[LinearSystem] Introduce ConstantSparsityProjectionMethod

Sofa/Component/LinearSystem/CMakeLists.txt

@@ -11,6 +11,8 @@ set(HEADER_FILES
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/CompositeLinearSystem.inl
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/ConstantSparsityPatternSystem.h
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/ConstantSparsityPatternSystem.inl
+    ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/ConstantSparsityProjectionMethod.h
+    ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/ConstantSparsityProjectionMethod.inl
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/CreateMatrixDispatcher.h
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/LinearSystemData.h
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/MappingGraph.h
@@ -40,6 +42,7 @@ set(SOURCE_FILES
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/BaseMatrixProjectionMethod.cpp
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/CompositeLinearSystem.cpp
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/ConstantSparsityPatternSystem.cpp
+    ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/ConstantSparsityProjectionMethod.cpp
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/MappingGraph.cpp
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/MatrixLinearSystem.cpp
     ${SOFACOMPONENTLINEARSOLVERLINEARSYSTEM_SOURCE_DIR}/MatrixProjectionMethod.cpp

Sofa/Component/LinearSystem/src/sofa/component/linearsystem/ConstantSparsityProjectionMethod.cpp

@@ -0,0 +1,33 @@
+/******************************************************************************
+*                 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]                             *
+******************************************************************************/
+#define SOFA_COMPONENT_LINEARSYSTEM_CONSTANTSPARSITYPROJECTIONMETHOD_CPP
+#include <sofa/component/linearsystem/ConstantSparsityProjectionMethod.inl>
+#include <sofa/core/ObjectFactory.h>
+
+namespace sofa::component::linearsystem
+{
+template class SOFA_COMPONENT_LINEARSYSTEM_API ConstantSparsityProjectionMethod<sofa::linearalgebra::CompressedRowSparseMatrix<SReal> >;
+
+int ConstantSparsityProjectionMethodClass = core::RegisterObject("Matrix mapping computing the matrix projection taking advantage of the constant sparsity pattern")
+        .add< ConstantSparsityProjectionMethod<sofa::linearalgebra::CompressedRowSparseMatrix<SReal> > >(true)
+        ;
+}

Sofa/Component/LinearSystem/src/sofa/component/linearsystem/ConstantSparsityProjectionMethod.h

@@ -0,0 +1,68 @@
+/******************************************************************************
+*                 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/linearsystem/MatrixProjectionMethod.h>
+#include <sofa/simulation/ParallelSparseMatrixProduct.h>
+
+namespace sofa::component::linearsystem
+{
+
+/**
+ * Matrix prjection method computing the matrix projection taking advantage of the constant sparsity pattern
+ */
+template<class TMatrix>
+class ConstantSparsityProjectionMethod : public MatrixProjectionMethod<TMatrix>
+{
+public:
+    SOFA_CLASS(SOFA_TEMPLATE(ConstantSparsityProjectionMethod, TMatrix), SOFA_TEMPLATE(MatrixProjectionMethod, TMatrix));
+    using PairMechanicalStates = typename BaseMatrixProjectionMethod<TMatrix>::PairMechanicalStates;
+    using Block = typename Inherit1::Block;
+
+    ConstantSparsityProjectionMethod();
+    ~ConstantSparsityProjectionMethod() override;
+
+    Data<bool> d_parallelProduct;
+
+    void init() override;
+
+protected:
+    void computeProjection(
+        const Eigen::Map<Eigen::SparseMatrix<Block, Eigen::RowMajor> > KMap,
+        const sofa::type::fixed_array<std::shared_ptr<TMatrix>, 2> J,
+        Eigen::SparseMatrix<Block, Eigen::RowMajor>& JT_K_J) override;
+
+    using K_Type = Eigen::Map<Eigen::SparseMatrix<Block, Eigen::RowMajor> >;
+    using J_Type = Eigen::Map<Eigen::SparseMatrix<Block, Eigen::RowMajor> >;
+    using KJ_Type = Eigen::SparseMatrix<Block, Eigen::ColMajor>;
+    using JT_Type = const Eigen::Transpose<const Eigen::Map<Eigen::SparseMatrix<Block, Eigen::RowMajor> > >;
+    using JTKJ_Type = Eigen::SparseMatrix<Block, Eigen::RowMajor>;
+
+    std::unique_ptr<linearalgebra::SparseMatrixProduct< K_Type, J_Type, KJ_Type> > m_matrixProductKJ;
+    std::unique_ptr<linearalgebra::SparseMatrixProduct< JT_Type, KJ_Type, JTKJ_Type> > m_matrixProductJTKJ;
+};
+
+#if !defined(SOFA_COMPONENT_LINEARSYSTEM_CONSTANTSPARSITYPROJECTIONMETHOD_CPP)
+extern template class SOFA_COMPONENT_LINEARSYSTEM_API ConstantSparsityProjectionMethod<sofa::linearalgebra::CompressedRowSparseMatrix<SReal> >;
+#endif
+
+}
+

Sofa/Component/LinearSystem/src/sofa/component/linearsystem/ConstantSparsityProjectionMethod.inl

@@ -0,0 +1,124 @@
+/******************************************************************************
+*                 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/linearsystem/ConstantSparsityProjectionMethod.h>
+
+#include <Eigen/Sparse>
+#include <sofa/helper/ScopedAdvancedTimer.h>
+#include <sofa/simulation/MainTaskSchedulerFactory.h>
+#include <sofa/simulation/ParallelSparseMatrixProduct.h>
+
+namespace sofa::component::linearsystem
+{
+
+template <class TMatrix>
+ConstantSparsityProjectionMethod<TMatrix>::ConstantSparsityProjectionMethod()
+    : d_parallelProduct(initData(&d_parallelProduct, true, "parallelProduct", "Compute the matrix product in parallel"))
+{}
+
+template <class TMatrix>
+ConstantSparsityProjectionMethod<TMatrix>::
+~ConstantSparsityProjectionMethod() = default;
+
+template <class TMatrix>
+void ConstantSparsityProjectionMethod<TMatrix>::init()
+{
+    Inherit1::init();
+
+    if (d_parallelProduct.getValue())
+    {
+        auto* taskScheduler = simulation::MainTaskSchedulerFactory::createInRegistry();
+        taskScheduler->init();
+
+        auto* matrixPrductKJ = new sofa::simulation::ParallelSparseMatrixProduct<
+            K_Type, J_Type, KJ_Type>();
+
+        m_matrixProductKJ = std::unique_ptr<sofa::simulation::ParallelSparseMatrixProduct<
+            K_Type, J_Type, KJ_Type>>(matrixPrductKJ);
+
+        matrixPrductKJ->taskScheduler = taskScheduler;
+
+
+        auto* matrixPrductJTKJ = new sofa::simulation::ParallelSparseMatrixProduct<
+            JT_Type, KJ_Type, JTKJ_Type>();
+
+        m_matrixProductJTKJ = std::unique_ptr<sofa::simulation::ParallelSparseMatrixProduct<
+            JT_Type, KJ_Type, JTKJ_Type>>(matrixPrductJTKJ);
+
+        matrixPrductJTKJ->taskScheduler = taskScheduler;
+    }
+    else
+    {
+        m_matrixProductKJ = std::make_unique<sofa::linearalgebra::SparseMatrixProduct<
+            K_Type, J_Type, KJ_Type>>();
+
+        m_matrixProductJTKJ = std::make_unique<sofa::linearalgebra::SparseMatrixProduct<
+            JT_Type, KJ_Type, JTKJ_Type>>();
+    }
+}
+
+template <class TMatrix>
+void ConstantSparsityProjectionMethod<TMatrix>::computeProjection(
+    const Eigen::Map<Eigen::SparseMatrix<Block, Eigen::RowMajor>> KMap,
+    const sofa::type::fixed_array<std::shared_ptr<TMatrix>, 2> J,
+    Eigen::SparseMatrix<Block, Eigen::RowMajor>& JT_K_J)
+{
+    if (J[0] && J[1])
+    {
+        const auto JMap0 = this->makeEigenMap(*J[0]);
+        const auto JMap1 = this->makeEigenMap(*J[1]);
+
+        m_matrixProductKJ->m_lhs = &KMap;
+        m_matrixProductKJ->m_rhs = &JMap1;
+        m_matrixProductKJ->computeProduct();
+
+        const JT_Type JMap0T = JMap0.transpose();
+        m_matrixProductJTKJ->m_lhs = &JMap0T;
+        m_matrixProductJTKJ->m_rhs = &m_matrixProductKJ->getProductResult();
+        m_matrixProductJTKJ->computeProduct();
+
+        JT_K_J = m_matrixProductJTKJ->getProductResult();
+    }
+    else if (J[0] && !J[1])
+    {
+        const auto JMap0 = this->makeEigenMap(*J[0]);
+        JT_K_J = JMap0.transpose() * KMap;
+    }
+    else if (!J[0] && J[1])
+    {
+        const auto JMap1 = this->makeEigenMap(*J[1]);
+
+        m_matrixProductKJ->m_lhs = &KMap;
+        m_matrixProductKJ->m_rhs = &JMap1;
+
+        m_matrixProductKJ->computeProduct();
+
+        JT_K_J = m_matrixProductKJ->getProductResult();
+    }
+    else
+    {
+        JT_K_J = KMap;
+    }
+}
+
+
+}