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Add all built-in solvers and several ordering methods (#1)
* Introduce LLT, LU and QR solvers * Choice of the ordering method * Add metis support * Optimal plugins * Link with Metis * find package metis * File encoding * Another try * Find metis for v21.12 * Fix CMakeLists.txt * unused variable * Remove find_package of metis * Missing template keyword * find_package SofaFramework * Make sure the linear solver module is found * Replace hard-coded value * Condition on finding the metis include file * Fix missing guard * Remove warning directive
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,33 @@ | ||
| <Node name="root" dt="0.02" gravity="0 -10 0"> | ||
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| <Node name="plugins"> | ||
| <RequiredPlugin name="EigenLinearSolvers"/> <!-- Needed to use components [EigenSimplicialLLT] --> | ||
| <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] --> | ||
| <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] --> | ||
| <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] --> | ||
| <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] --> | ||
| <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] --> | ||
| <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] --> | ||
| <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] --> | ||
| <RequiredPlugin name="SofaEngine"/> <!-- Needed to use components [BoxROI] --> | ||
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| </Node> | ||
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| <VisualStyle displayFlags="showBehaviorModels showForceFields" /> | ||
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| <DefaultAnimationLoop name="animationLoop"/> | ||
| <DefaultVisualManagerLoop name="visualLoop"/> | ||
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| <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" /> | ||
| <EigenSimplicialLLT template="CompressedRowSparseMatrixMat3x3d" ordering="AMD"/> | ||
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| <RegularGridTopology name="grid" nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" /> | ||
| <MechanicalObject name="DoFs" /> | ||
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| <UniformMass name="mass" totalMass="320" /> | ||
| <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.45" method="large" /> | ||
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| <BoxROI name="box" box="-10 -1 -0.0001 -5 4 0.0001"/> | ||
| <FixedConstraint indices="@box.indices" /> | ||
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| </Node> |
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| @@ -0,0 +1,33 @@ | ||
| <Node name="root" dt="0.02" gravity="0 -10 0"> | ||
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| <Node name="plugins"> | ||
| <RequiredPlugin name="EigenLinearSolvers"/> <!-- Needed to use components [EigenSparseLU] --> | ||
| <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] --> | ||
| <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] --> | ||
| <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] --> | ||
| <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] --> | ||
| <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] --> | ||
| <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] --> | ||
| <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] --> | ||
| <RequiredPlugin name="SofaEngine"/> <!-- Needed to use components [BoxROI] --> | ||
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| </Node> | ||
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| <VisualStyle displayFlags="showBehaviorModels showForceFields" /> | ||
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| <DefaultAnimationLoop name="animationLoop"/> | ||
| <DefaultVisualManagerLoop name="visualLoop"/> | ||
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| <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" /> | ||
| <EigenSparseLU template="CompressedRowSparseMatrixMat3x3d" ordering="Natural"/> | ||
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| <RegularGridTopology name="grid" nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" /> | ||
| <MechanicalObject name="DoFs" /> | ||
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| <UniformMass name="mass" totalMass="320" /> | ||
| <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.45" method="large" /> | ||
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| <BoxROI name="box" box="-10 -1 -0.0001 -5 4 0.0001"/> | ||
| <FixedConstraint indices="@box.indices" /> | ||
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| </Node> |
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| @@ -0,0 +1,14 @@ | ||
| #pragma once | ||
| #include <EigenLinearSolvers/config.h> | ||
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| namespace EigenLinearSolvers | ||
| { | ||
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| template<class TMatrix, class TVector, class EigenSolver> | ||
| class EigenDirectSparseSolver | ||
| { | ||
| public: | ||
| virtual ~EigenDirectSparseSolver() = default; | ||
| }; | ||
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| } |
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| #pragma once | ||
| #include <EigenLinearSolvers/config.h> | ||
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| #include <EigenLinearSolvers/EigenDirectSparseSolver.h> | ||
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| #if __has_include(<sofa/component/linearsolver/iterative/MatrixLinearSolver.h>) | ||
| #include <sofa/component/linearsolver/iterative/MatrixLinearSolver.h> | ||
| #else | ||
| #include <SofaBaseLinearSolver/MatrixLinearSolver.h> | ||
| #endif | ||
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| #include <variant> | ||
| #include <Eigen/SparseCore> | ||
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| #include <sofa/helper/OptionsGroup.h> | ||
| #include <EigenLinearSolvers/FindMetis.h> | ||
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| namespace EigenLinearSolvers | ||
| { | ||
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| /** | ||
| * Partial template specialization of EigenDirectSparseSolver for a matrix of type CompressedRowSparseMatrix | ||
| */ | ||
| template<class TBlockType, class EigenSolver> | ||
| class EigenDirectSparseSolver< | ||
| sofa::linearalgebra::CompressedRowSparseMatrix<TBlockType>, | ||
| sofa::linearalgebra::FullVector<typename sofa::linearalgebra::CompressedRowSparseMatrix<TBlockType>::Real>, | ||
| EigenSolver > | ||
| : public sofa::component::linearsolver::MatrixLinearSolver< | ||
| sofa::linearalgebra::CompressedRowSparseMatrix<TBlockType>, | ||
| sofa::linearalgebra::FullVector<typename sofa::linearalgebra::CompressedRowSparseMatrix<TBlockType>::Real> > | ||
| { | ||
| public: | ||
| typedef sofa::linearalgebra::CompressedRowSparseMatrix<TBlockType> Matrix; | ||
| using Real = typename Matrix::Real; | ||
| typedef sofa::linearalgebra::FullVector<Real> Vector; | ||
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| SOFA_ABSTRACT_CLASS(SOFA_TEMPLATE3(EigenDirectSparseSolver, Matrix, Vector, EigenSolver), | ||
| SOFA_TEMPLATE2(sofa::component::linearsolver::MatrixLinearSolver, Matrix, Vector)); | ||
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| using NaturalOrderSolver = typename EigenSolver::NaturalOrderSolver; | ||
| using AMDOrderSolver = typename EigenSolver::AMDOrderSolver; | ||
| using COLAMDOrderSolver = typename EigenSolver::COLAMDOrderSolver; | ||
| #if EIGENLINEARSOLVERS_HAS_METIS_INCLUDE == 1 | ||
| using MetisOrderSolver = typename EigenSolver::MetisOrderSolver; | ||
| #endif | ||
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| ~EigenDirectSparseSolver() override = default; | ||
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| void init() override; | ||
| void reinit() override; | ||
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| using EigenSparseMatrix = Eigen::SparseMatrix<Real, Eigen::RowMajor>; | ||
| using EigenSparseMatrixMap = Eigen::Map<EigenSparseMatrix>; | ||
| using EigenVectorXdMap = Eigen::Map<Eigen::Matrix<Real, Eigen::Dynamic, 1> >; | ||
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| void solve (Matrix& A, Vector& x, Vector& b) override; | ||
| void invert(Matrix& A) override; | ||
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| protected: | ||
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| sofa::core::objectmodel::Data<sofa::helper::OptionsGroup> d_orderingMethod; | ||
| unsigned int m_selectedOrderingMethod { std::numeric_limits<unsigned int>::max() }; | ||
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| std::variant<NaturalOrderSolver, AMDOrderSolver, COLAMDOrderSolver | ||
| #if EIGENLINEARSOLVERS_HAS_METIS_INCLUDE == 1 | ||
| , MetisOrderSolver | ||
| #endif | ||
| > m_solver; | ||
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| Eigen::ComputationInfo getSolverInfo() const; | ||
| void updateSolverOderingMethod(); | ||
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| sofa::linearalgebra::CompressedRowSparseMatrix<Real> Mfiltered; | ||
| std::unique_ptr<EigenSparseMatrixMap> m_map; | ||
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| typename sofa::linearalgebra::CompressedRowSparseMatrix<Real>::VecIndex MfilteredrowBegin; | ||
| typename sofa::linearalgebra::CompressedRowSparseMatrix<Real>::VecIndex MfilteredcolsIndex; | ||
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| EigenDirectSparseSolver(); | ||
| }; | ||
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| } |
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