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

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merged 12 commits into from
Oct 22, 2021
Merged

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

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2d95f71
[SofaSparseSolver] Remove scenes as their equivalent are in examples\…
alxbilger Oct 15, 2021
93d72d7
[examples] Add example for PrecomputedLinearSolver
alxbilger Oct 15, 2021
ad203fa
[examples] Add example for SVDLinearSolver
alxbilger Oct 15, 2021
3a55058
[SofaSparseSolver] msg_info without parameter
alxbilger Oct 15, 2021
7335df3
Cleaning
alxbilger Oct 15, 2021
74e1b6b
[examples] Speed up the example using multithreading
alxbilger Oct 15, 2021
c14d351
Turn multithreading on
alxbilger Oct 15, 2021
1585941
[examples] Run only a few iterations to test FEMBAR-SVDLinearSolver.scn
alxbilger Oct 22, 2021
569a7a1
Lower number of iterations
alxbilger Oct 22, 2021
aa18c34
Clean scenes
alxbilger Oct 22, 2021
bea7411
ignore FEMBAR-SVDLinearSolver.scn on the CI
alxbilger Oct 22, 2021
7448fc3
Merge remote-tracking branch 'upstream/master' into examples
alxbilger Oct 22, 2021
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4 changes: 2 additions & 2 deletions examples/Benchmark/Performance/TorusFall.scn
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Expand Up @@ -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" />
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24 changes: 24 additions & 0 deletions examples/Components/linearsolver/FEMBAR-PrecomputedLinearSolver.scn
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@@ -0,0 +1,24 @@
<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'/>

<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" />
<Node name="M1">
<EulerImplicitSolver name="cg_odesolver" printLog="false" 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>
16 changes: 11 additions & 5 deletions ...rseSolver/examples/FEM_SparseLUSolver.scn → ...s/linearsolver/FEMBAR-SVDLinearSolver.scn
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@@ -1,14 +1,20 @@
<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'/>

<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<DefaultPipeline 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" />
<DefaultContactManager name="Response" response="default" />
<DefaultCollisionGroupManager name="Group" />
<Node name="M1">
<EulerImplicit name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<SparseLUSolver printLog="1" verbose="0" />
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well .. SVD you said? 😂

<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
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well I do not like seeing these rayleigh damping, especially in example scenes, but it's not the purpose of the PR ^^

<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" />
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2 changes: 1 addition & 1 deletion examples/Components/linearsolver/FEMBAR-SparseLDLSolver.scn
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Expand Up @@ -14,7 +14,7 @@
<DefaultCollisionGroupManager name="Group" />
<Node name="M1">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<SparseLDLSolver printLog="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" />
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2 changes: 1 addition & 1 deletion examples/Components/linearsolver/FEMBAR-SparseLUSolver.scn
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Expand Up @@ -14,7 +14,7 @@
<DefaultCollisionGroupManager name="Group" />
<Node name="M1">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<SparseLUSolver printLog="1" verbose="0"/>
<SparseLUSolver/>
<MechanicalObject />
<UniformMass vertexMass="1" />
<RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
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28 changes: 0 additions & 28 deletions modules/SofaSparseSolver/examples/FEM_SparseCholeskySolver.scn
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This file was deleted.

22 changes: 0 additions & 22 deletions modules/SofaSparseSolver/examples/FEM_SparseLDLSolver.scn
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This file was deleted.

8 changes: 4 additions & 4 deletions modules/SofaSparseSolver/src/SofaSparseSolver/PrecomputedLinearSolver.inl
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Expand Up @@ -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;
Expand All @@ -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);
Expand All @@ -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
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3 changes: 3 additions & 0 deletions modules/SofaSparseSolver/src/SofaSparseSolver/SparseLUSolver.cpp
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Expand Up @@ -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>

Expand All @@ -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

6 changes: 5 additions & 1 deletion modules/SofaSparseSolver/src/SofaSparseSolver/SparseLUSolver.h
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Expand Up @@ -29,7 +29,7 @@
namespace sofa::component::linearsolver
{

//defaut structure for a LDL factorization
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nice copy-paste ..

//defaut structure for a LU factorization
template<class Real>
class SparseLUInvertData : public MatrixInvertData {
public :
Expand Down Expand Up @@ -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