)
{
/* Non Smooth Gauss Seidel (NSGS) */
case SICONOS_SOCLCP_NSGS:
{
numerics_printf(" ========================== Call NSGS solver for Second Order Cone LCP problem ==========================\n");
soclcp_nsgs(problem, r , v , &info , options);
break;
}
/* case SICONOS_SOCLCP_NSGSV: */
/* { */
/* numerics_printf(numerics_printf(" ========================== Call NSGSV solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_nsgs_v(problem, r , v , &info , options); */
/* break; */
/* } */
/* /\* Proximal point algorithm *\/ */
/* case SICONOS_SOCLCP_PROX: */
/* { */
/* numerics_printf(numerics_printf(" ========================== Call PROX (Proximal Point) solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_proximal(problem, r , v , &info , options); */
/* break; */
/* } */
/* /\* Tresca Fixed point algorithm *\/ */
/* case SICONOS_SOCLCP_TFP: */
/* { */
/* numerics_printf(" ========================== Call TFP (Tresca Fixed Point) solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_TrescaFixedPoint(problem, r , v , &info , options); */
/* break; */
/* } */
case SICONOS_SOCLCP_VI_FPP:
{
numerics_printf(" ========================== Call VI_FixedPointProjection (VI_FPP) solver for Second Order Cone LCP problem ==========================\n");
soclcp_VI_FixedPointProjection(problem, r , v , &info , options);
break;
}
/* VI Extra Gradient algorithm */
case SICONOS_SOCLCP_VI_EG:
{
numerics_printf(" ========================== Call VI_ExtraGradient (VI_EG) solver for Second Order Cone LCP problem ==========================\n");
soclcp_VI_ExtraGradient(problem, r , v , &info , options);
break;
}
/* /\* Hyperplane Projection algorithm *\/ */
/* case SICONOS_SOCLCP_HP: */
/* { */
/* numerics_printf(" ========================== Call Hyperplane Projection (HP) solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_HyperplaneProjection(problem, r , v , &info , options); */
/* break; */
/* } */
/* /\* Alart Curnier in local coordinates *\/ */
/* case SICONOS_SOCLCP_NSN_AC: */
/* { */
/* numerics_printf(" ========================== Call Alart Curnier solver for Second Order Cone LCP problem ==========================\n"); */
/* if (problem->M->matrix0) */
/* { */
/* soclcp_nonsmooth_Newton_AlartCurnier(problem, r , v , &info , options); */
/* } */
/* else */
/* { */
/* soclcp_nonsmooth_Newton_AlartCurnier(problem, r , v , &info , options); */
/* } */
/* break; */
/* } */
/* /\* Fischer Burmeister in local coordinates *\/ */
/* case SICONOS_SOCLCP_NSN_FB: */
/* { */
/* numerics_printf(" ========================== Call Fischer Burmeister solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_nonsmooth_Newton_FischerBurmeister(problem, r , v , &info , options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_QUARTIC_NU: */
/* case SICONOS_SOCLCP_QUARTIC: */
/* { */
/* numerics_printf(" ========================== Call Quartic solver for Second Order Cone LCP problem ==========================\n"); */
/* soclcp_unitary_enumerative(problem, r , v , &info , options); */
/* break; */
/* } */
/* case SICONOS_SOCLCP_AlartCurnierNewton: */
/* case SICONOS_SOCLCP_DampedAlartCurnierNewton: */
/* { */
/* numerics_printf(" ========================== Call Quartic solver for Second Order Cone LCP problem ==========================\n"); */
/* info =soclcp_Newton_solve(problem, r , options); */
/* break; */
/* } */
default:
{
fprintf(stderr, "Numerics, SecondOrderConeLinearComplementarity_driver failed. Unknown solver.\n");
exit(EXIT_FAILURE);
}
}
return info;
}
static void fc3d_AC_initialize(FrictionContactProblem* problem,
FrictionContactProblem* localproblem,
SolverOptions * options)
{
/** In initialize, these operators are "connected" to their corresponding static variables,
* that will be used to build local problem for each considered contact.
* Local problem is built during call to update (which depends on the storage type for M).
*/
DEBUG_PRINTF("fc3d_AC_initialize starts with options->iparam[10] = %i\n",
options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION]);
if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_ALARTCURNIER_STD )
{
Function = &(computeAlartCurnierSTD);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_JEANMOREAU_STD )
{
Function = &(computeAlartCurnierJeanMoreau);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_ALARTCURNIER_GENERATED )
{
Function = &(fc3d_AlartCurnierFunctionGenerated);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_JEANMOREAU_GENERATED )
{
Function = &fc3d_AlartCurnierJeanMoreauFunctionGenerated;;
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_FORMULATION] ==
SICONOS_FRICTION_3D_NSN_FORMULATION_NULL)
{
Function = NULL;
}
/* Compute and store default value of rho value */
int nc = problem->numberOfContacts;
double avg_rho[3] = {0.0, 0.0, 0.0};
if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN ||
options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP)
{
if (!options->dWork ||
options->dWorkSize < 3*nc)
{
options->dWork = (double *)realloc(options->dWork,
3*nc * sizeof(double));
options->dWorkSize = 3*nc ;
}
}
else if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP_HYBRID)
{
if (!options->dWork ||
options->dWorkSize < 4*nc)
{
options->dWork = (double *)realloc(options->dWork,
4*nc * sizeof(double));
options->dWorkSize = 4*nc ;
}
}
double * rho;
for (int contact =0; contact <nc ; contact++)
{
if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN ||
options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP)
{
rho = &options->dWork[3*contact];
}
else if (options->solverId == SICONOS_FRICTION_3D_ONECONTACT_NSN_GP_HYBRID)
{
options->dWork[contact] = 1.0; // for PLI algorithm.
rho = &options->dWork[3*contact+nc];
}
numerics_printf("fc3d_AC_initialize "" compute rho for contact = %i",contact);
if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_SPLIT_SPECTRAL_NORM_COND)
{
fc3d_local_problem_fill_M(problem, localproblem, contact);
compute_rho_split_spectral_norm_cond(localproblem, rho);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_SPLIT_SPECTRAL_NORM)
{
fc3d_local_problem_fill_M(problem, localproblem, contact);
compute_rho_split_spectral_norm(localproblem, rho);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_SPECTRAL_NORM)
{
fc3d_local_problem_fill_M(problem, localproblem, contact);
compute_rho_spectral_norm(localproblem, rho);
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_CONSTANT)
{
rho[0]=options->dparam[SICONOS_FRICTION_3D_NSN_RHO];
rho[1]=options->dparam[SICONOS_FRICTION_3D_NSN_RHO];
rho[2]=options->dparam[SICONOS_FRICTION_3D_NSN_RHO];
}
else if (options->iparam[SICONOS_FRICTION_3D_NSN_RHO_STRATEGY] == SICONOS_FRICTION_3D_NSN_FORMULATION_RHO_STRATEGY_ADAPTIVE)
{
numerics_error("fc3d_AC_initialize", "Adaptive strategy for computing rho not yet implemented");
}
else
numerics_error("fc3d_AC_initialize", "unknown strategy for computing rho");
if (verbose >0)
{
avg_rho[0] += rho[0];
avg_rho[1] += rho[1];
avg_rho[2] += rho[2];
}
numerics_printf("fc3d_AC_initialize""contact = %i, rho[0] = %4.2e, rho[1] = %4.2e, rho[2] = %4.2e", contact, rho[0], rho[1], rho[2]);
fc3d_local_problem_fill_M(problem, localproblem, contact);
double m_row_norm = 0.0, sum;
for (int i =0; i<3; i++ )
{
sum =0.0;
for (int j =0; j<3; j++ )
{
sum += fabs(localproblem->M->matrix0[i+j*3]);
}
m_row_norm = max(sum, m_row_norm);
}
numerics_printf("fc3d_AC_initialize" " inverse of norm of M = %e", 1.0/hypot9(localproblem->M->matrix0) );
numerics_printf("fc3d_AC_initialize" " inverse of row norm of M = %e", 1.0/m_row_norm );
DEBUG_EXPR(NM_display(localproblem->M););
}
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;
}
