[SofaSparseSolver] Clean examples scenes of sparse linear solvers (#2422

) * [SofaSparseSolver] Remove scenes as their equivalent are in examples\Components\linearsolver * [examples] Add example for PrecomputedLinearSolver * [examples] Add example for SVDLinearSolver * [SofaSparseSolver] msg_info without parameter * Cleaning * [examples] Speed up the example using multithreading * Turn multithreading on * [examples] Run only a few iterations to test FEMBAR-SVDLinearSolver.scn * Lower number of iterations * Clean scenes Remove collision components Add a scene for CGLinearSolver Set the right RequiredPlugin * ignore FEMBAR-SVDLinearSolver.scn on the CI
sofa-framework · Oct 22, 2021 · 7eac779 · 7eac779
1 parent d5fcd45
commit 7eac779
Show file tree

Hide file tree

Showing 13 changed files with 97 additions and 107 deletions.
diff --git a/examples/.scene-tests b/examples/.scene-tests
@@ -6,9 +6,6 @@ timeout "Components/solver/NewmarkImplicitSolver.scn" "60"
 iterations "Components/forcefield/FastTetrahedronCorotationalForceField_validation.scn" "10"
 timeout "Components/forcefield/FastTetrahedronCorotationalForceField_validation.scn" "90"
 
-timeout "Components/linearsolver/MatrixContributions123.scn" "60"
-
-
 # [Slow] Long compute only a few iterations
 iterations "Components/mapping/BarycentricMapping.scn" "10"
 timeout "Components/mapping/BarycentricMapping.scn" "60"
@@ -17,6 +14,9 @@ timeout "Components/mapping/BarycentricMapping.scn" "60"
 iterations "Components/linearsolver/MatrixContributions123.scn" "10"
 timeout "Components/linearsolver/MatrixContributions123.scn" "60"
 
+# [Slow] Dense solver: takes too long to compute even a single iteration
+ignore "Components/linearsolver/FEMBAR-SVDLinearSolver.scn"
+
 # [Slow] Long compute only a few iterations
 iterations "Components/mapping/SPHFluidSurfaceMapping.scn" "10"
 timeout "Components/mapping/SPHFluidSurfaceMapping.scn" "60"
@@ -25,11 +25,11 @@ timeout "Components/mapping/SPHFluidSurfaceMapping.scn" "60"
 iterations "Components/animationloop/FreeMotionAnimationLoop.scn" "10"
 timeout "Components/animationloop/FreeMotionAnimationLoop.scn" "180"
 
-# [Slow] Long 
+# [Slow] Long
 iterations "Components/topology/TopologicalModifiers/RemovingTetra2TriangleProcess_performanceTest.scn" "10"
 timeout "Components/topology/TopologicalModifiers/RemovingTetra2TriangleProcess_performanceTest.scn" "180"
 
-# [Warning] Temporarily ignore this scene, because it produces litterally
+# [Warning] Temporarily ignore this scene, because it produces literally
 # millions of warnings:
 # WARNING[default2(MinProximityIntersection)]: WARNING: null distance between contact detected
 ignore "Tutorials/Mappings/TutorialMappingOctopusArticulated.scn"

diff --git a/examples/Benchmark/Performance/TorusFall.scn b/examples/Benchmark/Performance/TorusFall.scn
@@ -18,8 +18,8 @@
 
   <VisualStyle displayFlags="showVisual showCollisionModels hideBehaviorModels showForceFields hideInteractionForceFields hideWireframe" />
 
-  <FreeMotionAnimationLoop name="animationLoop" solveVelocityConstraintFirst="true" />
-  <GenericConstraintSolver name="constraintSolver" maxIterations="100" tolerance="1.0e-9" multithreading="0"/>
+  <FreeMotionAnimationLoop name="animationLoop" solveVelocityConstraintFirst="true" parallelCollisionDetectionAndFreeMotion="true" parallelODESolving="true"/>
+  <GenericConstraintSolver name="constraintSolver" maxIterations="100" tolerance="1.0e-9" multithreading="1"/>
   <DefaultPipeline name="Pipeline" />
   <BruteForceBroadPhase name="BroadPhase" />
   <BVHNarrowPhase name="NarrowPhase" />

diff --git a/...seSolver/examples/FEM_SparseLDLSolver.scn → ...ts/linearsolver/FEMBAR-CGLinearSolver.scn b/...seSolver/examples/FEM_SparseLDLSolver.scn → ...ts/linearsolver/FEMBAR-CGLinearSolver.scn
@@ -1,18 +1,17 @@
 <Node name="root" dt="0.02" gravity="0 -10 0">
     <RequiredPlugin name="SofaBoundaryCondition"/>
     <RequiredPlugin name="SofaImplicitOdeSolver"/>
-    <RequiredPlugin name="SofaMiscCollision"/>
     <RequiredPlugin name="SofaSimpleFem"/>
     <RequiredPlugin name="SofaSparseSolver"/>
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
 
+    <DefaultAnimationLoop/>
+    <DefaultVisualManagerLoop/>
+
     <Node name="M1">
-        <EulerImplicitSolver name="odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <SparseLDLSolver printLog="false" template="CompressedRowSparseMatrixMat3x3d"/>
-        <!-- You can assemble the matrix using scalar instead of blocks by changing the SparseLDLSolver template as follows:
-            <SparseLDLSolver printLog="false" template="CompressedRowSparseMatrixd"/>
-        -->
+        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <CGLinearSolver iterations="1000" threshold="1e-5" tolerance="1e-5"/>
         <MechanicalObject />
         <UniformMass vertexMass="1" />
         <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />

diff --git a/examples/Components/linearsolver/FEMBAR-PCGLinearSolver.scn b/examples/Components/linearsolver/FEMBAR-PCGLinearSolver.scn
@@ -1,21 +1,18 @@
 <Node name="root" dt="0.02" gravity="0 -10 0">
-    <RequiredPlugin pluginName="SofaSparseSolver"/>
-    <RequiredPlugin pluginName='SofaBoundaryCondition'/>
-    <RequiredPlugin pluginName='SofaImplicitOdeSolver'/>
-    <RequiredPlugin pluginName='SofaMiscCollision'/>
-    <RequiredPlugin pluginName='SofaSimpleFem'/> 
-    <RequiredPlugin pluginName='SofaPreconditioner'/>
+    <RequiredPlugin name="SofaBoundaryCondition"/>
+    <RequiredPlugin name="SofaImplicitOdeSolver"/>
+    <RequiredPlugin name="SofaSimpleFem"/>
+    <RequiredPlugin name="SofaSparseSolver"/>
+    <RequiredPlugin name="SofaPreconditioner"/>
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <DefaultPipeline depth="6" verbose="0" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
-    <DefaultContactManager name="Response" response="default" />
-    <DefaultCollisionGroupManager name="Group" />
+
+    <DefaultAnimationLoop/>
+    <DefaultVisualManagerLoop/>
+
     <Node name="M1">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <ShewchukPCGLinearSolver iterations="1000" printLog="0" />
+        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <ShewchukPCGLinearSolver iterations="1000" />
         <MechanicalObject />
         <UniformMass vertexMass="1" />
         <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />

diff --git a/examples/Components/linearsolver/FEMBAR-PrecomputedLinearSolver.scn b/examples/Components/linearsolver/FEMBAR-PrecomputedLinearSolver.scn
@@ -0,0 +1,21 @@
+<Node name="root" dt="0.02" gravity="0 -10 0">
+    <RequiredPlugin name="SofaBoundaryCondition"/>
+    <RequiredPlugin name="SofaImplicitOdeSolver"/>
+    <RequiredPlugin name="SofaSimpleFem"/>
+    <RequiredPlugin name="SofaSparseSolver"/>
+
+    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
+
+    <DefaultAnimationLoop/>
+    <DefaultVisualManagerLoop/>
+
+    <Node name="M1">
+        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <PrecomputedLinearSolver/>
+        <MechanicalObject />
+        <UniformMass vertexMass="1" />
+        <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
+        <FixedConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15" />
+        <HexahedronFEMForceField name="FEM" youngModulus="400000" poissonRatio="0.3" method="large" />
+    </Node>
+</Node>
diff --git a/...rseSolver/examples/FEM_SparseLUSolver.scn → ...s/linearsolver/FEMBAR-SVDLinearSolver.scn b/...rseSolver/examples/FEM_SparseLUSolver.scn → ...s/linearsolver/FEMBAR-SVDLinearSolver.scn
@@ -1,14 +1,17 @@
 <Node name="root" dt="0.02" gravity="0 -10 0">
+    <RequiredPlugin name="SofaBoundaryCondition"/>
+    <RequiredPlugin name="SofaImplicitOdeSolver"/>
+    <RequiredPlugin name="SofaSimpleFem"/>
+    <RequiredPlugin name="SofaDenseSolver"/>
+
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <CollisionPipeline depth="6" verbose="0" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
-    <CollisionResponse name="Response" response="default" />
-    <CollisionGroup name="Group" />
+
+    <DefaultAnimationLoop/>
+    <DefaultVisualManagerLoop/>
+
     <Node name="M1">
-        <EulerImplicit name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <SparseLUSolver printLog="1" verbose="0" /> 
+        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <SVDLinearSolver template="CompressedRowSparseMatrixMat3x3d"/>
         <MechanicalObject />
         <UniformMass vertexMass="1" />
         <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />

diff --git a/examples/Components/linearsolver/FEMBAR-SparseCholeskySolver.scn b/examples/Components/linearsolver/FEMBAR-SparseCholeskySolver.scn
@@ -1,20 +1,17 @@
 <Node name="root" dt="0.02" gravity="0 -10 0">
-    <RequiredPlugin pluginName="SofaSparseSolver"/>
-    <RequiredPlugin pluginName='SofaBoundaryCondition'/>
-    <RequiredPlugin pluginName='SofaImplicitOdeSolver'/>
-    <RequiredPlugin pluginName='SofaMiscCollision'/>
-    <RequiredPlugin pluginName='SofaSimpleFem'/> 
+    <RequiredPlugin name="SofaBoundaryCondition"/>
+    <RequiredPlugin name="SofaImplicitOdeSolver"/>
+    <RequiredPlugin name="SofaSimpleFem"/>
+    <RequiredPlugin name="SofaSparseSolver"/>
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <DefaultPipeline depth="6" verbose="0" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
-    <DefaultContactManager name="Response" response="default" />
-    <DefaultCollisionGroupManager name="Group" />
+
+    <DefaultAnimationLoop/>
+    <DefaultVisualManagerLoop/>
+
     <Node name="M1">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <SparseCholeskySolver printLog="0" verbose="0" />
+        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <SparseCholeskySolver />
         <MechanicalObject />
         <UniformMass vertexMass="1" />
         <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />

diff --git a/examples/Components/linearsolver/FEMBAR-SparseLDLSolver.scn b/examples/Components/linearsolver/FEMBAR-SparseLDLSolver.scn
@@ -1,20 +1,17 @@
 <Node name="root" dt="0.02" gravity="0 -10 0">
-    <RequiredPlugin pluginName="SofaSparseSolver"/>
-    <RequiredPlugin pluginName='SofaBoundaryCondition'/>
-    <RequiredPlugin pluginName='SofaImplicitOdeSolver'/>
-    <RequiredPlugin pluginName='SofaMiscCollision'/>
-    <RequiredPlugin pluginName='SofaSimpleFem'/> 
+    <RequiredPlugin name="SofaBoundaryCondition"/>
+    <RequiredPlugin name="SofaImplicitOdeSolver"/>
+    <RequiredPlugin name="SofaSimpleFem"/>
+    <RequiredPlugin name="SofaSparseSolver"/>
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <DefaultPipeline depth="6" verbose="0" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
-    <DefaultContactManager name="Response" response="default" />
-    <DefaultCollisionGroupManager name="Group" />
+
+    <DefaultAnimationLoop/>
+    <DefaultVisualManagerLoop/>
+
     <Node name="M1">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <SparseLDLSolver printLog="1"/>
+        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         <MechanicalObject />
         <UniformMass vertexMass="1" />
         <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />

diff --git a/examples/Components/linearsolver/FEMBAR-SparseLUSolver.scn b/examples/Components/linearsolver/FEMBAR-SparseLUSolver.scn
@@ -1,20 +1,17 @@
 <Node name="root" dt="0.02" gravity="0 -10 0">
-    <RequiredPlugin pluginName="SofaSparseSolver"/>
-    <RequiredPlugin pluginName='SofaBoundaryCondition'/>
-    <RequiredPlugin pluginName='SofaImplicitOdeSolver'/>
-    <RequiredPlugin pluginName='SofaMiscCollision'/>
-    <RequiredPlugin pluginName='SofaSimpleFem'/> 
+    <RequiredPlugin name="SofaBoundaryCondition"/>
+    <RequiredPlugin name="SofaImplicitOdeSolver"/>
+    <RequiredPlugin name="SofaSimpleFem"/>
+    <RequiredPlugin name="SofaSparseSolver"/>
 
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <DefaultPipeline depth="6" verbose="0" draw="0" />
-    <BruteForceBroadPhase/>
-    <BVHNarrowPhase/>
-    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
-    <DefaultContactManager name="Response" response="default" />
-    <DefaultCollisionGroupManager name="Group" />
+
+    <DefaultAnimationLoop/>
+    <DefaultVisualManagerLoop/>
+
     <Node name="M1">
-        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
-        <SparseLUSolver printLog="1" verbose="0"/>
+        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
+        <SparseLUSolver/>
         <MechanicalObject />
         <UniformMass vertexMass="1" />
         <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />

diff --git a/modules/SofaSparseSolver/examples/FEM_SparseCholeskySolver.scn b/modules/SofaSparseSolver/examples/FEM_SparseCholeskySolver.scn
diff --git a/modules/SofaSparseSolver/src/SofaSparseSolver/PrecomputedLinearSolver.inl b/modules/SofaSparseSolver/src/SofaSparseSolver/PrecomputedLinearSolver.inl
@@ -121,7 +121,7 @@ void PrecomputedLinearSolver<TMatrix,TVector >::loadMatrix(TMatrix& M)
 template<class TMatrix,class TVector>
 void PrecomputedLinearSolver<TMatrix,TVector>::loadMatrixWithCSparse(TMatrix& M)
 {
-    msg_info("PrecomputedLinearSolver") << "Compute the initial invert matrix with CS_PARSE" ;
+    msg_info() << "Compute the initial invert matrix with CS_PARSE" ;
 
     CompressedRowSparseMatrix<double> matSolv;
     FullVector<double> r;
@@ -143,15 +143,15 @@ void PrecomputedLinearSolver<TMatrix,TVector>::loadMatrixWithCSparse(TMatrix& M)
         b.set(j,0.0);
     }
 
-    msg_info("PrecomputedLinearSolver") << "Precomputing constraint correction LU decomposition " ;
+    msg_info() << "Precomputing constraint correction LU decomposition " ;
     solver.invert(matSolv);
 
     for (unsigned int j=0; j<systemSize; j++)
     {
         std::stringstream tmp;
         tmp.precision(2);
         tmp << "Precomputing constraint correction : " << std::fixed << (float)j/(float)systemSize*100.0f << " %   " << '\xd';
-        msg_info("PrecomputedLinearSolver") << tmp.str() ;
+        msg_info() << tmp.str() ;
 
         if (j>0) b.set(j-1,0.0);
         b.set(j,1.0);
@@ -162,7 +162,7 @@ void PrecomputedLinearSolver<TMatrix,TVector>::loadMatrixWithCSparse(TMatrix& M)
             internalData.Minv.set(j,i,r.element(i) * factInt);
         }
     }
-    msg_info("PrecomputedLinearSolver") << "Precomputing constraint correction : " << std::fixed << 100.0f << " %   " << '\xd';
+    msg_info() << "Precomputing constraint correction : " << std::fixed << 100.0f << " %   " << '\xd';
 
 }
 #endif

diff --git a/modules/SofaSparseSolver/src/SofaSparseSolver/SparseLUSolver.cpp b/modules/SofaSparseSolver/src/SofaSparseSolver/SparseLUSolver.cpp
@@ -19,6 +19,7 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
+#define SOFA_COMPONENT_LINEARSOLVER_SPARSELUSOLVER_CPP
 #include <sofa/core/ObjectFactory.h>
 #include <SofaSparseSolver/SparseLUSolver.inl>
 
@@ -29,5 +30,7 @@ int SparseLUSolverClass = core::RegisterObject("Direct linear solver based on Sp
         .add< SparseLUSolver< CompressedRowSparseMatrix<double>,FullVector<double> > >()
         ;
 
+template class SOFA_SOFASPARSESOLVER_API SparseLUSolver< CompressedRowSparseMatrix<double>,FullVector<double> >;
+
 } // namespace sofa::component::linearsolver
 
diff --git a/modules/SofaSparseSolver/src/SofaSparseSolver/SparseLUSolver.h b/modules/SofaSparseSolver/src/SofaSparseSolver/SparseLUSolver.h
@@ -29,7 +29,7 @@
 namespace sofa::component::linearsolver
 {
 
-//defaut structure for a LDL factorization
+//defaut structure for a LU factorization
 template<class Real>
 class SparseLUInvertData : public MatrixInvertData {
 public :
@@ -81,6 +81,10 @@ protected :
 
 };
 
+#if  !defined(SOFA_COMPONENT_LINEARSOLVER_SPARSELUSOLVER_CPP)
+    extern template class SOFA_SOFASPARSESOLVER_API SparseLUSolver< CompressedRowSparseMatrix< double>,FullVector<double> >;
+#endif
+
 } // namespace sofa::component::linearsolver
 
 #endif