def test_fc3dnsgs():
N.setNumericsVerbose(2)
FCP = N.FrictionContactProblem(3,M,q,mu)
SO=N.SolverOptions(N.SICONOS_FRICTION_3D_NSGS)
r=N.fc3d_nsgs(FCP, reactions, velocities, SO)
assert SO.dparam[1] < 1e-10
assert not r
def test_fc3dfischer():
N.setNumericsVerbose(2)
FCP = N.FrictionContactProblem(3,M,q,mu)
SO=N.SolverOptions(N.SICONOS_FRICTION_3D_NSN_FB)
r = N.fc3d_nonsmooth_Newton_FischerBurmeister(FCP, reactions, velocities, SO)
assert SO.dparam[1] < 1e-10
assert not r
def test_fc3dlocalac():
N.setNumericsVerbose(2)
FCP = N.FrictionContactProblem(3,M,q,mu)
SO=N.SolverOptions(N.SICONOS_FRICTION_3D_NSN_AC)
r = N.fc3d_nonsmooth_Newton_AlartCurnier(FCP, reactions, velocities, SO)
assert SO.dparam[1] < 1e-10
assert not r
def condensed_from_global(fcp):
# spsolve expect the indices to be cint aka 32 bits int
# Hence, we do some magic to cirumvent those issues.
Mcoo = scipy.sparse.coo_matrix(fcp.M)
Mcsc = scipy.sparse.csc_matrix(Mcoo)
Hcoo = scipy.sparse.coo_matrix(fcp.H)
Hcsc = scipy.sparse.csc_matrix(Hcoo)
WW = Hcsc.T.dot(scipy.sparse.linalg.spsolve(Mcsc, Hcsc))
qprime = fcp.H.T.dot(scipy.sparse.linalg.spsolve(Mcsc, fcp.q))
fcp_reduced = sn.FrictionContactProblem()
fcp_reduced.dimension = fcp.dimension
fcp_reduced.numberOfContacts = fcp.numberOfContacts
# this is a hack to deal with the inability of fc3d solvers to work with
# sparse matrices
_, Wsbm = sn.SBM_from_csparse(3, WW)
fcp_reduced.M = Wsbm
fcp_reduced.mu = fcp.mu
fcp_reduced.q = fcp.b + qprime
return fcp_reduced
# Number of contacts nc = 3 # W matrix w_shape = (3 * nc, 3 * nc) W = np.zeros(w_shape, dtype=np.float64) W.flat[...] = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1] # q vector q = np.zeros(3 * nc, dtype=np.float64) q[...] = [-1, 1, 3, -1, 1, 3, -1, 1, 3] # Friction coeff mu = [0.1, 0.1, 0.1] fc3d = sn.FrictionContactProblem(3, nc, W, q, mu) # Case 2 : use fclib-library, read hdf5 file # --- Set solver options --- # Check Friction_cst.h for a list of solvers ids. solver_options = sn.SolverOptions(sn.SICONOS_FRICTION_3D_NSGS)#sn.SICONOS_FRICTION_3D_FPP) eps = np.finfo(np.float64).eps solver_options.dparam[0] = 100 * eps
import numpy as np
import siconos.numerics as sn
NC = 1
M = np.eye(3 * NC)
q = np.array([-1., 1., 3.])
mu = np.array([0.1])
reactions = np.array([0., 0., 0.])
velocities = np.array([0., 0., 0.])
sn.numerics_set_verbose(2)
FCP = sn.FrictionContactProblem(3, M, q, mu)
def solve(problem, solver, options):
"""Solve problem for a given solver
"""
reactions[...] = 0.0
velocities[...] = 0.0
r = solver(problem, reactions, velocities, options)
assert options.dparam[1] < options.dparam[0]
assert not r
def test_fc3dnsgs():
"""Non-smooth Gauss Seidel, default
"""