[LinearSolver] Renamed ShewchuckPCGLinearSolver by removing the Shewc…

…huck (sofa-framework#5139) * Renamed + compatibility layer * Fix factory registration * rename component into scenes * update componentChange.cpp * Update Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h Co-authored-by: Hugo <[email protected]> * Update Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.cpp Co-authored-by: Hugo <[email protected]> * Update Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h Co-authored-by: Hugo <[email protected]> * Update Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h Co-authored-by: Hugo <[email protected]> --------- Co-authored-by: Hugo <[email protected]>
mimesis-inria · Nov 23, 2024 · 1c03226 · 1c03226
1 parent 4cc28d6
commit 1c03226
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diff --git a/Sofa/Component/LinearSolver/Iterative/CMakeLists.txt b/Sofa/Component/LinearSolver/Iterative/CMakeLists.txt
@@ -18,6 +18,8 @@ set(HEADER_FILES
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/MinResLinearSolver.inl
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/ShewchukPCGLinearSolver.h
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/ShewchukPCGLinearSolver.inl
+    ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/PCGLinearSolver.h
+    ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/PCGLinearSolver.inl
 )
 
 set(SOURCE_FILES
@@ -29,7 +31,7 @@ set(SOURCE_FILES
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/MatrixLinearSolver.cpp
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/MatrixLinearSystem[GraphScattered].cpp
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/MinResLinearSolver.cpp
-    ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/ShewchukPCGLinearSolver.cpp
+    ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/PCGLinearSolver.cpp
 )
 
 sofa_find_package(Sofa.Simulation.Core REQUIRED)

diff --git a/...ver/iterative/ShewchukPCGLinearSolver.cpp → ...inearsolver/iterative/PCGLinearSolver.cpp b/...ver/iterative/ShewchukPCGLinearSolver.cpp → ...inearsolver/iterative/PCGLinearSolver.cpp
@@ -19,21 +19,21 @@
 *                                                                             *
 * Contact information: [email protected]                             *
 ******************************************************************************/
-#define SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_SHEWCHUKPCGLINEARSOLVER_CPP
-#include <sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl>
+#define SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_PCGLINEARSOLVER_CPP
+#include <sofa/component/linearsolver/iterative/PCGLinearSolver.inl>
 #include <sofa/component/linearsolver/iterative/MatrixLinearSolver.inl>
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/component/linearsystem/MatrixFreeSystem.h>
 
 namespace sofa::component::linearsolver::iterative
 {
 
-void registerShewchukPCGLinearSolver(sofa::core::ObjectFactory* factory)
+void registerPCGLinearSolver(sofa::core::ObjectFactory* factory)
 {
     factory->registerObjects(core::ObjectRegistrationData("Linear system solver using the Shewchuk conjugate gradient iterative algorithm.")
-        .add< ShewchukPCGLinearSolver<GraphScatteredMatrix, GraphScatteredVector> >());
+        .add< PCGLinearSolver<GraphScatteredMatrix, GraphScatteredVector> >());
 }
 
-template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API ShewchukPCGLinearSolver<GraphScatteredMatrix, GraphScatteredVector>;
+template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API PCGLinearSolver<GraphScatteredMatrix, GraphScatteredVector>;
 
 } // namespace sofa::component::linearsolver::iterative
diff --git a/...ponent/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h b/...ponent/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h
@@ -0,0 +1,123 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* 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 Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: [email protected]                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/linearsolver/iterative/config.h>
+
+#include <sofa/core/behavior/LinearSolver.h>
+#include <sofa/component/linearsolver/iterative/MatrixLinearSolver.h>
+#include <sofa/helper/map.h>
+
+#include <cmath>
+
+#include <sofa/core/objectmodel/RenamedData.h>
+
+namespace sofa::component::linearsolver::iterative
+{
+
+/// Linear system solver using the conjugate gradient iterative algorithm
+template<class TMatrix, class TVector>
+class PCGLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver<TMatrix,TVector>
+{
+public:
+    SOFA_CLASS(SOFA_TEMPLATE2(PCGLinearSolver,TMatrix,TVector),SOFA_TEMPLATE2(sofa::component::linearsolver::MatrixLinearSolver,TMatrix,TVector));
+
+    typedef TMatrix Matrix;
+    typedef TVector Vector;
+    typedef sofa::component::linearsolver::MatrixLinearSolver<TMatrix,TVector> Inherit;
+
+    SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE()
+    sofa::core::objectmodel::RenamedData<unsigned> f_maxIter;
+
+    SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE()
+    sofa::core::objectmodel::RenamedData<double> f_tolerance;
+
+    SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE()
+    sofa::core::objectmodel::RenamedData<bool> f_use_precond;
+
+    SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE()
+    sofa::core::objectmodel::RenamedData<unsigned> f_update_step;
+
+    SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE()
+    sofa::core::objectmodel::RenamedData<bool> f_build_precond;
+
+    SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE()
+    sofa::core::objectmodel::RenamedData<std::map < std::string, sofa::type::vector<double> > >  f_graph;
+
+
+    Data<unsigned> d_maxIter; ///< Maximum number of iterations after which the iterative descent of the Conjugate Gradient must stop
+    Data<double> d_tolerance; ///< Desired accuracy of the Conjugate Gradient solution evaluating: |r|²/|b|² (ratio of current residual norm over initial residual norm)
+    Data<bool> d_use_precond; ///< Use a preconditioner
+    SingleLink<PCGLinearSolver, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_preconditioner; ///< Link towards the linear solver used to precondition the conjugate gradient
+    Data<unsigned> d_update_step; ///< Number of steps before the next refresh of preconditioners
+    Data<bool> d_build_precond; ///< Build the preconditioners, if false build the preconditioner only at the initial step
+    Data<std::map < std::string, sofa::type::vector<double> > > d_graph; ///< Graph of residuals at each iteration
+
+protected:
+    PCGLinearSolver();
+
+public:
+    void solve (Matrix& M, Vector& x, Vector& b) override;
+    void init() override;
+    void setSystemMBKMatrix(const core::MechanicalParams* mparams) override;
+
+private :
+    unsigned next_refresh_step;
+    bool first;
+    int newton_iter;
+
+protected:
+    /// This method is separated from the rest to be able to use custom/optimized versions depending on the types of vectors.
+    /// It computes: p = p*beta + r
+    inline void cgstep_beta(Vector& p, Vector& r, double beta);
+    /// This method is separated from the rest to be able to use custom/optimized versions depending on the types of vectors.
+    /// It computes: x += p*alpha, r -= q*alpha
+    inline void cgstep_alpha(Vector& x,Vector& p,double alpha);
+
+    void handleEvent(sofa::core::objectmodel::Event* event) override;
+
+
+};
+
+template<class TMatrix, class TVector>
+inline void PCGLinearSolver<TMatrix,TVector>::cgstep_beta(Vector& p, Vector& r, double beta)
+{
+    p *= beta;
+    p += r; //z;
+}
+
+template<class TMatrix, class TVector>
+inline void PCGLinearSolver<TMatrix,TVector>::cgstep_alpha(Vector& x,Vector& p,double alpha)
+{
+    x.peq(p,alpha);                 // x = x + alpha p
+}
+
+template<>
+inline void PCGLinearSolver<component::linearsolver::GraphScatteredMatrix,component::linearsolver::GraphScatteredVector>::cgstep_beta(Vector& p, Vector& r, double beta);
+
+template<>
+inline void PCGLinearSolver<component::linearsolver::GraphScatteredMatrix,component::linearsolver::GraphScatteredVector>::cgstep_alpha(Vector& x,Vector& p,double alpha);
+
+#if !defined(SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_PCGLINEARSOLVER_CPP)
+template class SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API PCGLinearSolver<GraphScatteredMatrix, GraphScatteredVector>;
+#endif // !defined(SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_PCGLINEARSOLVER_CPP)
+
+} // namespace sofa::component::linearsolver::iterative