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ldy.h
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ldy.h
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/*
* ldy.h
* Copyright (C) 2008, Tomasz Koziara (t.koziara AT gmail.com)
* ---------------------------------------------------------------
* the local dynamic problem
*/
/* This file is part of Solfec.
* Solfec 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 3 of the License, or (at your
* option) any later version.
*
* Solfec 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 Solfec. If not, see <http://www.gnu.org/licenses/>. */
#include "mem.h"
#include "bod.h"
#include "sps.h"
#ifndef CONSTRAINT_TYPE
#define CONSTRAINT_TYPE
typedef struct constraint CON;
#endif
#ifndef DOMAIN_TYPE
#define DOMAIN_TYPE
typedef struct domain DOM;
#endif
#ifndef __ldy__
#define __ldy__
typedef struct offb OFFB;
typedef struct diab DIAB;
typedef struct locdyn LOCDYN;
/* off-diagonal block */
struct offb
{
double W [9];
DIAB *dia; /* corresponding diagonal block */
BODY *bod;
OFFB *n;
};
/* diagonal block */
struct diab
{
double *R, /* average reaction => points to R[3] member of the underlying constraint */
*U, /* relative volocity => points to U[3] member of the underlying constraint */
*V, /* initial velocity => points to V[3] member of the underlying constraint */
W [9], /* diagonal block of W */
A [9], /* inverse of diagonal W block */
B [3], /* free velocity */
rho; /* scaling parameter */
OFFB *adj; /* note that W(i,j) = W1(i,j) + W2(i,j) {owing to body 1 and 2} and W1 and W2 are SEPARATELY stored here */
CON *con; /* the underlying constraint (and the owner od the reaction R[3] and the velocity U [3]) */
MX *mH, *mprod, /* master H operator and H inv(M) or inv(M) H^T product */
*sH, *sprod; /* slave counterpart */
/* NOTE: left product can be applied to adjext assembly (MPI)
while right product is sligtly faster (serial code) */
DIAB *p, *n;
/* put parallel data at the end of the structutre so that
* the data layout does not change for serial code (e.g. dbs.c) */
#if MPI
OFFB *adjext; /* external adjacency */
#endif
};
/* local dynamics */
struct locdyn
{
MEM offmem,
diamem;
DOM *dom; /* domain */
DIAB *dia; /* list of diagonal blocks */
double free_energy; /* approximate amount of kinetic energy of local free velocity (per-processor) */
};
/* create local dynamics for a domain */
LOCDYN* LOCDYN_Create (DOM *dom);
/* insert a 'con'straint between a pair of bodies =>
* return the diagonal entry of the local dynamical system */
DIAB* LOCDYN_Insert (LOCDYN *ldy, CON *con, BODY *one, BODY *two);
/* remove a diagonal entry from local dynamics */
void LOCDYN_Remove (LOCDYN *ldy, DIAB *dia);
/* update local dynamics => prepare for a solution */
void LOCDYN_Update_Begin (LOCDYN *ldy);
/* update local dynamics => after the solution */
void LOCDYN_Update_End (LOCDYN *ldy);
/* dump local dynamics to file */
void LOCDYN_Dump (LOCDYN *ldy, const char *path);
/* export W in MatrixMarket format */
void LOCDYN_W_MatrixMarket (LOCDYN *ldy, const char *path);
/* clone local dynamics for non-contacts */
LOCDYN* LOCDYN_Clone_Non_Contacts (LOCDYN *ldy);
/* W norm: average of the diagonal */
double LOCDYN_avgWii (LOCDYN *ldy);
/* W norm: minimum of the diagonal */
double LOCDYN_minWii (LOCDYN *ldy);
/* W norm: maximum of the diagonal */
double LOCDYN_maxWii (LOCDYN *ldy);
/* free memory */
void LOCDYN_Destroy (LOCDYN *ldy);
#endif