mbdyn_siconos.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/modules/module-nonsmooth-node/mbdyn_siconos.cc,v 1.9 2017/01/12 14:55:58 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 *
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */
/*
 * Author: Matteo Fancello <matteo.fancello@gmail.com>
 * Nonsmooth dynamics element;
 * uses SICONOS <http://siconos.gforge.inria.fr/>
 */

#include "SiconosNumerics.h"
#include <iostream>
#include "mbdyn_siconos.h"


void
mbdyn_siconos_LCP_call(int sizep, double W_NN[], double bLCP[], double Pkp1[], double wlem[], solver_parameters& solparam)
{
        solparam.info = 0;

        LCPsolver lcpsol = solparam.solver;
        double tolerance = solparam.solvertol;
        int maxiternum = solparam.solveritermax;

        // LCP problem description:
        LinearComplementarityProblem OSNSProblem;
        OSNSProblem.size = sizep;
        OSNSProblem.q = bLCP;

        NumericsMatrix MM;
        MM.storageType = 0;
        MM.matrix0 = W_NN;              // W_delassus
        MM.size0 = sizep;
        MM.size1 = sizep;
        OSNSProblem.M = &MM;

        SolverOptions numerics_solver_options = { 0 };

        solparam.resulting_error = 0.;

        // Solving LCP problem
        // FIXME: initialize once, keep alive?
        switch (lcpsol) {
        case LEXICO_LEMKE:
                linearComplementarity_lexicolemke_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                lcp_lexicolemke(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                solparam.processed_iterations = numerics_solver_options.iparam[1];
                break;

        case RPGS:
                linearComplementarity_rpgs_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_rpgs(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                solparam.processed_iterations = numerics_solver_options.iparam[1];
                solparam.resulting_error = numerics_solver_options.dparam[1];
                break;

        case QP:
                linearComplementarity_qp_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.dparam[0] = tolerance;
                lcp_qp(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                break;

        case CPG:
                linearComplementarity_cpg_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_cpg(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                solparam.processed_iterations = numerics_solver_options.iparam[1];
                solparam.resulting_error = numerics_solver_options.dparam[1];
                break;

        case PGS:
                linearComplementarity_pgs_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_pgs(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                solparam.processed_iterations = numerics_solver_options.iparam[1];
                solparam.resulting_error = numerics_solver_options.dparam[1];
                break;

        case PSOR:
                linearComplementarity_psor_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_psor(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                solparam.processed_iterations = numerics_solver_options.iparam[1];
                solparam.resulting_error = numerics_solver_options.dparam[1];
                break;

        case NSQP:
                linearComplementarity_nsqp_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.dparam[0] = tolerance;
                lcp_nsqp(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                break;

        case LATIN:
                linearComplementarity_latin_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_latin(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                break;

        case LATIN_W:
                linearComplementarity_latin_w_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_latin_w(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                break;

        case NEWTON_MIN:
                linearComplementarity_newton_min_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_newton_min(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                solparam.processed_iterations = numerics_solver_options.iparam[1];
                solparam.resulting_error = numerics_solver_options.dparam[1];
                break;

        case NEWTON_FB:
                linearComplementarity_newton_FB_setDefaultSolverOptions(&numerics_solver_options);
                numerics_solver_options.iparam[0] = maxiternum;
                numerics_solver_options.dparam[0] = tolerance;
                lcp_newton_FB(&OSNSProblem, Pkp1, wlem, &solparam.info, &numerics_solver_options);
                solparam.processed_iterations = numerics_solver_options.iparam[1];
                solparam.resulting_error = numerics_solver_options.dparam[1];
                break;
        }

#if 0
        // analyzing the LCP solver final status
        switch (solparam.info) {
        case 0: // convergence
                break;

        case 1: // iter=itermax
                std::cout << std::endl
                        << "loadable element nonsmooth node: max iterations reached in LCP solver "
                        << std::endl;
                std::cout << "processed_iterations "<< solparam.processed_iterations
                        << " resulting_error " << solparam.resulting_error <<std::endl;
                break;

        default: // other problem
                std::cout << std::endl
                        <<"loadable element nonsmooth node: problem in solution of LCP"
                        << std::endl;
                std::cout << "processed_iterations "<< solparam.processed_iterations
                        << " resulting_error " << solparam.resulting_error <<std::endl;
                break;
        }
#endif

        deleteSolverOptions(&numerics_solver_options);
}