From b712453244aaa519cf2b1e4f17f7713417877f0e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 25 Jan 2023 12:16:22 -0500 Subject: [PATCH 001/174] Define some additional nonlinear element types --- src/elements/shell/TACSShellElementDefs.h | 70 ++++ tacs/elements.pxd | 60 ++- tacs/elements.pyx | 446 +++++++++++++++++++++- 3 files changed, 560 insertions(+), 16 deletions(-) diff --git a/src/elements/shell/TACSShellElementDefs.h b/src/elements/shell/TACSShellElementDefs.h index fe25e541a..7abe3738f 100644 --- a/src/elements/shell/TACSShellElementDefs.h +++ b/src/elements/shell/TACSShellElementDefs.h @@ -111,6 +111,25 @@ typedef TACSShellElement TACSTri3ShellModRot; +/* + Moderate rotation shell elements with nonlinear strain and appropriate quadrature schemes +*/ +typedef TACSShellElement, + TACSQuadraticRotation, TACSShellNonlinearModel> + TACSQuad4NonlinearShellModRot; + +typedef TACSShellElement, + TACSQuadraticRotation, TACSShellNonlinearModel> + TACSQuad9NonlinearShellModRot; + +typedef TACSShellElement, + TACSQuadraticRotation, TACSShellNonlinearModel> + TACSQuad16NonlinearShellModRot; + +typedef TACSShellElement + TACSTri3NonlinearShellModRot; + /* Quaternion shell elements */ @@ -130,6 +149,28 @@ typedef TACSShellElement TACSTri3ShellQuaternion; +/* + Quaternion shell elements with nonlinear strain +*/ +typedef TACSShellElement, + TACSQuaternionRotation, TACSShellNonlinearModel> + TACSQuad4NonlinearShellQuaternion; + +typedef TACSShellElement, + TACSQuaternionRotation, TACSShellNonlinearModel> + TACSQuad9NonlinearShellQuaternion; + +typedef TACSShellElement, + TACSQuaternionRotation, TACSShellNonlinearModel> + TACSQuad16NonlinearShellQuaternion; + +typedef TACSShellElement + TACSTri3NonlinearShellQuaternion; + +/* + Beam elements with linear strain and linear, quadratic and exact rotation parameterizations +*/ typedef TACSBeamElement, TACSLinearizedRotation, TACSBeamLinearModel> TACSBeam2; @@ -154,6 +195,35 @@ typedef TACSBeamElement, TACSQuaternionRotation, TACSBeamLinearModel> TACSBeam3Quaternion; +/* + Beam elements with nonlinear strain and linear, quadratic and exact rotation parameterizations. + + Not implemented yet. +*/ +// typedef TACSBeamElement, +// TACSLinearizedRotation, TACSBeamNonlinearinearModel> +// TACSNonlinearBeam2; + +// typedef TACSBeamElement, +// TACSLinearizedRotation, TACSBeamNonlinearinearModel> +// TACSNonlinearBeam3; + +// typedef TACSBeamElement, +// TACSQuadraticRotation, TACSBeamNonlinearinearModel> +// TACSNonlinearBeam2ModRot; + +// typedef TACSBeamElement, +// TACSQuadraticRotation, TACSBeamNonlinearinearModel> +// TACSNonlinearBeam3ModRot; + +// typedef TACSBeamElement, +// TACSQuaternionRotation, TACSBeamNonlinearinearModel> +// TACSNonlinearBeam2Quaternion; + +// typedef TACSBeamElement, +// TACSQuaternionRotation, TACSBeamNonlinearinearModel> +// TACSNonlinearBeam3Quaternion; + /** Create a TACS shell element based on the name of the shell. diff --git a/tacs/elements.pxd b/tacs/elements.pxd index d89c1ace3..c5ec0d578 100644 --- a/tacs/elements.pxd +++ b/tacs/elements.pxd @@ -268,12 +268,68 @@ cdef extern from "TACSShellElementDefs.h": TACSTri3NonlinearThermalShell(TACSShellTransform*, TACSShellConstitutive*) + cdef cppclass TACSQuad4ShellModRot(TACSElement): + TACSQuad4ShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad9ShellModRot(TACSElement): + TACSQuad9ShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad16ShellModRot(TACSElement): + TACSQuad16ShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSTri3ShellModRot(TACSElement): + TACSTri3ShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + cdef cppclass TACSQuad4ShellQuaternion(TACSElement): TACSQuad4ShellQuaternion(TACSShellTransform*, TACSShellConstitutive*) - cdef cppclass TACSQuad4ShellModRot(TACSElement): - TACSQuad4ShellModRot(TACSShellTransform*, + cdef cppclass TACSQuad9ShellQuaternion(TACSElement): + TACSQuad9ShellQuaternion(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad16ShellQuaternion(TACSElement): + TACSQuad16ShellQuaternion(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSTri3ShellQuaternion(TACSElement): + TACSTri3ShellQuaternion(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad4NonlinearShellModRot(TACSElement): + TACSQuad4NonlinearShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad9NonlinearShellModRot(TACSElement): + TACSQuad9NonlinearShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad16NonlinearShellModRot(TACSElement): + TACSQuad16NonlinearShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSTri3NonlinearShellModRot(TACSElement): + TACSTri3NonlinearShellModRot(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad4NonlinearShellQuaternion(TACSElement): + TACSQuad4NonlinearShellQuaternion(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad9NonlinearShellQuaternion(TACSElement): + TACSQuad9NonlinearShellQuaternion(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSQuad16NonlinearShellQuaternion(TACSElement): + TACSQuad16NonlinearShellQuaternion(TACSShellTransform*, + TACSShellConstitutive*) + + cdef cppclass TACSTri3NonlinearShellQuaternion(TACSElement): + TACSTri3NonlinearShellQuaternion(TACSShellTransform*, TACSShellConstitutive*) cdef cppclass TACSBeam2(TACSElement): diff --git a/tacs/elements.pyx b/tacs/elements.pyx index 84d32ef7b..06882ff18 100644 --- a/tacs/elements.pyx +++ b/tacs/elements.pyx @@ -658,6 +658,10 @@ cdef class Quad4Shell(Element): cdef class Quad4NonlinearShell(Element): """ A 4-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship but retains a linearized treatment of rotations. + It should therefore capture geometrically nonlinear stress-stiffening effects, provided rotations remain small. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` This element employs a mixed interpolation of tensorial (strain) components (MITC) method to avoid shear locking problems. @@ -680,6 +684,118 @@ cdef class Quad4NonlinearShell(Element): self.ptr = new TACSQuad4NonlinearShell(transform.ptr, con.cptr) self.ptr.incref() +cdef class Quad4ShellModRot(Element): + """ + A 4-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 6 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad4ShellModRot(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad4ShellQuaternion(Element): + """ + A 4-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 8 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad4ShellQuaternion(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad4NonlinearShellModRot(Element): + """ + A 4-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 6 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad4NonlinearShellModRot(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad4NonlinearShellQuaternion(Element): + """ + A 4-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 8 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad4NonlinearShellQuaternion(transform.ptr, con.cptr) + self.ptr.incref() + cdef class Quad9Shell(Element): """ A 9-node quad shell element for general linear elastic analysis. @@ -708,6 +824,10 @@ cdef class Quad9Shell(Element): cdef class Quad9NonlinearShell(Element): """ A 9-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship but retains a linearized treatment of rotations. + It should therefore capture geometrically nonlinear stress-stiffening effects, provided rotations remain small. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` This element employs a mixed interpolation of tensorial (strain) components (MITC) method to avoid shear locking problems. @@ -730,6 +850,118 @@ cdef class Quad9NonlinearShell(Element): self.ptr = new TACSQuad9NonlinearShell(transform.ptr, con.cptr) self.ptr.incref() +cdef class Quad9ShellModRot(Element): + """ + A 9-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 6 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad9ShellModRot(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad9ShellQuaternion(Element): + """ + A 9-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 8 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad9ShellQuaternion(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad9NonlinearShellModRot(Element): + """ + A 9-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 6 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad9NonlinearShellModRot(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad9NonlinearShellQuaternion(Element): + """ + A 9-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 8 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad9NonlinearShellQuaternion(transform.ptr, con.cptr) + self.ptr.incref() + cdef class Quad16Shell(Element): """ A 16-node quad shell element for general linear elastic analysis. @@ -758,6 +990,10 @@ cdef class Quad16Shell(Element): cdef class Quad16NonlinearShell(Element): """ A 16-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship but retains a linearized treatment of rotations. + It should therefore capture geometrically nonlinear stress-stiffening effects, provided rotations remain small. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` This element employs a mixed interpolation of tensorial (strain) components (MITC) method to avoid shear locking problems. @@ -780,6 +1016,118 @@ cdef class Quad16NonlinearShell(Element): self.ptr = new TACSQuad16NonlinearShell(transform.ptr, con.cptr) self.ptr.incref() +cdef class Quad16ShellModRot(Element): + """ + A 16-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 6 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad16ShellModRot(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad16ShellQuaternion(Element): + """ + A 16-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 8 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad16ShellQuaternion(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad16NonlinearShellModRot(Element): + """ + A 16-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 6 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad16NonlinearShellModRot(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad16NonlinearShellQuaternion(Element): + """ + A 16-node quad shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 8 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad16NonlinearShellQuaternion(transform.ptr, con.cptr) + self.ptr.incref() + cdef class Tri3Shell(Element): """ A 3-node triangular shell element for general linear elastic analysis. @@ -808,6 +1156,10 @@ cdef class Tri3Shell(Element): cdef class Tri3NonlinearShell(Element): """ A 3-node triangular shell element for geometric elastic analysis. + The element uses a nonlinear strain relationship but retains a linearized treatment of rotations. + It should therefore capture geometrically nonlinear stress-stiffening effects, provided rotations remain small. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` This element employs a mixed interpolation of tensorial (strain) components (MITC) method to avoid shear locking problems. @@ -830,9 +1182,12 @@ cdef class Tri3NonlinearShell(Element): self.ptr = new TACSTri3NonlinearShell(transform.ptr, con.cptr) self.ptr.incref() -cdef class Quad4ThermalShell(Element): +cdef class Tri3ShellModRot(Element): """ - A 4-node quad shell element for general linear thermoelastic analysis. + A 3-node triangular shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` This element employs a mixed interpolation of tensorial (strain) components (MITC) method to avoid shear locking problems. @@ -840,7 +1195,7 @@ cdef class Quad4ThermalShell(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 7 + varsPerNode: 6 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -852,12 +1207,15 @@ cdef class Quad4ThermalShell(Element): def __cinit__(self, ShellTransform transform, ShellConstitutive con): if transform is None: transform = ShellNaturalTransform() - self.ptr = new TACSQuad4ThermalShell(transform.ptr, con.cptr) + self.ptr = new TACSTri3ShellModRot(transform.ptr, con.cptr) self.ptr.incref() -cdef class Quad4NonlinearThermalShell(Element): +cdef class Tri3ShellQuaternion(Element): """ - A 4-node quad shell element for general linear thermoelastic analysis. + A 3-node triangular shell element for general geometric nonlinear elastic analysis. + The element uses a linear strain relationship but uses a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` This element employs a mixed interpolation of tensorial (strain) components (MITC) method to avoid shear locking problems. @@ -865,7 +1223,7 @@ cdef class Quad4NonlinearThermalShell(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 7 + varsPerNode: 8 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -877,12 +1235,43 @@ cdef class Quad4NonlinearThermalShell(Element): def __cinit__(self, ShellTransform transform, ShellConstitutive con): if transform is None: transform = ShellNaturalTransform() - self.ptr = new TACSQuad4NonlinearThermalShell(transform.ptr, con.cptr) + self.ptr = new TACSTri3ShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() -cdef class Quad4ShellQuaternion(Element): +cdef class Tri3NonlinearShellModRot(Element): """ - A 4-node quad shell element for general linear thermoelastic analysis. + A 3-node triangular shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a quadratic rotation parameterization that is valid for moderate rotations. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 6 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSTri3NonlinearShellModRot(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Tri3NonlinearShellQuaternion(Element): + """ + A 3-node triangular shell element for general geometric nonlinear elastic analysis. + The element uses a nonlinear strain relationship and a geometrically exact quaternion rotation parameterization. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` This element employs a mixed interpolation of tensorial (strain) components (MITC) method to avoid shear locking problems. @@ -902,10 +1291,10 @@ cdef class Quad4ShellQuaternion(Element): def __cinit__(self, ShellTransform transform, ShellConstitutive con): if transform is None: transform = ShellNaturalTransform() - self.ptr = new TACSQuad4ShellQuaternion(transform.ptr, con.cptr) + self.ptr = new TACSTri3NonlinearShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() -cdef class Quad4ShellModRot(Element): +cdef class Quad4ThermalShell(Element): """ A 4-node quad shell element for general linear thermoelastic analysis. @@ -915,7 +1304,7 @@ cdef class Quad4ShellModRot(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: ?? + varsPerNode: 7 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -927,7 +1316,36 @@ cdef class Quad4ShellModRot(Element): def __cinit__(self, ShellTransform transform, ShellConstitutive con): if transform is None: transform = ShellNaturalTransform() - self.ptr = new TACSQuad4ShellModRot(transform.ptr, con.cptr) + self.ptr = new TACSQuad4ThermalShell(transform.ptr, con.cptr) + self.ptr.incref() + +cdef class Quad4NonlinearThermalShell(Element): + """ + A 4-node quad shell element for general nonlinear thermoelastic analysis. + The element uses a nonlinear strain relationship but retains a linearized treatment of rotations. + It should therefore capture geometrically nonlinear stress-stiffening effects, provided rotations remain small. + + .. seealso:: :ref:`theory/shell_element:Director parametrization` + + This element employs a mixed interpolation of tensorial (strain) + components (MITC) method to avoid shear locking problems. + + .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` + + .. note:: + varsPerNode: 7 + + outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + + Args: + transform (ShellTransform or None): Shell transform object. + ``None`` is equivalent to :class:`~ShellNaturalTransform`. + con (ShellConstitutive): Shell constitutive object. + """ + def __cinit__(self, ShellTransform transform, ShellConstitutive con): + if transform is None: + transform = ShellNaturalTransform() + self.ptr = new TACSQuad4NonlinearThermalShell(transform.ptr, con.cptr) self.ptr.incref() cdef class Quad9ThermalShell(Element): From 091c2562ae75d4ebd71b5d900207881c02a73522 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 25 Jan 2023 19:43:30 -0500 Subject: [PATCH 002/174] Add cantilever example/benchmark --- examples/nonlinear_cantilever/analysis.py | 155 ++++++++++++++++++ .../analytic_displacement.py | 71 ++++++++ .../benchmark/benchmark_analysis.py | 46 ++++++ .../generate_beam_mesh.py | 127 ++++++++++++++ 4 files changed, 399 insertions(+) create mode 100644 examples/nonlinear_cantilever/analysis.py create mode 100644 examples/nonlinear_cantilever/analytic_displacement.py create mode 100644 examples/nonlinear_cantilever/benchmark/benchmark_analysis.py create mode 100755 examples/nonlinear_cantilever/generate_beam_mesh.py diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py new file mode 100644 index 000000000..566680c89 --- /dev/null +++ b/examples/nonlinear_cantilever/analysis.py @@ -0,0 +1,155 @@ +""" +============================================================================== +Nonlinear cantilever beam analysis +============================================================================== +@File : analysis.py +@Date : 2023/01/24 +@Author : Alasdair Christison Gray +@Description : +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +import os +import argparse + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +from mpi4py import MPI +from pprint import pprint + +# ============================================================================== +# Extension modules +# ============================================================================== +from tacs import pyTACS, constitutive, elements, functions + + +# ============================================================================== +# Constants +# ============================================================================== +COMM = MPI.COMM_WORLD +BDF_FILE = os.path.join(os.path.dirname(__file__), "Beam.bdf") +E = 1.2e6 # Young's modulus +NU = 0.0 # Poisson's ratio +RHO = 1.0 # density +YIELD_STRESS = 1.0 # yield stress +THICKNESS = 0.1 # Shell thickness +FORCE_MULTIPLIER = 1.0 # Multiplier applied to the baseline force of EI/L^2 +MOMENT_MULTIPLIER = 0.1 # Multiplier applied to the baseline moment of 2pi * EI/L (which results in a full rotation) +STRAIN_TYPE = "linear" +ROTATION_TYPE = "linear" + +elementType = None +if STRAIN_TYPE == "linear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4Shell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4ShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4ShellQuaternion +elif STRAIN_TYPE == "nonlinear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4NonlinearShell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4NonlinearShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4NonlinearShellQuaternion + +if elementType is None: + raise RuntimeError("Invalid element type, check STRAIN_TYPE and ROTATION_TYPE.") + +# ============================================================================== +# Create pyTACS Assembler and problems +# ============================================================================== +structOptions = { + "printtiming": True, +} +FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) + + +def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + con = constitutive.IsoShellConstitutive( + matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS + ) + transform = None + element = elementType(transform, con) + tScale = [10.0] + return element, tScale + + +FEAAssembler.initialize(elemCallBack) + +probOptions = {"printTiming": True} +forceProblem = FEAAssembler.createStaticProblem("TipForce") +momentProblem = FEAAssembler.createStaticProblem("TipMoment") +problems = [forceProblem, momentProblem] + + +# ============================================================================== +# Determine beam dimensions and other properties +# ============================================================================== +bdfInfo = FEAAssembler.getBDFInfo() +# cross-reference bdf object to use some of pynastrans advanced features +bdfInfo.cross_reference() +nodeCoords = bdfInfo.get_xyz_in_coord() +beamLength = np.max(nodeCoords[:, 0]) - np.min(nodeCoords[:, 0]) +beamWidth = np.max(nodeCoords[:, 1]) - np.min(nodeCoords[:, 1]) +I = beamWidth * THICKNESS**3 / 12.0 + +# ============================================================================== +# Add tip loads for each case +# ============================================================================== +tipForce = FORCE_MULTIPLIER * E * I / beamLength**2 +tipMoment = MOMENT_MULTIPLIER * -2 * np.pi * E * I / beamLength + +# In order to work for different mesh sizes, we need to find the tip node IDs +# ourselves, we do this by finding the indices of the nodes whose x coordinate +# is within a tolerance of the max X coordinate in the mesh +tipNodeIDs = np.nonzero(np.abs(np.max(nodeCoords[:, 0]) - nodeCoords[:, 0]) <= 1e-6)[0] +numTipNodes = len(tipNodeIDs) + +forceProblem.addLoadToNodes( + tipNodeIDs, [0, 0, tipForce / numTipNodes, 0, 0, 0], nastranOrdering=True +) +momentProblem.addLoadToNodes( + tipNodeIDs, [0, 0, 0, 0, tipMoment / numTipNodes, 0], nastranOrdering=True +) + +# ============================================================================== +# Add functions for each problem +# ============================================================================== + +for problem in problems: + # KS approximation of the maximum failure value + problem.addFunction( + "KSFailure", functions.KSFailure, ksWeight=80.0, ftype="discrete" + ) + + # Maximum displacement in the z-direction (KS with a very large weight to get a true max) + problem.addFunction( + "MaxZDisp", + functions.KSDisplacement, + direction=np.array([0.0, 0.0, 1.0]), + ksWeight=1e20, + ftype="discrete", + ) + # Compliance + problem.addFunction("Compliance", functions.Compliance) + +# ============================================================================== +# Solve all problems and evaluate functions +# ============================================================================== +funcs = {} +funcsSens = {} +for problem in problems: + problem.solve() + problem.evalFunctions(funcs) + problem.evalFunctionsSens(funcsSens) + problem.writeSolution(outputDir=os.path.dirname(__file__)) + +if COMM.rank == 0: + pprint(funcs) diff --git a/examples/nonlinear_cantilever/analytic_displacement.py b/examples/nonlinear_cantilever/analytic_displacement.py new file mode 100644 index 000000000..4bf4e0cf5 --- /dev/null +++ b/examples/nonlinear_cantilever/analytic_displacement.py @@ -0,0 +1,71 @@ +""" +============================================================================== + +============================================================================== +@Description : Functions for computing the geometrically exact tip displacement +of a cantilever beam with an applied tip force +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== + +# ============================================================================== +# External Python modules +# ============================================================================== + +# ============================================================================== +# Extension modules +# ============================================================================== + + +def analyticCantileverDisplacement(alpha): + if len(alpha) > 1: + thetaTip = np.zeros_like(alpha) + XDispNorm = np.zeros_like(alpha) + ZDispNorm = np.zeros_like(alpha) + else: + alpha = np.array(alpha) + for a in range(len(alpha)): + if alpha[a] != 0.0: + # Use the linear cantilever tip rotation as a good starting guess for the nonlinear rotation + ResidualFun = lambda theta: tipRotationResidual(theta, alpha[a]) + sol = root_scalar( + ResidualFun, + x0=1e-4, + x1=min(alpha[a] / 2.0, 0.5), + xtol=1e-12, + rtol=1e-14, + ) + theta = sol.root + + mu = (1.0 + np.sin(theta)) / 2.0 + phi = np.arcsin(1.0 / (np.sqrt(2.0 * mu))) + XDisp = 1.0 - np.sqrt((2.0 * np.sin(theta)) / alpha[a]) + ZDisp = 1.0 - 2.0 / np.sqrt(alpha[a]) * (ellipe(mu) - ellipeinc(phi, mu)) + else: + theta = 0.0 + XDisp = 0.0 + ZDisp = 0.0 + + if len(alpha) > 1: + thetaTip[a] = theta + XDispNorm[a] = XDisp + ZDispNorm[a] = ZDisp + else: + thetaTip = theta + XDispNorm = XDisp + ZDispNorm = ZDisp + + return thetaTip, XDispNorm, ZDispNorm + + +# This function computes the residual of the transcendental equation that is solved to compute the tip rotation angle theta +def tipRotationResidual(theta, alpha): + mu = (1.0 + np.sin(theta)) / 2.0 + phi = np.arcsin(1.0 / (np.sqrt(2.0 * mu))) + R = ellipk(mu) - ellipkinc(phi, mu) - np.sqrt(alpha) + print( + "Alpha = %f, theta = %f, mu = %f, phi = %f, R = %f" % (alpha, theta, mu, phi, R) + ) + return R diff --git a/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py b/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py new file mode 100644 index 000000000..c6ed8a551 --- /dev/null +++ b/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py @@ -0,0 +1,46 @@ +""" +This script is used to regression test the example against historical values. +""" + +import numpy as np +import unittest +import sys +import os + +# Set the path to the example script we're testing +example_path = os.path.join(os.path.dirname(__file__), "..") +sys.path.append(example_path) + +# Reference values for eval functions +FUNC_REF = { + "TipForce_Compliance": 2.7437177731573215, + "TipForce_KSFailure": 0.05892727757722518, + "TipForce_MaxZDisp": 2.9603338686052387, + "TipMoment_Compliance": 3.701101650340912, + "TipMoment_KSFailure": 0.05893060077376249, + "TipMoment_MaxZDisp": 3.0515204191877943, +} + + +class ExampleBenchmark(unittest.TestCase): + + N_PROCS = 1 # this is how many MPI processes to use for this TestCase. + + def setUp(self): + # Import the example to automatically run the script + import analysis + + self.example = analysis + + def benchmark_funcs(self): + """ + Test the example eval functions against reference values + """ + func_dict = self.example.funcs + + # Test functions values against historical values + for func_name in func_dict: + with self.subTest(function=func_name): + np.testing.assert_allclose( + func_dict[func_name], FUNC_REF[func_name], rtol=1e-6, atol=1e-6 + ) diff --git a/examples/nonlinear_cantilever/generate_beam_mesh.py b/examples/nonlinear_cantilever/generate_beam_mesh.py new file mode 100755 index 000000000..fe6476c9c --- /dev/null +++ b/examples/nonlinear_cantilever/generate_beam_mesh.py @@ -0,0 +1,127 @@ +import numpy +import argparse + + +def write_80(line): + newline = "{:80s}\n".format(line.strip("\n")) + fout.write(newline) + + +parser = argparse.ArgumentParser() +parser.add_argument("--lx", type=float, default=10.0, help="Beam length") +parser.add_argument("--ly", type=float, default=1.0, help="Beam width") +parser.add_argument("--ncx", type=int, default=1, help="# components along length") +parser.add_argument("--ncy", type=int, default=1, help="# components along width") +parser.add_argument("--nex", type=int, default=16, help="# elements along length") +parser.add_argument("--ney", type=int, default=1, help="# elements along width") +parser.add_argument("--name", type=str, default="Beam") +args = parser.parse_args() + +# Overall plate dimensions +lx = args.lx +ly = args.ly + +# Number of components in each direction +ncx = args.ncx +ncy = args.ncy +ncomp = ncx * ncy + +# Number of elements along each edge of a single panel +nex = args.nex +ney = args.ney + +# Nodes +nx = ncx * nex + 1 +ny = ncy * ney + 1 +xtmp = numpy.linspace(0, lx, nx) +ytmp = numpy.linspace(0, ly, ny) +X, Y = numpy.meshgrid(xtmp, ytmp) +Z = numpy.zeros_like(X) +nodes = numpy.stack((X, Y, Z), axis=2) +nmat = nodes.reshape((nx * ny, 3)) + +# Node numbering +nid = numpy.zeros((nx, ny), dtype="intc") +bcnodes = [] +count = 1 +for i in range(ny): + for j in range(nx): + nid[j, i] = count + if j == 0: + bcnodes.append(count) + count += 1 + +# Connectivity +nex = nx - 1 +ney = ny - 1 +ne = nex * ney +conn = {i + 1: [] for i in range(ncomp)} +ie = 1 +for i in range(ney): + for j in range(nex): + compID = i // ney * ncx + j // nex + 1 + conn[compID].append( + [ie, nid[j, i], nid[j + 1, i], nid[j + 1, i + 1], nid[j, i + 1]] + ) + ie += 1 + + +# Write BDF +output_file = args.name + ".bdf" + +with open(output_file, "w") as fout: + write_80("SOL 103") + write_80("CEND") + write_80("BEGIN BULK") + + # Make component names + compNames = {} + compID = 1 + for i in range(ncy): + for j in range(ncx): + compNames[compID] = "PLATE.{:03d}/SEG.{:02d}".format(i, j) + compID += 1 + + def write_bulk_line(key, items, format="small"): + if format == "small": + width = 8 + writekey = key + elif format == "large": + width = 16 + writekey = key + "*" + line = "{:8s}".format(writekey) + for item in items: + if type(item) in [int, numpy.int64, numpy.int32]: + line += "{:{width}d}".format(item, width=width)[:width] + elif type(item) in [float, numpy.float64]: + line += "{: {width}f}".format(item, width=width)[:width] + elif type(item) is str: + line += "{:{width}s}".format(item, width=width)[:width] + else: + print(type(item), item) + if len(line) == 72: + write_80(line) + line = " " * 8 + if len(line) > 8: + write_80(line) + + # Write nodes + for i in range(nx * ny): + write_bulk_line("GRID", [i + 1, 0, nmat[i, 0], nmat[i, 1], nmat[i, 2], 0, 0, 0]) + + # Write elements + compID = 1 + for key in conn: + famPrefix = "$ Shell element data for family " + famString = "{}{:39s}".format(famPrefix, compNames[compID]) + write_80(famString) + compID += 1 + for element in conn[key]: + element.insert(1, key) + write_bulk_line("CQUAD4", element) + + # Write boundary conditions + for node in bcnodes: + write_bulk_line("SPC", [1, node, "123456", 0.0]) + + write_80("ENDDATA") From 5ce0d824665dccaaa1111d7dd44e66ef5f9080c8 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 25 Jan 2023 20:19:38 -0500 Subject: [PATCH 003/174] Add cantilever example mesh --- examples/nonlinear_cantilever/Beam.bdf | 57 ++++++++++++++++++++++++++ 1 file changed, 57 insertions(+) create mode 100644 examples/nonlinear_cantilever/Beam.bdf diff --git a/examples/nonlinear_cantilever/Beam.bdf b/examples/nonlinear_cantilever/Beam.bdf new file mode 100644 index 000000000..b7cfcb6c8 --- /dev/null +++ b/examples/nonlinear_cantilever/Beam.bdf @@ -0,0 +1,57 @@ +SOL 103 +CEND +BEGIN BULK +GRID 1 0 0.00000 0.00000 0.00000 0 0 0 +GRID 2 0 0.62500 0.00000 0.00000 0 0 0 +GRID 3 0 1.25000 0.00000 0.00000 0 0 0 +GRID 4 0 1.87500 0.00000 0.00000 0 0 0 +GRID 5 0 2.50000 0.00000 0.00000 0 0 0 +GRID 6 0 3.12500 0.00000 0.00000 0 0 0 +GRID 7 0 3.75000 0.00000 0.00000 0 0 0 +GRID 8 0 4.37500 0.00000 0.00000 0 0 0 +GRID 9 0 5.00000 0.00000 0.00000 0 0 0 +GRID 10 0 5.62500 0.00000 0.00000 0 0 0 +GRID 11 0 6.25000 0.00000 0.00000 0 0 0 +GRID 12 0 6.87500 0.00000 0.00000 0 0 0 +GRID 13 0 7.50000 0.00000 0.00000 0 0 0 +GRID 14 0 8.12500 0.00000 0.00000 0 0 0 +GRID 15 0 8.75000 0.00000 0.00000 0 0 0 +GRID 16 0 9.37500 0.00000 0.00000 0 0 0 +GRID 17 0 10.0000 0.00000 0.00000 0 0 0 +GRID 18 0 0.00000 1.00000 0.00000 0 0 0 +GRID 19 0 0.62500 1.00000 0.00000 0 0 0 +GRID 20 0 1.25000 1.00000 0.00000 0 0 0 +GRID 21 0 1.87500 1.00000 0.00000 0 0 0 +GRID 22 0 2.50000 1.00000 0.00000 0 0 0 +GRID 23 0 3.12500 1.00000 0.00000 0 0 0 +GRID 24 0 3.75000 1.00000 0.00000 0 0 0 +GRID 25 0 4.37500 1.00000 0.00000 0 0 0 +GRID 26 0 5.00000 1.00000 0.00000 0 0 0 +GRID 27 0 5.62500 1.00000 0.00000 0 0 0 +GRID 28 0 6.25000 1.00000 0.00000 0 0 0 +GRID 29 0 6.87500 1.00000 0.00000 0 0 0 +GRID 30 0 7.50000 1.00000 0.00000 0 0 0 +GRID 31 0 8.12500 1.00000 0.00000 0 0 0 +GRID 32 0 8.75000 1.00000 0.00000 0 0 0 +GRID 33 0 9.37500 1.00000 0.00000 0 0 0 +GRID 34 0 10.0000 1.00000 0.00000 0 0 0 +$ Shell element data for family PLATE.000/SEG.00 +CQUAD4 1 1 1 2 19 18 +CQUAD4 2 1 2 3 20 19 +CQUAD4 3 1 3 4 21 20 +CQUAD4 4 1 4 5 22 21 +CQUAD4 5 1 5 6 23 22 +CQUAD4 6 1 6 7 24 23 +CQUAD4 7 1 7 8 25 24 +CQUAD4 8 1 8 9 26 25 +CQUAD4 9 1 9 10 27 26 +CQUAD4 10 1 10 11 28 27 +CQUAD4 11 1 11 12 29 28 +CQUAD4 12 1 12 13 30 29 +CQUAD4 13 1 13 14 31 30 +CQUAD4 14 1 14 15 32 31 +CQUAD4 15 1 15 16 33 32 +CQUAD4 16 1 16 17 34 33 +SPC 1 1123456 0.00000 +SPC 1 18123456 0.00000 +ENDDATA From ff4756a5aa453f36b6772c3eb2de0c04c58c8e0f Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Wed, 25 Jan 2023 22:55:40 -0500 Subject: [PATCH 004/174] Add more nonlinear example cases --- .gitignore | 1 + examples/nonlinear_cantilever/analysis.py | 5 +- .../benchmark/benchmark_analysis.py | 12 +- examples/nonlinear_hemisphere/analysis.py | 146 + .../benchmark/benchmark_analysis.py | 43 + .../generate_hemisphere.py | 142 + examples/nonlinear_hemisphere/hemisphere.bdf | 584 + examples/nonlinear_skin_buckle/Box.bdf | 45200 ++++++++++++++++ examples/nonlinear_skin_buckle/analysis.py | 148 + .../benchmark/benchmark_analysis.py | 43 + 10 files changed, 46316 insertions(+), 8 deletions(-) create mode 100644 examples/nonlinear_hemisphere/analysis.py create mode 100644 examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py create mode 100755 examples/nonlinear_hemisphere/generate_hemisphere.py create mode 100644 examples/nonlinear_hemisphere/hemisphere.bdf create mode 100755 examples/nonlinear_skin_buckle/Box.bdf create mode 100644 examples/nonlinear_skin_buckle/analysis.py create mode 100644 examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py diff --git a/.gitignore b/.gitignore index db94c89a1..c4f4a4b44 100644 --- a/.gitignore +++ b/.gitignore @@ -28,6 +28,7 @@ extern/ *.tar.gz *.png *.plt +*.szplt *_cs.* *.phy *.bin diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index 566680c89..f426862a2 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -12,7 +12,6 @@ # Standard Python modules # ============================================================================== import os -import argparse # ============================================================================== # External Python modules @@ -109,7 +108,9 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg # In order to work for different mesh sizes, we need to find the tip node IDs # ourselves, we do this by finding the indices of the nodes whose x coordinate # is within a tolerance of the max X coordinate in the mesh -tipNodeIDs = np.nonzero(np.abs(np.max(nodeCoords[:, 0]) - nodeCoords[:, 0]) <= 1e-6)[0] +tipNodeInds = np.nonzero(np.abs(np.max(nodeCoords[:, 0]) - nodeCoords[:, 0]) <= 1e-6)[0] +nastranNodeNums = list(bdfInfo.node_ids) +tipNodeIDs = [nastranNodeNums[ii] for ii in tipNodeInds] numTipNodes = len(tipNodeIDs) forceProblem.addLoadToNodes( diff --git a/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py b/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py index c6ed8a551..2f00d0f30 100644 --- a/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py +++ b/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py @@ -13,12 +13,12 @@ # Reference values for eval functions FUNC_REF = { - "TipForce_Compliance": 2.7437177731573215, - "TipForce_KSFailure": 0.05892727757722518, - "TipForce_MaxZDisp": 2.9603338686052387, - "TipMoment_Compliance": 3.701101650340912, - "TipMoment_KSFailure": 0.05893060077376249, - "TipMoment_MaxZDisp": 3.0515204191877943, + "TipForce_Compliance": 3.330278124467099, + "TipForce_KSFailure": 0.05892862309836616, + "TipForce_MaxZDisp": 3.264365445199943, + "TipMoment_Compliance": 3.947841759347387, + "TipMoment_KSFailure": 0.05893147298160939, + "TipMoment_MaxZDisp": 3.0611989186632727, } diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py new file mode 100644 index 000000000..ec6129d64 --- /dev/null +++ b/examples/nonlinear_hemisphere/analysis.py @@ -0,0 +1,146 @@ +""" +============================================================================== +Large deformation hemispherical shell +============================================================================== +@File : analysis.py +@Date : 2023/01/25 +@Author : Alasdair Christison Gray +@Description : This code runs a geometrically nonlinear analysis of a +hemispherical shell subject to radial point forces around its rim. The problem +is taken from section 3.4 of "Popular benchmark problems for geometric +nonlinear analysis of shells" by Sze et al +(https://doi.org/10.1016/j.finel.2003.11.001). +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +import os + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +from mpi4py import MPI +from pprint import pprint + +# ============================================================================== +# Extension modules +# ============================================================================== +from tacs import pyTACS, constitutive, elements, functions + + +# ============================================================================== +# Constants +# ============================================================================== +COMM = MPI.COMM_WORLD +BDF_FILE = os.path.join(os.path.dirname(__file__), "hemisphere.bdf") +E = 6.825e7 # Young's modulus +NU = 0.3 # Poisson's ratio +RHO = 1.0 # density +YIELD_STRESS = 1.0 # yield stress +THICKNESS = 0.04 # Shell thickness +STRAIN_TYPE = "linear" +ROTATION_TYPE = "linear" + +elementType = None +if STRAIN_TYPE == "linear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4Shell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4ShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4ShellQuaternion +elif STRAIN_TYPE == "nonlinear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4NonlinearShell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4NonlinearShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4NonlinearShellQuaternion + +if elementType is None: + raise RuntimeError("Invalid element type, check STRAIN_TYPE and ROTATION_TYPE.") + +# ============================================================================== +# Create pyTACS Assembler and problems +# ============================================================================== +structOptions = { + "printtiming": True, +} +FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) + + +def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + con = constitutive.IsoShellConstitutive( + matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS + ) + transform = None + element = elementType(transform, con) + tScale = [50.0] + return element, tScale + + +FEAAssembler.initialize(elemCallBack) + +probOptions = {"printTiming": True} +problem = FEAAssembler.createStaticProblem("RadialForces") + + +# ============================================================================== +# Find tip force points +# ============================================================================== +bdfInfo = FEAAssembler.getBDFInfo() +# cross-reference bdf object to use some of pynastran's advanced features +bdfInfo.cross_reference() +nodeCoords = bdfInfo.get_xyz_in_coord() +nastranNodeNums = list(bdfInfo.node_ids) +loadPoints = np.array([[10.0, 0.0, 0.0], [0.0, 10.0, 0.0]]) +loadPointNodeIDs = [] +for ii in range(loadPoints.shape[0]): + # find the closest node to the load point + dists = np.linalg.norm(nodeCoords - loadPoints[ii, :], axis=1) + closestNode = np.argmin(dists) + loadPointNodeIDs.append(nastranNodeNums[closestNode]) + +# ============================================================================== +# Add tip loads +# ============================================================================== +PMax = 400.0 +nodalForces = np.array( + [[-PMax / 2, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, PMax / 2, 0.0, 0.0, 0.0, 0.0]] +) +problem.addLoadToNodes(loadPointNodeIDs, nodalForces, nastranOrdering=True) + +# ============================================================================== +# Add functions +# ============================================================================== + +# KS approximation of the maximum failure value +problem.addFunction("KSFailure", functions.KSFailure, ksWeight=80.0, ftype="discrete") + +# Maximum displacement in the z-direction (KS with a very large weight to get a true max) +problem.addFunction( + "MaxYDisp", + functions.KSDisplacement, + direction=np.array([0.0, 1.0, 0.0]), + ksWeight=1e20, + ftype="discrete", +) + +# Compliance +problem.addFunction("Compliance", functions.Compliance) + +# ============================================================================== +# Solve all problems and evaluate functions +# ============================================================================== +funcs = {} +funcsSens = {} +problem.solve() +problem.evalFunctions(funcs) +problem.evalFunctionsSens(funcsSens) +problem.writeSolution(outputDir=os.path.dirname(__file__)) + +if COMM.rank == 0: + pprint(funcs) diff --git a/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py b/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py new file mode 100644 index 000000000..a539f4b59 --- /dev/null +++ b/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py @@ -0,0 +1,43 @@ +""" +This script is used to regression test the example against historical values. +""" + +import numpy as np +import unittest +import sys +import os + +# Set the path to the example script we're testing +example_path = os.path.join(os.path.dirname(__file__), "..") +sys.path.append(example_path) + +# Reference values for eval functions +FUNC_REF = { + "RadialForces_Compliance": 4801.185364445089, + "RadialForces_KSFailure": 0.09494317198332766, + "RadialForces_MaxYDisp": 14.372827555055666, +} + + +class ExampleBenchmark(unittest.TestCase): + + N_PROCS = 1 # this is how many MPI processes to use for this TestCase. + + def setUp(self): + # Import the example to automatically run the script + import analysis + + self.example = analysis + + def benchmark_funcs(self): + """ + Test the example eval functions against reference values + """ + func_dict = self.example.funcs + + # Test functions values against historical values + for func_name in func_dict: + with self.subTest(function=func_name): + np.testing.assert_allclose( + func_dict[func_name], FUNC_REF[func_name], rtol=1e-6, atol=1e-6 + ) diff --git a/examples/nonlinear_hemisphere/generate_hemisphere.py b/examples/nonlinear_hemisphere/generate_hemisphere.py new file mode 100755 index 000000000..125e1eb9b --- /dev/null +++ b/examples/nonlinear_hemisphere/generate_hemisphere.py @@ -0,0 +1,142 @@ +from __future__ import print_function +import numpy as np +import matplotlib.pyplot as plt +import argparse +from pprint import pprint +from scipy.spatial.transform import Rotation + +parser = argparse.ArgumentParser() +parser.add_argument("--ne1", type=int, default=16, help="# elements along panel width") +parser.add_argument("--ne2", type=int, default=16, help="# elements along panel depth") +args = parser.parse_args() + +# Overall dimensions +R = 10.0 + +# Number of elements along each edge of a single panel +ne1 = args.ne1 +ne2 = args.ne2 + +np1 = 1 +np2 = 1 + +# Nodes +n1 = ne1 + 1 +n2 = ne2 + 1 +theta1 = np.linspace(0, np.deg2rad(72.0), n1) +theta2 = np.linspace(0, np.deg2rad(90.0), n2) +Theta1, Theta2 = np.meshgrid(theta1, theta2) +X = np.zeros_like(Theta1) +Y = np.zeros_like(Theta1) +Z = np.zeros_like(Theta1) + +# Node numbering +nid = np.zeros((n1, n2), dtype="intc") +bcnodes = [] +count = 1 +for i in range(n2): + Rz = Rotation.from_euler("z", theta2[i]) + for j in range(n1): + nid[j, i] = count + # Compute node location on hemisphere + r = R * np.array([np.cos(theta1[j]), 0.0, np.sin(theta1[j])]) + r = Rz.apply(r) + X[j, i] = r[0] + Y[j, i] = r[1] + Z[j, i] = r[2] + if j == 0: + if i == 0: + bcnodes.append({"nodenum": count, "fixedDOF": "2346"}) + else: + bcnodes.append({"nodenum": count, "fixedDOF": "246"}) + elif j == n1 - 1: + bcnodes.append({"nodenum": count, "fixedDOF": "156"}) + count += 1 +nodes = np.stack((X, Y, Z), axis=2) +nmat = nodes.reshape((n1 * n2, 3)) + +# Connectivity +ne1 = n1 - 1 +ne2 = n2 - 1 +ne = ne1 * ne2 +ncomp = 1 +conn = {i + 1: [] for i in range(ncomp)} +ie = 1 +for i in range(ne2): + for j in range(ne1): + compID = i // ne2 * np1 + j // ne1 + 1 + conn[compID].append( + [ie, nid[j, i], nid[j + 1, i], nid[j + 1, i + 1], nid[j, i + 1]] + ) + ie += 1 + + +# Write BDF +output_file = "hemisphere.bdf" +fout = open(output_file, "w") + + +def write_80(line): + newline = "{:80s}\n".format(line.strip("\n")) + fout.write(newline) + + +write_80("SOL 103") +write_80("CEND") +write_80("BEGIN BULK") + +# Make component names +compNames = {} +compID = 1 +for i in range(np2): + for j in range(np1): + compNames[compID] = "PLATE.{:03d}/SEG.{:02d}".format(i, j) + compID += 1 + + +def write_bulk_line(key, items, format="small"): + if format == "small": + width = 8 + writekey = key + elif format == "large": + width = 16 + writekey = key + "*" + line = "{:8s}".format(writekey) + for item in items: + if type(item) in [int, np.int64, np.int32]: + line += "{:{width}d}".format(item, width=width)[:width] + elif type(item) in [float, np.float64]: + line += "{: {width}f}".format(item, width=width)[:width] + elif type(item) is str: + line += "{:{width}s}".format(item, width=width)[:width] + else: + print(type(item), item) + if len(line) == 72: + write_80(line) + line = " " * 8 + if len(line) > 8: + write_80(line) + + +# Write nodes +for i in range(n1 * n2): + write_bulk_line("GRID", [i + 1, 0, nmat[i, 0], nmat[i, 1], nmat[i, 2], 0, 0, 0]) + +# Write elements +compID = 1 +for key in conn: + famPrefix = "$ Shell element data for family " + famString = "{}{:39s}".format(famPrefix, compNames[compID]) + write_80(famString) + compID += 1 + for element in conn[key]: + element.insert(1, key) + write_bulk_line("CQUAD4", element) + +# Write boundary conditions +for node in bcnodes: + write_bulk_line("SPC", [1, node["nodenum"], node["fixedDOF"], 0.0]) + +write_80("ENDDATA") + +fout.close() diff --git a/examples/nonlinear_hemisphere/hemisphere.bdf b/examples/nonlinear_hemisphere/hemisphere.bdf new file mode 100644 index 000000000..1325bfc68 --- /dev/null +++ b/examples/nonlinear_hemisphere/hemisphere.bdf @@ -0,0 +1,584 @@ +SOL 103 +CEND +BEGIN BULK +GRID 1 0 10.0000 0.00000 0.00000 0 0 0 +GRID 2 0 9.95184 0.98017 0.00000 0 0 0 +GRID 3 0 9.80785 1.95090 0.00000 0 0 0 +GRID 4 0 9.56940 2.90284 0.00000 0 0 0 +GRID 5 0 9.23879 3.82683 0.00000 0 0 0 +GRID 6 0 8.81921 4.71396 0.00000 0 0 0 +GRID 7 0 8.31469 5.55570 0.00000 0 0 0 +GRID 8 0 7.73010 6.34393 0.00000 0 0 0 +GRID 9 0 7.07106 7.07106 0.00000 0 0 0 +GRID 10 0 6.34393 7.73010 0.00000 0 0 0 +GRID 11 0 5.55570 8.31469 0.00000 0 0 0 +GRID 12 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1.000000000 32.99999237 * 6425 +* 64250.7500000000 0 0 +GRID* 6426 0 1.000000000 33.19999313 * 6426 +* 64260.7500000000 0 0 +GRID* 6427 0 1.000000000 33.39999390 * 6427 +* 64270.7500000000 0 0 +GRID* 6428 0 1.000000000 33.59999084 * 6428 +* 64280.7500000000 0 0 +GRID* 6429 0 1.000000000 33.79999161 * 6429 +* 64290.7500000000 0 0 +GRID* 6430 0 1.000000000 33.99999237 * 6430 +* 64300.7500000000 0 0 +GRID* 6431 00.9999999404 34.19998932 * 6431 +* 64310.7500000000 0 0 +GRID* 6432 00.9999999404 34.39999008 * 6432 +* 64320.7500000000 0 0 +GRID* 6433 00.9999999404 34.59999084 * 6433 +* 64330.7500000000 0 0 +GRID* 6434 00.9999999404 34.79999161 * 6434 +* 64340.7500000000 0 0 +GRID* 6435 00.9999999404 34.99999237 * 6435 +* 64350.7500000000 0 0 +GRID* 6436 00.9999999404 35.19998932 * 6436 +* 64360.7500000000 0 0 +GRID* 6437 00.9999999404 35.39999008 * 6437 +* 64370.7500000000 0 0 +GRID* 6438 00.9999999404 35.59999084 * 6438 +* 64380.7500000000 0 0 +GRID* 6439 00.9999999404 35.79998779 * 6439 +* 64390.7500000000 0 0 +GRID* 6440 00.9999998808 35.99998856 * 6440 +* 64400.7500000000 0 0 +GRID* 6441 00.9999998808 36.19998932 * 6441 +* 64410.7500000000 0 0 +GRID* 6442 00.9999998808 36.39999008 * 6442 +* 64420.7500000000 0 0 +GRID* 6443 00.9999998808 36.59999084 * 6443 +* 64430.7500000000 0 0 +GRID* 6444 00.9999998808 36.79999161 * 6444 +* 64440.7500000000 0 0 +GRID* 6445 00.9999998808 36.99999237 * 6445 +* 64450.7500000000 0 0 +GRID* 6446 00.9999998808 37.19999313 * 6446 +* 64460.7500000000 0 0 +GRID* 6447 00.9999998808 37.39999390 * 6447 +* 64470.7500000000 0 0 +GRID* 6448 00.9999998212 37.59999466 * 6448 +* 64480.7500000000 0 0 +GRID* 6449 00.9999998212 37.79999542 * 6449 +* 64490.7500000000 0 0 +GRID* 6450 00.9999998212 37.99999619 * 6450 +* 64500.7500000000 0 0 +GRID* 6451 00.9999998212 38.19999695 * 6451 +* 64510.7500000000 0 0 +GRID* 6452 00.9999998212 38.39999771 * 6452 +* 64520.7500000000 0 0 +GRID* 6453 00.9999998212 38.59999847 * 6453 +* 64530.7500000000 0 0 +GRID* 6454 00.9999998212 38.79999924 * 6454 +* 64540.7500000000 0 0 +GRID* 6455 00.9999998212 39.00000000 * 6455 +* 64550.7500000000 0 0 +GRID* 6456 00.9999997616 39.20000076 * 6456 +* 64560.7500000000 0 0 +GRID* 6457 00.9999997616 39.40000153 * 6457 +* 64570.7500000000 0 0 +GRID* 6458 00.9999997616 39.60000229 * 6458 +* 64580.7500000000 0 0 +GRID* 6459 00.9999997616 39.80000305 * 6459 +* 64590.7500000000 0 0 +GRID* 6460 0 1.200000286 20.20000076 * 6460 +* 64600.7500000000 0 0 +GRID* 6461 0 1.200000286 20.39999962 * 6461 +* 64610.7500000000 0 0 +GRID* 6462 0 1.200000286 20.60000038 * 6462 +* 64620.7500000000 0 0 +GRID* 6463 0 1.200000286 20.79999924 * 6463 +* 64630.7500000000 0 0 +GRID* 6464 0 1.200000286 21.00000000 * 6464 +* 64640.7500000000 0 0 +GRID* 6465 0 1.200000286 21.20000076 * 6465 +* 64650.7500000000 0 0 +GRID* 6466 0 1.200000286 21.39999962 * 6466 +* 64660.7500000000 0 0 +GRID* 6467 0 1.200000286 21.60000038 * 6467 +* 64670.7500000000 0 0 +GRID* 6468 0 1.200000286 21.79999924 * 6468 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6483 0 1.200000167 24.79999924 * 6483 +* 64830.7500000000 0 0 +GRID* 6484 0 1.200000167 25.00000000 * 6484 +* 64840.7500000000 0 0 +GRID* 6485 0 1.200000167 25.19999886 * 6485 +* 64850.7500000000 0 0 +GRID* 6486 0 1.200000167 25.39999962 * 6486 +* 64860.7500000000 0 0 +GRID* 6487 0 1.200000167 25.59999847 * 6487 +* 64870.7500000000 0 0 +GRID* 6488 0 1.200000167 25.79999924 * 6488 +* 64880.7500000000 0 0 +GRID* 6489 0 1.200000167 25.99999809 * 6489 +* 64890.7500000000 0 0 +GRID* 6490 0 1.200000167 26.19999886 * 6490 +* 64900.7500000000 0 0 +GRID* 6491 0 1.200000167 26.39999771 * 6491 +* 64910.7500000000 0 0 +GRID* 6492 0 1.200000167 26.59999847 * 6492 +* 64920.7500000000 0 0 +GRID* 6493 0 1.200000167 26.79999733 * 6493 +* 64930.7500000000 0 0 +GRID* 6494 0 1.200000167 26.99999809 * 6494 +* 64940.7500000000 0 0 +GRID* 6495 0 1.200000167 27.19999695 * 6495 +* 64950.7500000000 0 0 +GRID* 6496 0 1.200000167 27.39999771 * 6496 +* 64960.7500000000 0 0 +GRID* 6497 0 1.200000048 27.59999657 * 6497 +* 64970.7500000000 0 0 +GRID* 6498 0 1.200000048 27.79999733 * 6498 +* 64980.7500000000 0 0 +GRID* 6499 0 1.200000048 27.99999619 * 6499 +* 64990.7500000000 0 0 +GRID* 6500 0 1.200000048 28.19999695 * 6500 +* 65000.7500000000 0 0 +GRID* 6501 0 1.200000048 28.39999771 * 6501 +* 65010.7500000000 0 0 +GRID* 6502 0 1.200000048 28.59999657 * 6502 +* 65020.7500000000 0 0 +GRID* 6503 0 1.200000048 28.79999542 * 6503 +* 65030.7500000000 0 0 +GRID* 6504 0 1.200000048 28.99999619 * 6504 +* 65040.7500000000 0 0 +GRID* 6505 0 1.200000048 29.19999695 * 6505 +* 65050.7500000000 0 0 +GRID* 6506 0 1.200000048 29.39999580 * 6506 +* 65060.7500000000 0 0 +GRID* 6507 0 1.200000048 29.59999466 * 6507 +* 65070.7500000000 0 0 +GRID* 6508 0 1.200000048 29.79999542 * 6508 +* 65080.7500000000 0 0 +GRID* 6509 0 1.200000048 29.99999619 * 6509 +* 65090.7500000000 0 0 +GRID* 6510 0 1.200000048 30.19999504 * 6510 +* 65100.7500000000 0 0 +GRID* 6511 0 1.200000048 30.39999390 * 6511 +* 65110.7500000000 0 0 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33.39999390 * 6526 +* 65260.7500000000 0 0 +GRID* 6527 0 1.199999928 33.59999084 * 6527 +* 65270.7500000000 0 0 +GRID* 6528 0 1.199999928 33.79999161 * 6528 +* 65280.7500000000 0 0 +GRID* 6529 0 1.199999928 33.99999237 * 6529 +* 65290.7500000000 0 0 +GRID* 6530 0 1.199999928 34.19998932 * 6530 +* 65300.7500000000 0 0 +GRID* 6531 0 1.199999928 34.39999008 * 6531 +* 65310.7500000000 0 0 +GRID* 6532 0 1.199999928 34.59999084 * 6532 +* 65320.7500000000 0 0 +GRID* 6533 0 1.199999928 34.79999161 * 6533 +* 65330.7500000000 0 0 +GRID* 6534 0 1.199999928 34.99999237 * 6534 +* 65340.7500000000 0 0 +GRID* 6535 0 1.199999928 35.19998932 * 6535 +* 65350.7500000000 0 0 +GRID* 6536 0 1.199999928 35.39999008 * 6536 +* 65360.7500000000 0 0 +GRID* 6537 0 1.199999928 35.59999084 * 6537 +* 65370.7500000000 0 0 +GRID* 6538 0 1.199999928 35.79998779 * 6538 +* 65380.7500000000 0 0 +GRID* 6539 0 1.199999928 35.99998856 * 6539 +* 65390.7500000000 0 0 +GRID* 6540 0 1.199999928 36.19998932 * 6540 +* 65400.7500000000 0 0 +GRID* 6541 0 1.199999928 36.39999008 * 6541 +* 65410.7500000000 0 0 +GRID* 6542 0 1.199999928 36.59999084 * 6542 +* 65420.7500000000 0 0 +GRID* 6543 0 1.199999928 36.79999161 * 6543 +* 65430.7500000000 0 0 +GRID* 6544 0 1.199999928 36.99999237 * 6544 +* 65440.7500000000 0 0 +GRID* 6545 0 1.199999928 37.19999313 * 6545 +* 65450.7500000000 0 0 +GRID* 6546 0 1.199999928 37.39999390 * 6546 +* 65460.7500000000 0 0 +GRID* 6547 0 1.199999809 37.59999466 * 6547 +* 65470.7500000000 0 0 +GRID* 6548 0 1.199999809 37.79999542 * 6548 +* 65480.7500000000 0 0 +GRID* 6549 0 1.199999809 37.99999619 * 6549 +* 65490.7500000000 0 0 +GRID* 6550 0 1.199999809 38.19999695 * 6550 +* 65500.7500000000 0 0 +GRID* 6551 0 1.199999809 38.39999771 * 6551 +* 65510.7500000000 0 0 +GRID* 6552 0 1.199999809 38.59999847 * 6552 +* 65520.7500000000 0 0 +GRID* 6553 0 1.199999809 38.79999924 * 6553 +* 65530.7500000000 0 0 +GRID* 6554 0 1.199999809 39.00000000 * 6554 +* 65540.7500000000 0 0 +GRID* 6555 0 1.199999809 39.20000076 * 6555 +* 65550.7500000000 0 0 +GRID* 6556 0 1.199999809 39.40000153 * 6556 +* 65560.7500000000 0 0 +GRID* 6557 0 1.199999809 39.60000229 * 6557 +* 65570.7500000000 0 0 +GRID* 6558 0 1.199999809 39.80000305 * 6558 +* 65580.7500000000 0 0 +GRID* 6559 0 1.400000095 20.20000076 * 6559 +* 65590.7500000000 0 0 +GRID* 6560 0 1.400000095 20.39999962 * 6560 +* 65600.7500000000 0 0 +GRID* 6561 0 1.400000095 20.60000038 * 6561 +* 65610.7500000000 0 0 +GRID* 6562 0 1.400000095 20.79999924 * 6562 +* 65620.7500000000 0 0 +GRID* 6563 0 1.400000095 21.00000000 * 6563 +* 65630.7500000000 0 0 +GRID* 6564 0 1.400000095 21.20000076 * 6564 +* 65640.7500000000 0 0 +GRID* 6565 0 1.400000095 21.39999962 * 6565 +* 65650.7500000000 0 0 +GRID* 6566 0 1.400000095 21.60000038 * 6566 +* 65660.7500000000 0 0 +GRID* 6567 0 1.400000095 21.79999924 * 6567 +* 65670.7500000000 0 0 +GRID* 6568 0 1.400000095 22.00000000 * 6568 +* 65680.7500000000 0 0 +GRID* 6569 0 1.400000095 22.20000076 * 6569 +* 65690.7500000000 0 0 +GRID* 6570 0 1.400000095 22.39999962 * 6570 +* 65700.7500000000 0 0 +GRID* 6571 0 1.400000095 22.60000038 * 6571 +* 65710.7500000000 0 0 +GRID* 6572 0 1.400000095 22.79999924 * 6572 +* 65720.7500000000 0 0 +GRID* 6573 0 1.400000095 23.00000000 * 6573 +* 65730.7500000000 0 0 +GRID* 6574 0 1.400000095 23.20000076 * 6574 +* 65740.7500000000 0 0 +GRID* 6575 0 1.400000095 23.40000153 * 6575 +* 65750.7500000000 0 0 +GRID* 6576 0 1.400000095 23.60000038 * 6576 +* 65760.7500000000 0 0 +GRID* 6577 0 1.400000095 23.80000114 * 6577 +* 65770.7500000000 0 0 +GRID* 6578 0 1.400000095 24.00000000 * 6578 +* 65780.7500000000 0 0 +GRID* 6579 0 1.400000095 24.20000076 * 6579 +* 65790.7500000000 0 0 +GRID* 6580 0 1.400000095 24.39999962 * 6580 +* 65800.7500000000 0 0 +GRID* 6581 0 1.400000095 24.60000038 * 6581 +* 65810.7500000000 0 0 +GRID* 6582 0 1.400000095 24.79999924 * 6582 +* 65820.7500000000 0 0 +GRID* 6583 0 1.400000095 25.00000000 * 6583 +* 65830.7500000000 0 0 +GRID* 6584 0 1.399999976 25.19999886 * 6584 +* 65840.7500000000 0 0 +GRID* 6585 0 1.399999976 25.39999962 * 6585 +* 65850.7500000000 0 0 +GRID* 6586 0 1.399999976 25.59999847 * 6586 +* 65860.7500000000 0 0 +GRID* 6587 0 1.399999976 25.79999924 * 6587 +* 65870.7500000000 0 0 +GRID* 6588 0 1.399999976 25.99999809 * 6588 +* 65880.7500000000 0 0 +GRID* 6589 0 1.399999976 26.19999886 * 6589 +* 65890.7500000000 0 0 +GRID* 6590 0 1.399999976 26.39999771 * 6590 +* 65900.7500000000 0 0 +GRID* 6591 0 1.399999976 26.59999847 * 6591 +* 65910.7500000000 0 0 +GRID* 6592 0 1.399999976 26.79999733 * 6592 +* 65920.7500000000 0 0 +GRID* 6593 0 1.399999976 26.99999809 * 6593 +* 65930.7500000000 0 0 +GRID* 6594 0 1.399999976 27.19999695 * 6594 +* 65940.7500000000 0 0 +GRID* 6595 0 1.399999976 27.39999771 * 6595 +* 65950.7500000000 0 0 +GRID* 6596 0 1.399999976 27.59999657 * 6596 +* 65960.7500000000 0 0 +GRID* 6597 0 1.399999976 27.79999733 * 6597 +* 65970.7500000000 0 0 +GRID* 6598 0 1.399999976 27.99999619 * 6598 +* 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67140.7500000000 0 0 +GRID* 6715 0 1.599999905 31.59999466 * 6715 +* 67150.7500000000 0 0 +GRID* 6716 0 1.599999905 31.79999352 * 6716 +* 67160.7500000000 0 0 +GRID* 6717 0 1.599999905 31.99999237 * 6717 +* 67170.7500000000 0 0 +GRID* 6718 0 1.599999905 32.19999313 * 6718 +* 67180.7500000000 0 0 +GRID* 6719 0 1.599999905 32.39999390 * 6719 +* 67190.7500000000 0 0 +GRID* 6720 0 1.599999905 32.59999084 * 6720 +* 67200.7500000000 0 0 +GRID* 6721 0 1.599999905 32.79999161 * 6721 +* 67210.7500000000 0 0 +GRID* 6722 0 1.599999905 32.99999237 * 6722 +* 67220.7500000000 0 0 +GRID* 6723 0 1.599999905 33.19999313 * 6723 +* 67230.7500000000 0 0 +GRID* 6724 0 1.599999905 33.39999390 * 6724 +* 67240.7500000000 0 0 +GRID* 6725 0 1.599999905 33.59999084 * 6725 +* 67250.7500000000 0 0 +GRID* 6726 0 1.599999905 33.79999161 * 6726 +* 67260.7500000000 0 0 +GRID* 6727 0 1.599999905 33.99999237 * 6727 +* 67270.7500000000 0 0 +GRID* 6728 0 1.599999905 34.19998932 * 6728 +* 67280.7500000000 0 0 +GRID* 6729 0 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2.399999857 36.39999008 * 7135 +* 71350.7500000000 0 0 +GRID* 7136 0 2.399999857 36.59999084 * 7136 +* 71360.7500000000 0 0 +GRID* 7137 0 2.399999857 36.79999161 * 7137 +* 71370.7500000000 0 0 +GRID* 7138 0 2.399999857 36.99999237 * 7138 +* 71380.7500000000 0 0 +GRID* 7139 0 2.399999857 37.19999313 * 7139 +* 71390.7500000000 0 0 +GRID* 7140 0 2.399999857 37.39999390 * 7140 +* 71400.7500000000 0 0 +GRID* 7141 0 2.400000095 37.59999466 * 7141 +* 71410.7500000000 0 0 +GRID* 7142 0 2.400000095 37.79999542 * 7142 +* 71420.7500000000 0 0 +GRID* 7143 0 2.400000095 37.99999619 * 7143 +* 71430.7500000000 0 0 +GRID* 7144 0 2.400000095 38.19999695 * 7144 +* 71440.7500000000 0 0 +GRID* 7145 0 2.400000095 38.39999771 * 7145 +* 71450.7500000000 0 0 +GRID* 7146 0 2.400000095 38.59999847 * 7146 +* 71460.7500000000 0 0 +GRID* 7147 0 2.400000095 38.79999924 * 7147 +* 71470.7500000000 0 0 +GRID* 7148 0 2.400000095 39.00000000 * 7148 +* 71480.7500000000 0 0 +GRID* 7149 0 2.400000095 39.20000076 * 7149 +* 71490.7500000000 0 0 +GRID* 7150 0 2.400000095 39.40000153 * 7150 +* 71500.7500000000 0 0 +GRID* 7151 0 2.400000095 39.60000229 * 7151 +* 71510.7500000000 0 0 +GRID* 7152 0 2.400000095 39.80000305 * 7152 +* 71520.7500000000 0 0 +GRID* 7153 0 2.599998951 20.20000076 * 7153 +* 71530.7500000000 0 0 +GRID* 7154 0 2.599998951 20.39999962 * 7154 +* 71540.7500000000 0 0 +GRID* 7155 0 2.599998951 20.60000038 * 7155 +* 71550.7500000000 0 0 +GRID* 7156 0 2.599998951 20.79999924 * 7156 +* 71560.7500000000 0 0 +GRID* 7157 0 2.599998951 21.00000000 * 7157 +* 71570.7500000000 0 0 +GRID* 7158 0 2.599998951 21.20000076 * 7158 +* 71580.7500000000 0 0 +GRID* 7159 0 2.599998951 21.39999962 * 7159 +* 71590.7500000000 0 0 +GRID* 7160 0 2.599998951 21.60000038 * 7160 +* 71600.7500000000 0 0 +GRID* 7161 0 2.599998951 21.79999924 * 7161 +* 71610.7500000000 0 0 +GRID* 7162 0 2.599998951 22.00000000 * 7162 +* 71620.7500000000 0 0 +GRID* 7163 0 2.599998951 22.20000076 * 7163 +* 71630.7500000000 0 0 +GRID* 7164 0 2.599998951 22.39999962 * 7164 +* 71640.7500000000 0 0 +GRID* 7165 0 2.599999189 22.60000038 * 7165 +* 71650.7500000000 0 0 +GRID* 7166 0 2.599999189 22.79999924 * 7166 +* 71660.7500000000 0 0 +GRID* 7167 0 2.599999189 23.00000000 * 7167 +* 71670.7500000000 0 0 +GRID* 7168 0 2.599999189 23.20000076 * 7168 +* 71680.7500000000 0 0 +GRID* 7169 0 2.599999189 23.40000153 * 7169 +* 71690.7500000000 0 0 +GRID* 7170 0 2.599999189 23.60000038 * 7170 +* 71700.7500000000 0 0 +GRID* 7171 0 2.599999189 23.80000114 * 7171 +* 71710.7500000000 0 0 +GRID* 7172 0 2.599999189 24.00000000 * 7172 +* 71720.7500000000 0 0 +GRID* 7173 0 2.599999189 24.20000076 * 7173 +* 71730.7500000000 0 0 +GRID* 7174 0 2.599999189 24.39999962 * 7174 +* 71740.7500000000 0 0 +GRID* 7175 0 2.599999189 24.60000038 * 7175 +* 71750.7500000000 0 0 +GRID* 7176 0 2.599999189 24.79999924 * 7176 +* 71760.7500000000 0 0 +GRID* 7177 0 2.599999189 25.00000000 * 7177 +* 71770.7500000000 0 0 +GRID* 7178 0 2.599999189 25.19999886 * 7178 +* 71780.7500000000 0 0 +GRID* 7179 0 2.599999189 25.39999962 * 7179 +* 71790.7500000000 0 0 +GRID* 7180 0 2.599999189 25.59999847 * 7180 +* 71800.7500000000 0 0 +GRID* 7181 0 2.599999189 25.79999924 * 7181 +* 71810.7500000000 0 0 +GRID* 7182 0 2.599999189 25.99999809 * 7182 +* 71820.7500000000 0 0 +GRID* 7183 0 2.599999189 26.19999886 * 7183 +* 71830.7500000000 0 0 +GRID* 7184 0 2.599999189 26.39999771 * 7184 +* 71840.7500000000 0 0 +GRID* 7185 0 2.599999189 26.59999847 * 7185 +* 71850.7500000000 0 0 +GRID* 7186 0 2.599999189 26.79999733 * 7186 +* 71860.7500000000 0 0 +GRID* 7187 0 2.599999189 26.99999809 * 7187 +* 71870.7500000000 0 0 +GRID* 7188 0 2.599999189 27.19999695 * 7188 +* 71880.7500000000 0 0 +GRID* 7189 0 2.599999189 27.39999771 * 7189 +* 71890.7500000000 0 0 +GRID* 7190 0 2.599999428 27.59999657 * 7190 +* 71900.7500000000 0 0 +GRID* 7191 0 2.599999428 27.79999733 * 7191 +* 71910.7500000000 0 0 +GRID* 7192 0 2.599999428 27.99999619 * 7192 +* 71920.7500000000 0 0 +GRID* 7193 0 2.599999428 28.19999695 * 7193 +* 71930.7500000000 0 0 +GRID* 7194 0 2.599999428 28.39999771 * 7194 +* 71940.7500000000 0 0 +GRID* 7195 0 2.599999428 28.59999657 * 7195 +* 71950.7500000000 0 0 +GRID* 7196 0 2.599999428 28.79999542 * 7196 +* 71960.7500000000 0 0 +GRID* 7197 0 2.599999428 28.99999619 * 7197 +* 71970.7500000000 0 0 +GRID* 7198 0 2.599999428 29.19999695 * 7198 +* 71980.7500000000 0 0 +GRID* 7199 0 2.599999428 29.39999580 * 7199 +* 71990.7500000000 0 0 +GRID* 7200 0 2.599999428 29.59999466 * 7200 +* 72000.7500000000 0 0 +GRID* 7201 0 2.599999428 29.79999542 * 7201 +* 72010.7500000000 0 0 +GRID* 7202 0 2.599999428 29.99999619 * 7202 +* 72020.7500000000 0 0 +GRID* 7203 0 2.599999428 30.19999504 * 7203 +* 72030.7500000000 0 0 +GRID* 7204 0 2.599999428 30.39999390 * 7204 +* 72040.7500000000 0 0 +GRID* 7205 0 2.599999428 30.59999466 * 7205 +* 72050.7500000000 0 0 +GRID* 7206 0 2.599999428 30.79999542 * 7206 +* 72060.7500000000 0 0 +GRID* 7207 0 2.599999428 30.99999428 * 7207 +* 72070.7500000000 0 0 +GRID* 7208 0 2.599999428 31.19999313 * 7208 +* 72080.7500000000 0 0 +GRID* 7209 0 2.599999428 31.39999390 * 7209 +* 72090.7500000000 0 0 +GRID* 7210 0 2.599999428 31.59999466 * 7210 +* 72100.7500000000 0 0 +GRID* 7211 0 2.599999428 31.79999352 * 7211 +* 72110.7500000000 0 0 +GRID* 7212 0 2.599999428 31.99999237 * 7212 +* 72120.7500000000 0 0 +GRID* 7213 0 2.599999428 32.19999313 * 7213 +* 72130.7500000000 0 0 +GRID* 7214 0 2.599999428 32.39999390 * 7214 +* 72140.7500000000 0 0 +GRID* 7215 0 2.599999666 32.59999084 * 7215 +* 72150.7500000000 0 0 +GRID* 7216 0 2.599999666 32.79999161 * 7216 +* 72160.7500000000 0 0 +GRID* 7217 0 2.599999666 32.99999237 * 7217 +* 72170.7500000000 0 0 +GRID* 7218 0 2.599999666 33.19999313 * 7218 +* 72180.7500000000 0 0 +GRID* 7219 0 2.599999666 33.39999390 * 7219 +* 72190.7500000000 0 0 +GRID* 7220 0 2.599999666 33.59999084 * 7220 +* 72200.7500000000 0 0 +GRID* 7221 0 2.599999666 33.79999161 * 7221 +* 72210.7500000000 0 0 +GRID* 7222 0 2.599999666 33.99999237 * 7222 +* 72220.7500000000 0 0 +GRID* 7223 0 2.599999666 34.19998932 * 7223 +* 72230.7500000000 0 0 +GRID* 7224 0 2.599999666 34.39999008 * 7224 +* 72240.7500000000 0 0 +GRID* 7225 0 2.599999666 34.59999084 * 7225 +* 72250.7500000000 0 0 +GRID* 7226 0 2.599999666 34.79999161 * 7226 +* 72260.7500000000 0 0 +GRID* 7227 0 2.599999666 34.99999237 * 7227 +* 72270.7500000000 0 0 +GRID* 7228 0 2.599999666 35.19998932 * 7228 +* 72280.7500000000 0 0 +GRID* 7229 0 2.599999666 35.39999008 * 7229 +* 72290.7500000000 0 0 +GRID* 7230 0 2.599999666 35.59999084 * 7230 +* 72300.7500000000 0 0 +GRID* 7231 0 2.599999666 35.79998779 * 7231 +* 72310.7500000000 0 0 +GRID* 7232 0 2.599999666 35.99998856 * 7232 +* 72320.7500000000 0 0 +GRID* 7233 0 2.599999666 36.19998932 * 7233 +* 72330.7500000000 0 0 +GRID* 7234 0 2.599999666 36.39999008 * 7234 +* 72340.7500000000 0 0 +GRID* 7235 0 2.599999666 36.59999084 * 7235 +* 72350.7500000000 0 0 +GRID* 7236 0 2.599999666 36.79999161 * 7236 +* 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2.599999905 39.80000305 * 7251 +* 72510.7500000000 0 0 +GRID* 7252 0 2.799998760 20.20000076 * 7252 +* 72520.7500000000 0 0 +GRID* 7253 0 2.799998760 20.39999962 * 7253 +* 72530.7500000000 0 0 +GRID* 7254 0 2.799998760 20.60000038 * 7254 +* 72540.7500000000 0 0 +GRID* 7255 0 2.799998760 20.79999924 * 7255 +* 72550.7500000000 0 0 +GRID* 7256 0 2.799998760 21.00000000 * 7256 +* 72560.7500000000 0 0 +GRID* 7257 0 2.799998760 21.20000076 * 7257 +* 72570.7500000000 0 0 +GRID* 7258 0 2.799998760 21.39999962 * 7258 +* 72580.7500000000 0 0 +GRID* 7259 0 2.799998760 21.60000038 * 7259 +* 72590.7500000000 0 0 +GRID* 7260 0 2.799998760 21.79999924 * 7260 +* 72600.7500000000 0 0 +GRID* 7261 0 2.799998760 22.00000000 * 7261 +* 72610.7500000000 0 0 +GRID* 7262 0 2.799998999 22.20000076 * 7262 +* 72620.7500000000 0 0 +GRID* 7263 0 2.799998999 22.39999962 * 7263 +* 72630.7500000000 0 0 +GRID* 7264 0 2.799998999 22.60000038 * 7264 +* 72640.7500000000 0 0 +GRID* 7265 0 2.799998999 22.79999924 * 7265 +* 72650.7500000000 0 0 +GRID* 7266 0 2.799998999 23.00000000 * 7266 +* 72660.7500000000 0 0 +GRID* 7267 0 2.799998999 23.20000076 * 7267 +* 72670.7500000000 0 0 +GRID* 7268 0 2.799998999 23.40000153 * 7268 +* 72680.7500000000 0 0 +GRID* 7269 0 2.799998999 23.60000038 * 7269 +* 72690.7500000000 0 0 +GRID* 7270 0 2.799998999 23.80000114 * 7270 +* 72700.7500000000 0 0 +GRID* 7271 0 2.799998999 24.00000000 * 7271 +* 72710.7500000000 0 0 +GRID* 7272 0 2.799998999 24.20000076 * 7272 +* 72720.7500000000 0 0 +GRID* 7273 0 2.799998999 24.39999962 * 7273 +* 72730.7500000000 0 0 +GRID* 7274 0 2.799998999 24.60000038 * 7274 +* 72740.7500000000 0 0 +GRID* 7275 0 2.799998999 24.79999924 * 7275 +* 72750.7500000000 0 0 +GRID* 7276 0 2.799998999 25.00000000 * 7276 +* 72760.7500000000 0 0 +GRID* 7277 0 2.799998999 25.19999886 * 7277 +* 72770.7500000000 0 0 +GRID* 7278 0 2.799998999 25.39999962 * 7278 +* 72780.7500000000 0 0 +GRID* 7279 0 2.799998999 25.59999847 * 7279 +* 72790.7500000000 0 0 +GRID* 7280 0 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2.799999475 31.59999466 * 7309 +* 73090.7500000000 0 0 +GRID* 7310 0 2.799999475 31.79999352 * 7310 +* 73100.7500000000 0 0 +GRID* 7311 0 2.799999475 31.99999237 * 7311 +* 73110.7500000000 0 0 +GRID* 7312 0 2.799999475 32.19999313 * 7312 +* 73120.7500000000 0 0 +GRID* 7313 0 2.799999475 32.39999390 * 7313 +* 73130.7500000000 0 0 +GRID* 7314 0 2.799999475 32.59999084 * 7314 +* 73140.7500000000 0 0 +GRID* 7315 0 2.799999475 32.79999161 * 7315 +* 73150.7500000000 0 0 +GRID* 7316 0 2.799999475 32.99999237 * 7316 +* 73160.7500000000 0 0 +GRID* 7317 0 2.799999475 33.19999313 * 7317 +* 73170.7500000000 0 0 +GRID* 7318 0 2.799999475 33.39999390 * 7318 +* 73180.7500000000 0 0 +GRID* 7319 0 2.799999475 33.59999084 * 7319 +* 73190.7500000000 0 0 +GRID* 7320 0 2.799999475 33.79999161 * 7320 +* 73200.7500000000 0 0 +GRID* 7321 0 2.799999475 33.99999237 * 7321 +* 73210.7500000000 0 0 +GRID* 7322 0 2.799999714 34.19998932 * 7322 +* 73220.7500000000 0 0 +GRID* 7323 0 2.799999714 34.39999008 * 7323 +* 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73810.5357142687 0 0 +GRID* 7382 0 3.000000000 26.39999771 * 7382 +* 73820.5357142687 0 0 +GRID* 7383 0 3.000000000 26.59999847 * 7383 +* 73830.5357142687 0 0 +GRID* 7384 0 3.000000000 26.79999733 * 7384 +* 73840.5357142687 0 0 +GRID* 7385 0 3.000000000 26.99999809 * 7385 +* 73850.5357142687 0 0 +GRID* 7386 0 3.000000000 27.19999695 * 7386 +* 73860.5357142687 0 0 +GRID* 7387 0 3.000000000 27.39999771 * 7387 +* 73870.5357142687 0 0 +GRID* 7388 0 3.000000000 27.59999657 * 7388 +* 73880.5357142687 0 0 +GRID* 7389 0 3.000000000 27.79999733 * 7389 +* 73890.5357142687 0 0 +GRID* 7390 0 3.000000000 27.99999619 * 7390 +* 73900.5357142687 0 0 +GRID* 7391 0 3.000000000 28.19999695 * 7391 +* 73910.5357142687 0 0 +GRID* 7392 0 3.000000000 28.39999771 * 7392 +* 73920.5357142687 0 0 +GRID* 7393 0 3.000000000 28.59999657 * 7393 +* 73930.5357142687 0 0 +GRID* 7394 0 3.000000000 28.79999542 * 7394 +* 73940.5357142687 0 0 +GRID* 7395 0 3.000000000 28.99999619 * 7395 +* 73950.5357142687 0 0 +GRID* 7396 0 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74390.5357142687 0 0 +GRID* 7440 0 3.000000000 37.99999619 * 7440 +* 74400.5357142687 0 0 +GRID* 7441 0 3.000000000 38.19999695 * 7441 +* 74410.5357142687 0 0 +GRID* 7442 0 3.000000000 38.39999771 * 7442 +* 74420.5357142687 0 0 +GRID* 7443 0 3.000000000 38.59999847 * 7443 +* 74430.5357142687 0 0 +GRID* 7444 0 3.000000000 38.79999924 * 7444 +* 74440.5357142687 0 0 +GRID* 7445 0 3.000000000 39.00000000 * 7445 +* 74450.5357142687 0 0 +GRID* 7446 0 3.000000000 39.20000076 * 7446 +* 74460.5357142687 0 0 +GRID* 7447 0 3.000000000 39.40000153 * 7447 +* 74470.5357142687 0 0 +GRID* 7448 0 3.000000000 39.60000229 * 7448 +* 74480.5357142687 0 0 +GRID* 7449 0 3.000000000 39.80000305 * 7449 +* 74490.5357142687 0 0 +GRID* 7450 0 3.000000000 20.20000076 * 7450 +* 74500.3214285374 0 0 +GRID* 7451 0 3.000000000 20.39999962 * 7451 +* 74510.3214285374 0 0 +GRID* 7452 0 3.000000000 20.60000038 * 7452 +* 74520.3214285374 0 0 +GRID* 7453 0 3.000000000 20.79999924 * 7453 +* 74530.3214285374 0 0 +GRID* 7454 0 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117580.7500000000 0 0 +GRID* 11759 0 2.599998951 15.39999008 * 11759 +* 117590.7500000000 0 0 +GRID* 11760 0 2.599998951 15.59998989 * 11760 +* 117600.7500000000 0 0 +GRID* 11761 0 2.599998951 15.79998970 * 11761 +* 117610.7500000000 0 0 +GRID* 11762 0 2.599998951 15.99998951 * 11762 +* 117620.7500000000 0 0 +GRID* 11763 0 2.599998951 16.19998932 * 11763 +* 117630.7500000000 0 0 +GRID* 11764 0 2.599998951 16.39999008 * 11764 +* 117640.7500000000 0 0 +GRID* 11765 0 2.599998951 16.59999084 * 11765 +* 117650.7500000000 0 0 +GRID* 11766 0 2.599998951 16.79999161 * 11766 +* 117660.7500000000 0 0 +GRID* 11767 0 2.599998951 16.99999237 * 11767 +* 117670.7500000000 0 0 +GRID* 11768 0 2.599998951 17.19999313 * 11768 +* 117680.7500000000 0 0 +GRID* 11769 0 2.599998951 17.39999390 * 11769 +* 117690.7500000000 0 0 +GRID* 11770 0 2.599998951 17.59999466 * 11770 +* 117700.7500000000 0 0 +GRID* 11771 0 2.599998951 17.79999542 * 11771 +* 117710.7500000000 0 0 +GRID* 11772 0 2.599998951 17.99999619 * 11772 +* 117720.7500000000 0 0 +GRID* 11773 0 2.599998951 18.19999695 * 11773 +* 117730.7500000000 0 0 +GRID* 11774 0 2.599998951 18.39999771 * 11774 +* 117740.7500000000 0 0 +GRID* 11775 0 2.599998951 18.59999847 * 11775 +* 117750.7500000000 0 0 +GRID* 11776 0 2.599998951 18.79999924 * 11776 +* 117760.7500000000 0 0 +GRID* 11777 0 2.599998951 19.00000000 * 11777 +* 117770.7500000000 0 0 +GRID* 11778 0 2.599998951 19.20000076 * 11778 +* 117780.7500000000 0 0 +GRID* 11779 0 2.599998951 19.40000153 * 11779 +* 117790.7500000000 0 0 +GRID* 11780 0 2.599998951 19.60000229 * 11780 +* 117800.7500000000 0 0 +GRID* 11781 0 2.599998951 19.80000305 * 11781 +* 117810.7500000000 0 0 +GRID* 11782 0 2.399999142 0.1999999881 * 11782 +* 117820.7500000000 0 0 +GRID* 11783 0 2.399999142 0.3999999762 * 11783 +* 117830.7500000000 0 0 +GRID* 11784 0 2.399999142 0.6000000238 * 11784 +* 117840.7500000000 0 0 +GRID* 11785 0 2.399999142 0.7999999523 * 11785 +* 117850.7500000000 0 0 +GRID* 11786 0 2.399999142 1.000000000 * 11786 +* 117860.7500000000 0 0 +GRID* 11787 0 2.399999142 1.200000048 * 11787 +* 117870.7500000000 0 0 +GRID* 11788 0 2.399999142 1.400000095 * 11788 +* 117880.7500000000 0 0 +GRID* 11789 0 2.399999142 1.600000143 * 11789 +* 117890.7500000000 0 0 +GRID* 11790 0 2.399999142 1.800000191 * 11790 +* 117900.7500000000 0 0 +GRID* 11791 0 2.399999142 2.000000238 * 11791 +* 117910.7500000000 0 0 +GRID* 11792 0 2.399999142 2.200000286 * 11792 +* 117920.7500000000 0 0 +GRID* 11793 0 2.399999142 2.400000334 * 11793 +* 117930.7500000000 0 0 +GRID* 11794 0 2.399999142 2.600000381 * 11794 +* 117940.7500000000 0 0 +GRID* 11795 0 2.399999142 2.800000191 * 11795 +* 117950.7500000000 0 0 +GRID* 11796 0 2.399999142 3.000000477 * 11796 +* 117960.7500000000 0 0 +GRID* 11797 0 2.399999142 3.200000525 * 11797 +* 117970.7500000000 0 0 +GRID* 11798 0 2.399999142 3.400000572 * 11798 +* 117980.7500000000 0 0 +GRID* 11799 0 2.399999142 3.600000858 * 11799 +* 117990.7500000000 0 0 +GRID* 11800 0 2.399999142 3.800000668 * 11800 +* 118000.7500000000 0 0 +GRID* 11801 0 2.399999142 4.000000477 * 11801 +* 118010.7500000000 0 0 +GRID* 11802 0 2.399999142 4.200000286 * 11802 +* 118020.7500000000 0 0 +GRID* 11803 0 2.399999142 4.400000095 * 11803 +* 118030.7500000000 0 0 +GRID* 11804 0 2.399999142 4.599999905 * 11804 +* 118040.7500000000 0 0 +GRID* 11805 0 2.399999142 4.799999714 * 11805 +* 118050.7500000000 0 0 +GRID* 11806 0 2.399999142 4.999999523 * 11806 +* 118060.7500000000 0 0 +GRID* 11807 0 2.399999142 5.199999332 * 11807 +* 118070.7500000000 0 0 +GRID* 11808 0 2.399999142 5.399999142 * 11808 +* 118080.7500000000 0 0 +GRID* 11809 0 2.399999142 5.599998951 * 11809 +* 118090.7500000000 0 0 +GRID* 11810 0 2.399999142 5.799998760 * 11810 +* 118100.7500000000 0 0 +GRID* 11811 0 2.399999142 5.999998569 * 11811 +* 118110.7500000000 0 0 +GRID* 11812 0 2.399999142 6.199998379 * 11812 +* 118120.7500000000 0 0 +GRID* 11813 0 2.399999142 6.399998188 * 11813 +* 118130.7500000000 0 0 +GRID* 11814 0 2.399999142 6.599997997 * 11814 +* 118140.7500000000 0 0 +GRID* 11815 0 2.399999142 6.799997807 * 11815 +* 118150.7500000000 0 0 +GRID* 11816 0 2.399999142 6.999997616 * 11816 +* 118160.7500000000 0 0 +GRID* 11817 0 2.399999142 7.199997425 * 11817 +* 118170.7500000000 0 0 +GRID* 11818 0 2.399999142 7.399997234 * 11818 +* 118180.7500000000 0 0 +GRID* 11819 0 2.399999142 7.599997044 * 11819 +* 118190.7500000000 0 0 +GRID* 11820 0 2.399999142 7.799996853 * 11820 +* 118200.7500000000 0 0 +GRID* 11821 0 2.399999142 7.999996662 * 11821 +* 118210.7500000000 0 0 +GRID* 11822 0 2.399999142 8.199996948 * 11822 +* 118220.7500000000 0 0 +GRID* 11823 0 2.399999142 8.399996758 * 11823 +* 118230.7500000000 0 0 +GRID* 11824 0 2.399999142 8.599996567 * 11824 +* 118240.7500000000 0 0 +GRID* 11825 0 2.399999142 8.799996376 * 11825 +* 118250.7500000000 0 0 +GRID* 11826 0 2.399999142 8.999996185 * 11826 +* 118260.7500000000 0 0 +GRID* 11827 0 2.399999142 9.199995995 * 11827 +* 118270.7500000000 0 0 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118410.7500000000 0 0 +GRID* 11842 0 2.399999142 12.19999313 * 11842 +* 118420.7500000000 0 0 +GRID* 11843 0 2.399999142 12.39999294 * 11843 +* 118430.7500000000 0 0 +GRID* 11844 0 2.399999142 12.59999275 * 11844 +* 118440.7500000000 0 0 +GRID* 11845 0 2.399999142 12.79999256 * 11845 +* 118450.7500000000 0 0 +GRID* 11846 0 2.399999142 12.99999237 * 11846 +* 118460.7500000000 0 0 +GRID* 11847 0 2.399999142 13.19999218 * 11847 +* 118470.7500000000 0 0 +GRID* 11848 0 2.399999142 13.39999199 * 11848 +* 118480.7500000000 0 0 +GRID* 11849 0 2.399999142 13.59999180 * 11849 +* 118490.7500000000 0 0 +GRID* 11850 0 2.399999142 13.79999161 * 11850 +* 118500.7500000000 0 0 +GRID* 11851 0 2.399999142 13.99999142 * 11851 +* 118510.7500000000 0 0 +GRID* 11852 0 2.399999142 14.19999123 * 11852 +* 118520.7500000000 0 0 +GRID* 11853 0 2.399999142 14.39999104 * 11853 +* 118530.7500000000 0 0 +GRID* 11854 0 2.399999142 14.59999084 * 11854 +* 118540.7500000000 0 0 +GRID* 11855 0 2.399999142 14.79999065 * 11855 +* 118550.7500000000 0 0 +GRID* 11856 0 2.399999142 14.99999046 * 11856 +* 118560.7500000000 0 0 +GRID* 11857 0 2.399999142 15.19999027 * 11857 +* 118570.7500000000 0 0 +GRID* 11858 0 2.399999142 15.39999008 * 11858 +* 118580.7500000000 0 0 +GRID* 11859 0 2.399999142 15.59998989 * 11859 +* 118590.7500000000 0 0 +GRID* 11860 0 2.399999142 15.79998970 * 11860 +* 118600.7500000000 0 0 +GRID* 11861 0 2.399999142 15.99998951 * 11861 +* 118610.7500000000 0 0 +GRID* 11862 0 2.399999142 16.19998932 * 11862 +* 118620.7500000000 0 0 +GRID* 11863 0 2.399999142 16.39999008 * 11863 +* 118630.7500000000 0 0 +GRID* 11864 0 2.399999142 16.59999084 * 11864 +* 118640.7500000000 0 0 +GRID* 11865 0 2.399999142 16.79999161 * 11865 +* 118650.7500000000 0 0 +GRID* 11866 0 2.399999142 16.99999237 * 11866 +* 118660.7500000000 0 0 +GRID* 11867 0 2.399999142 17.19999313 * 11867 +* 118670.7500000000 0 0 +GRID* 11868 0 2.399999142 17.39999390 * 11868 +* 118680.7500000000 0 0 +GRID* 11869 0 2.399999142 17.59999466 * 11869 +* 118690.7500000000 0 0 +GRID* 11870 0 2.399999142 17.79999542 * 11870 +* 118700.7500000000 0 0 +GRID* 11871 0 2.399999142 17.99999619 * 11871 +* 118710.7500000000 0 0 +GRID* 11872 0 2.399999142 18.19999695 * 11872 +* 118720.7500000000 0 0 +GRID* 11873 0 2.399999142 18.39999771 * 11873 +* 118730.7500000000 0 0 +GRID* 11874 0 2.399999142 18.59999847 * 11874 +* 118740.7500000000 0 0 +GRID* 11875 0 2.399999142 18.79999924 * 11875 +* 118750.7500000000 0 0 +GRID* 11876 0 2.399999142 19.00000000 * 11876 +* 118760.7500000000 0 0 +GRID* 11877 0 2.399999142 19.20000076 * 11877 +* 118770.7500000000 0 0 +GRID* 11878 0 2.399999142 19.40000153 * 11878 +* 118780.7500000000 0 0 +GRID* 11879 0 2.399999142 19.60000229 * 11879 +* 118790.7500000000 0 0 +GRID* 11880 0 2.399999142 19.80000305 * 11880 +* 118800.7500000000 0 0 +GRID* 11881 0 2.199999332 0.1999999881 * 11881 +* 118810.7500000000 0 0 +GRID* 11882 0 2.199999332 0.3999999762 * 11882 +* 118820.7500000000 0 0 +GRID* 11883 0 2.199999332 0.6000000238 * 11883 +* 118830.7500000000 0 0 +GRID* 11884 0 2.199999332 0.7999999523 * 11884 +* 118840.7500000000 0 0 +GRID* 11885 0 2.199999332 1.000000000 * 11885 +* 118850.7500000000 0 0 +GRID* 11886 0 2.199999332 1.200000048 * 11886 +* 118860.7500000000 0 0 +GRID* 11887 0 2.199999332 1.400000095 * 11887 +* 118870.7500000000 0 0 +GRID* 11888 0 2.199999332 1.600000143 * 11888 +* 118880.7500000000 0 0 +GRID* 11889 0 2.199999332 1.800000191 * 11889 +* 118890.7500000000 0 0 +GRID* 11890 0 2.199999332 2.000000238 * 11890 +* 118900.7500000000 0 0 +GRID* 11891 0 2.199999332 2.200000286 * 11891 +* 118910.7500000000 0 0 +GRID* 11892 0 2.199999332 2.400000334 * 11892 +* 118920.7500000000 0 0 +GRID* 11893 0 2.199999332 2.600000381 * 11893 +* 118930.7500000000 0 0 +GRID* 11894 0 2.199999332 2.800000191 * 11894 +* 118940.7500000000 0 0 +GRID* 11895 0 2.199999332 3.000000477 * 11895 +* 118950.7500000000 0 0 +GRID* 11896 0 2.199999332 3.200000525 * 11896 +* 118960.7500000000 0 0 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119100.7500000000 0 0 +GRID* 11911 0 2.199999332 6.199998379 * 11911 +* 119110.7500000000 0 0 +GRID* 11912 0 2.199999332 6.399998188 * 11912 +* 119120.7500000000 0 0 +GRID* 11913 0 2.199999332 6.599997997 * 11913 +* 119130.7500000000 0 0 +GRID* 11914 0 2.199999332 6.799997807 * 11914 +* 119140.7500000000 0 0 +GRID* 11915 0 2.199999332 6.999997616 * 11915 +* 119150.7500000000 0 0 +GRID* 11916 0 2.199999332 7.199997425 * 11916 +* 119160.7500000000 0 0 +GRID* 11917 0 2.199999332 7.399997234 * 11917 +* 119170.7500000000 0 0 +GRID* 11918 0 2.199999332 7.599997044 * 11918 +* 119180.7500000000 0 0 +GRID* 11919 0 2.199999332 7.799996853 * 11919 +* 119190.7500000000 0 0 +GRID* 11920 0 2.199999332 7.999996662 * 11920 +* 119200.7500000000 0 0 +GRID* 11921 0 2.199999332 8.199996948 * 11921 +* 119210.7500000000 0 0 +GRID* 11922 0 2.199999332 8.399996758 * 11922 +* 119220.7500000000 0 0 +GRID* 11923 0 2.199999332 8.599996567 * 11923 +* 119230.7500000000 0 0 +GRID* 11924 0 2.199999332 8.799996376 * 11924 +* 119240.7500000000 0 0 +GRID* 11925 0 2.199999332 8.999996185 * 11925 +* 119250.7500000000 0 0 +GRID* 11926 0 2.199999332 9.199995995 * 11926 +* 119260.7500000000 0 0 +GRID* 11927 0 2.199999332 9.399995804 * 11927 +* 119270.7500000000 0 0 +GRID* 11928 0 2.199999332 9.599995613 * 11928 +* 119280.7500000000 0 0 +GRID* 11929 0 2.199999332 9.799995422 * 11929 +* 119290.7500000000 0 0 +GRID* 11930 0 2.199999332 9.999995232 * 11930 +* 119300.7500000000 0 0 +GRID* 11931 0 2.199999332 10.19999504 * 11931 +* 119310.7500000000 0 0 +GRID* 11932 0 2.199999332 10.39999485 * 11932 +* 119320.7500000000 0 0 +GRID* 11933 0 2.199999332 10.59999466 * 11933 +* 119330.7500000000 0 0 +GRID* 11934 0 2.199999332 10.79999447 * 11934 +* 119340.7500000000 0 0 +GRID* 11935 0 2.199999332 10.99999428 * 11935 +* 119350.7500000000 0 0 +GRID* 11936 0 2.199999332 11.19999409 * 11936 +* 119360.7500000000 0 0 +GRID* 11937 0 2.199999332 11.39999390 * 11937 +* 119370.7500000000 0 0 +GRID* 11938 0 2.199999332 11.59999371 * 11938 +* 119380.7500000000 0 0 +GRID* 11939 0 2.199999332 11.79999352 * 11939 +* 119390.7500000000 0 0 +GRID* 11940 0 2.199999332 11.99999332 * 11940 +* 119400.7500000000 0 0 +GRID* 11941 0 2.199999332 12.19999313 * 11941 +* 119410.7500000000 0 0 +GRID* 11942 0 2.199999332 12.39999294 * 11942 +* 119420.7500000000 0 0 +GRID* 11943 0 2.199999332 12.59999275 * 11943 +* 119430.7500000000 0 0 +GRID* 11944 0 2.199999332 12.79999256 * 11944 +* 119440.7500000000 0 0 +GRID* 11945 0 2.199999332 12.99999237 * 11945 +* 119450.7500000000 0 0 +GRID* 11946 0 2.199999332 13.19999218 * 11946 +* 119460.7500000000 0 0 +GRID* 11947 0 2.199999332 13.39999199 * 11947 +* 119470.7500000000 0 0 +GRID* 11948 0 2.199999332 13.59999180 * 11948 +* 119480.7500000000 0 0 +GRID* 11949 0 2.199999332 13.79999161 * 11949 +* 119490.7500000000 0 0 +GRID* 11950 0 2.199999332 13.99999142 * 11950 +* 119500.7500000000 0 0 +GRID* 11951 0 2.199999332 14.19999123 * 11951 +* 119510.7500000000 0 0 +GRID* 11952 0 2.199999332 14.39999104 * 11952 +* 119520.7500000000 0 0 +GRID* 11953 0 2.199999332 14.59999084 * 11953 +* 119530.7500000000 0 0 +GRID* 11954 0 2.199999332 14.79999065 * 11954 +* 119540.7500000000 0 0 +GRID* 11955 0 2.199999332 14.99999046 * 11955 +* 119550.7500000000 0 0 +GRID* 11956 0 2.199999332 15.19999027 * 11956 +* 119560.7500000000 0 0 +GRID* 11957 0 2.199999332 15.39999008 * 11957 +* 119570.7500000000 0 0 +GRID* 11958 0 2.199999332 15.59998989 * 11958 +* 119580.7500000000 0 0 +GRID* 11959 0 2.199999332 15.79998970 * 11959 +* 119590.7500000000 0 0 +GRID* 11960 0 2.199999332 15.99998951 * 11960 +* 119600.7500000000 0 0 +GRID* 11961 0 2.199999332 16.19998932 * 11961 +* 119610.7500000000 0 0 +GRID* 11962 0 2.199999332 16.39999008 * 11962 +* 119620.7500000000 0 0 +GRID* 11963 0 2.199999332 16.59999084 * 11963 +* 119630.7500000000 0 0 +GRID* 11964 0 2.199999332 16.79999161 * 11964 +* 119640.7500000000 0 0 +GRID* 11965 0 2.199999332 16.99999237 * 11965 +* 119650.7500000000 0 0 +GRID* 11966 0 2.199999332 17.19999313 * 11966 +* 119660.7500000000 0 0 +GRID* 11967 0 2.199999332 17.39999390 * 11967 +* 119670.7500000000 0 0 +GRID* 11968 0 2.199999332 17.59999466 * 11968 +* 119680.7500000000 0 0 +GRID* 11969 0 2.199999332 17.79999542 * 11969 +* 119690.7500000000 0 0 +GRID* 11970 0 2.199999332 17.99999619 * 11970 +* 119700.7500000000 0 0 +GRID* 11971 0 2.199999332 18.19999695 * 11971 +* 119710.7500000000 0 0 +GRID* 11972 0 2.199999332 18.39999771 * 11972 +* 119720.7500000000 0 0 +GRID* 11973 0 2.199999332 18.59999847 * 11973 +* 119730.7500000000 0 0 +GRID* 11974 0 2.199999332 18.79999924 * 11974 +* 119740.7500000000 0 0 +GRID* 11975 0 2.199999332 19.00000000 * 11975 +* 119750.7500000000 0 0 +GRID* 11976 0 2.199999332 19.20000076 * 11976 +* 119760.7500000000 0 0 +GRID* 11977 0 2.199999332 19.40000153 * 11977 +* 119770.7500000000 0 0 +GRID* 11978 0 2.199999332 19.60000229 * 11978 +* 119780.7500000000 0 0 +GRID* 11979 0 2.199999332 19.80000305 * 11979 +* 119790.7500000000 0 0 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119930.7500000000 0 0 +GRID* 11994 0 1.999999523 3.000000477 * 11994 +* 119940.7500000000 0 0 +GRID* 11995 0 1.999999523 3.200000525 * 11995 +* 119950.7500000000 0 0 +GRID* 11996 0 1.999999523 3.400000572 * 11996 +* 119960.7500000000 0 0 +GRID* 11997 0 1.999999523 3.600000858 * 11997 +* 119970.7500000000 0 0 +GRID* 11998 0 1.999999523 3.800000668 * 11998 +* 119980.7500000000 0 0 +GRID* 11999 0 1.999999523 4.000000477 * 11999 +* 119990.7500000000 0 0 +GRID* 12000 0 1.999999523 4.200000286 * 12000 +* 120000.7500000000 0 0 +GRID* 12001 0 1.999999523 4.400000095 * 12001 +* 120010.7500000000 0 0 +GRID* 12002 0 1.999999523 4.599999905 * 12002 +* 120020.7500000000 0 0 +GRID* 12003 0 1.999999523 4.799999714 * 12003 +* 120030.7500000000 0 0 +GRID* 12004 0 1.999999523 4.999999523 * 12004 +* 120040.7500000000 0 0 +GRID* 12005 0 1.999999523 5.199999332 * 12005 +* 120050.7500000000 0 0 +GRID* 12006 0 1.999999523 5.399999142 * 12006 +* 120060.7500000000 0 0 +GRID* 12007 0 1.999999523 5.599998951 * 12007 +* 120070.7500000000 0 0 +GRID* 12008 0 1.999999523 5.799998760 * 12008 +* 120080.7500000000 0 0 +GRID* 12009 0 1.999999523 5.999998569 * 12009 +* 120090.7500000000 0 0 +GRID* 12010 0 1.999999523 6.199998379 * 12010 +* 120100.7500000000 0 0 +GRID* 12011 0 1.999999523 6.399998188 * 12011 +* 120110.7500000000 0 0 +GRID* 12012 0 1.999999523 6.599997997 * 12012 +* 120120.7500000000 0 0 +GRID* 12013 0 1.999999523 6.799997807 * 12013 +* 120130.7500000000 0 0 +GRID* 12014 0 1.999999523 6.999997616 * 12014 +* 120140.7500000000 0 0 +GRID* 12015 0 1.999999523 7.199997425 * 12015 +* 120150.7500000000 0 0 +GRID* 12016 0 1.999999523 7.399997234 * 12016 +* 120160.7500000000 0 0 +GRID* 12017 0 1.999999523 7.599997044 * 12017 +* 120170.7500000000 0 0 +GRID* 12018 0 1.999999523 7.799996853 * 12018 +* 120180.7500000000 0 0 +GRID* 12019 0 1.999999523 7.999996662 * 12019 +* 120190.7500000000 0 0 +GRID* 12020 0 1.999999523 8.199996948 * 12020 +* 120200.7500000000 0 0 +GRID* 12021 0 1.999999523 8.399996758 * 12021 +* 120210.7500000000 0 0 +GRID* 12022 0 1.999999523 8.599996567 * 12022 +* 120220.7500000000 0 0 +GRID* 12023 0 1.999999523 8.799996376 * 12023 +* 120230.7500000000 0 0 +GRID* 12024 0 1.999999523 8.999996185 * 12024 +* 120240.7500000000 0 0 +GRID* 12025 0 1.999999523 9.199995995 * 12025 +* 120250.7500000000 0 0 +GRID* 12026 0 1.999999523 9.399995804 * 12026 +* 120260.7500000000 0 0 +GRID* 12027 0 1.999999523 9.599995613 * 12027 +* 120270.7500000000 0 0 +GRID* 12028 0 1.999999523 9.799995422 * 12028 +* 120280.7500000000 0 0 +GRID* 12029 0 1.999999523 9.999995232 * 12029 +* 120290.7500000000 0 0 +GRID* 12030 0 1.999999523 10.19999504 * 12030 +* 120300.7500000000 0 0 +GRID* 12031 0 1.999999523 10.39999485 * 12031 +* 120310.7500000000 0 0 +GRID* 12032 0 1.999999523 10.59999466 * 12032 +* 120320.7500000000 0 0 +GRID* 12033 0 1.999999523 10.79999447 * 12033 +* 120330.7500000000 0 0 +GRID* 12034 0 1.999999523 10.99999428 * 12034 +* 120340.7500000000 0 0 +GRID* 12035 0 1.999999523 11.19999409 * 12035 +* 120350.7500000000 0 0 +GRID* 12036 0 1.999999523 11.39999390 * 12036 +* 120360.7500000000 0 0 +GRID* 12037 0 1.999999523 11.59999371 * 12037 +* 120370.7500000000 0 0 +GRID* 12038 0 1.999999523 11.79999352 * 12038 +* 120380.7500000000 0 0 +GRID* 12039 0 1.999999523 11.99999332 * 12039 +* 120390.7500000000 0 0 +GRID* 12040 0 1.999999523 12.19999313 * 12040 +* 120400.7500000000 0 0 +GRID* 12041 0 1.999999523 12.39999294 * 12041 +* 120410.7500000000 0 0 +GRID* 12042 0 1.999999523 12.59999275 * 12042 +* 120420.7500000000 0 0 +GRID* 12043 0 1.999999523 12.79999256 * 12043 +* 120430.7500000000 0 0 +GRID* 12044 0 1.999999523 12.99999237 * 12044 +* 120440.7500000000 0 0 +GRID* 12045 0 1.999999523 13.19999218 * 12045 +* 120450.7500000000 0 0 +GRID* 12046 0 1.999999523 13.39999199 * 12046 +* 120460.7500000000 0 0 +GRID* 12047 0 1.999999523 13.59999180 * 12047 +* 120470.7500000000 0 0 +GRID* 12048 0 1.999999523 13.79999161 * 12048 +* 120480.7500000000 0 0 +GRID* 12049 0 1.999999523 13.99999142 * 12049 +* 120490.7500000000 0 0 +GRID* 12050 0 1.999999523 14.19999123 * 12050 +* 120500.7500000000 0 0 +GRID* 12051 0 1.999999523 14.39999104 * 12051 +* 120510.7500000000 0 0 +GRID* 12052 0 1.999999523 14.59999084 * 12052 +* 120520.7500000000 0 0 +GRID* 12053 0 1.999999523 14.79999065 * 12053 +* 120530.7500000000 0 0 +GRID* 12054 0 1.999999523 14.99999046 * 12054 +* 120540.7500000000 0 0 +GRID* 12055 0 1.999999523 15.19999027 * 12055 +* 120550.7500000000 0 0 +GRID* 12056 0 1.999999523 15.39999008 * 12056 +* 120560.7500000000 0 0 +GRID* 12057 0 1.999999523 15.59998989 * 12057 +* 120570.7500000000 0 0 +GRID* 12058 0 1.999999523 15.79998970 * 12058 +* 120580.7500000000 0 0 +GRID* 12059 0 1.999999523 15.99998951 * 12059 +* 120590.7500000000 0 0 +GRID* 12060 0 1.999999523 16.19998932 * 12060 +* 120600.7500000000 0 0 +GRID* 12061 0 1.999999523 16.39999008 * 12061 +* 120610.7500000000 0 0 +GRID* 12062 0 1.999999523 16.59999084 * 12062 +* 120620.7500000000 0 0 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120760.7500000000 0 0 +GRID* 12077 0 1.999999523 19.60000229 * 12077 +* 120770.7500000000 0 0 +GRID* 12078 0 1.999999523 19.80000305 * 12078 +* 120780.7500000000 0 0 +GRID* 12079 0 1.799999714 0.1999999881 * 12079 +* 120790.7500000000 0 0 +GRID* 12080 0 1.799999714 0.3999999762 * 12080 +* 120800.7500000000 0 0 +GRID* 12081 0 1.799999714 0.6000000238 * 12081 +* 120810.7500000000 0 0 +GRID* 12082 0 1.799999714 0.7999999523 * 12082 +* 120820.7500000000 0 0 +GRID* 12083 0 1.799999714 1.000000000 * 12083 +* 120830.7500000000 0 0 +GRID* 12084 0 1.799999714 1.200000048 * 12084 +* 120840.7500000000 0 0 +GRID* 12085 0 1.799999714 1.400000095 * 12085 +* 120850.7500000000 0 0 +GRID* 12086 0 1.799999714 1.600000143 * 12086 +* 120860.7500000000 0 0 +GRID* 12087 0 1.799999714 1.800000191 * 12087 +* 120870.7500000000 0 0 +GRID* 12088 0 1.799999714 2.000000238 * 12088 +* 120880.7500000000 0 0 +GRID* 12089 0 1.799999714 2.200000286 * 12089 +* 120890.7500000000 0 0 +GRID* 12090 0 1.799999714 2.400000334 * 12090 +* 120900.7500000000 0 0 +GRID* 12091 0 1.799999714 2.600000381 * 12091 +* 120910.7500000000 0 0 +GRID* 12092 0 1.799999714 2.800000191 * 12092 +* 120920.7500000000 0 0 +GRID* 12093 0 1.799999714 3.000000477 * 12093 +* 120930.7500000000 0 0 +GRID* 12094 0 1.799999714 3.200000525 * 12094 +* 120940.7500000000 0 0 +GRID* 12095 0 1.799999714 3.400000572 * 12095 +* 120950.7500000000 0 0 +GRID* 12096 0 1.799999714 3.600000858 * 12096 +* 120960.7500000000 0 0 +GRID* 12097 0 1.799999714 3.800000668 * 12097 +* 120970.7500000000 0 0 +GRID* 12098 0 1.799999714 4.000000477 * 12098 +* 120980.7500000000 0 0 +GRID* 12099 0 1.799999714 4.200000286 * 12099 +* 120990.7500000000 0 0 +GRID* 12100 0 1.799999714 4.400000095 * 12100 +* 121000.7500000000 0 0 +GRID* 12101 0 1.799999714 4.599999905 * 12101 +* 121010.7500000000 0 0 +GRID* 12102 0 1.799999714 4.799999714 * 12102 +* 121020.7500000000 0 0 +GRID* 12103 0 1.799999714 4.999999523 * 12103 +* 121030.7500000000 0 0 +GRID* 12104 0 1.799999714 5.199999332 * 12104 +* 121040.7500000000 0 0 +GRID* 12105 0 1.799999714 5.399999142 * 12105 +* 121050.7500000000 0 0 +GRID* 12106 0 1.799999714 5.599998951 * 12106 +* 121060.7500000000 0 0 +GRID* 12107 0 1.799999714 5.799998760 * 12107 +* 121070.7500000000 0 0 +GRID* 12108 0 1.799999714 5.999998569 * 12108 +* 121080.7500000000 0 0 +GRID* 12109 0 1.799999714 6.199998379 * 12109 +* 121090.7500000000 0 0 +GRID* 12110 0 1.799999714 6.399998188 * 12110 +* 121100.7500000000 0 0 +GRID* 12111 0 1.799999714 6.599997997 * 12111 +* 121110.7500000000 0 0 +GRID* 12112 0 1.799999714 6.799997807 * 12112 +* 121120.7500000000 0 0 +GRID* 12113 0 1.799999714 6.999997616 * 12113 +* 121130.7500000000 0 0 +GRID* 12114 0 1.799999714 7.199997425 * 12114 +* 121140.7500000000 0 0 +GRID* 12115 0 1.799999714 7.399997234 * 12115 +* 121150.7500000000 0 0 +GRID* 12116 0 1.799999714 7.599997044 * 12116 +* 121160.7500000000 0 0 +GRID* 12117 0 1.799999714 7.799996853 * 12117 +* 121170.7500000000 0 0 +GRID* 12118 0 1.799999714 7.999996662 * 12118 +* 121180.7500000000 0 0 +GRID* 12119 0 1.799999714 8.199996948 * 12119 +* 121190.7500000000 0 0 +GRID* 12120 0 1.799999714 8.399996758 * 12120 +* 121200.7500000000 0 0 +GRID* 12121 0 1.799999714 8.599996567 * 12121 +* 121210.7500000000 0 0 +GRID* 12122 0 1.799999714 8.799996376 * 12122 +* 121220.7500000000 0 0 +GRID* 12123 0 1.799999714 8.999996185 * 12123 +* 121230.7500000000 0 0 +GRID* 12124 0 1.799999714 9.199995995 * 12124 +* 121240.7500000000 0 0 +GRID* 12125 0 1.799999714 9.399995804 * 12125 +* 121250.7500000000 0 0 +GRID* 12126 0 1.799999714 9.599995613 * 12126 +* 121260.7500000000 0 0 +GRID* 12127 0 1.799999714 9.799995422 * 12127 +* 121270.7500000000 0 0 +GRID* 12128 0 1.799999714 9.999995232 * 12128 +* 121280.7500000000 0 0 +GRID* 12129 0 1.799999714 10.19999504 * 12129 +* 121290.7500000000 0 0 +GRID* 12130 0 1.799999714 10.39999485 * 12130 +* 121300.7500000000 0 0 +GRID* 12131 0 1.799999714 10.59999466 * 12131 +* 121310.7500000000 0 0 +GRID* 12132 0 1.799999714 10.79999447 * 12132 +* 121320.7500000000 0 0 +GRID* 12133 0 1.799999714 10.99999428 * 12133 +* 121330.7500000000 0 0 +GRID* 12134 0 1.799999714 11.19999409 * 12134 +* 121340.7500000000 0 0 +GRID* 12135 0 1.799999714 11.39999390 * 12135 +* 121350.7500000000 0 0 +GRID* 12136 0 1.799999714 11.59999371 * 12136 +* 121360.7500000000 0 0 +GRID* 12137 0 1.799999714 11.79999352 * 12137 +* 121370.7500000000 0 0 +GRID* 12138 0 1.799999714 11.99999332 * 12138 +* 121380.7500000000 0 0 +GRID* 12139 0 1.799999714 12.19999313 * 12139 +* 121390.7500000000 0 0 +GRID* 12140 0 1.799999714 12.39999294 * 12140 +* 121400.7500000000 0 0 +GRID* 12141 0 1.799999714 12.59999275 * 12141 +* 121410.7500000000 0 0 +GRID* 12142 0 1.799999714 12.79999256 * 12142 +* 121420.7500000000 0 0 +GRID* 12143 0 1.799999714 12.99999237 * 12143 +* 121430.7500000000 0 0 +GRID* 12144 0 1.799999714 13.19999218 * 12144 +* 121440.7500000000 0 0 +GRID* 12145 0 1.799999714 13.39999199 * 12145 +* 121450.7500000000 0 0 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121590.7500000000 0 0 +GRID* 12160 0 1.799999714 16.39999008 * 12160 +* 121600.7500000000 0 0 +GRID* 12161 0 1.799999714 16.59999084 * 12161 +* 121610.7500000000 0 0 +GRID* 12162 0 1.799999714 16.79999161 * 12162 +* 121620.7500000000 0 0 +GRID* 12163 0 1.799999714 16.99999237 * 12163 +* 121630.7500000000 0 0 +GRID* 12164 0 1.799999714 17.19999313 * 12164 +* 121640.7500000000 0 0 +GRID* 12165 0 1.799999714 17.39999390 * 12165 +* 121650.7500000000 0 0 +GRID* 12166 0 1.799999714 17.59999466 * 12166 +* 121660.7500000000 0 0 +GRID* 12167 0 1.799999714 17.79999542 * 12167 +* 121670.7500000000 0 0 +GRID* 12168 0 1.799999714 17.99999619 * 12168 +* 121680.7500000000 0 0 +GRID* 12169 0 1.799999714 18.19999695 * 12169 +* 121690.7500000000 0 0 +GRID* 12170 0 1.799999714 18.39999771 * 12170 +* 121700.7500000000 0 0 +GRID* 12171 0 1.799999714 18.59999847 * 12171 +* 121710.7500000000 0 0 +GRID* 12172 0 1.799999714 18.79999924 * 12172 +* 121720.7500000000 0 0 +GRID* 12173 0 1.799999714 19.00000000 * 12173 +* 121730.7500000000 0 0 +GRID* 12174 0 1.799999714 19.20000076 * 12174 +* 121740.7500000000 0 0 +GRID* 12175 0 1.799999714 19.40000153 * 12175 +* 121750.7500000000 0 0 +GRID* 12176 0 1.799999714 19.60000229 * 12176 +* 121760.7500000000 0 0 +GRID* 12177 0 1.799999714 19.80000305 * 12177 +* 121770.7500000000 0 0 +GRID* 12178 0 1.599999905 0.1999999881 * 12178 +* 121780.7500000000 0 0 +GRID* 12179 0 1.599999905 0.3999999762 * 12179 +* 121790.7500000000 0 0 +GRID* 12180 0 1.599999905 0.6000000238 * 12180 +* 121800.7500000000 0 0 +GRID* 12181 0 1.599999905 0.7999999523 * 12181 +* 121810.7500000000 0 0 +GRID* 12182 0 1.599999905 1.000000000 * 12182 +* 121820.7500000000 0 0 +GRID* 12183 0 1.599999905 1.200000048 * 12183 +* 121830.7500000000 0 0 +GRID* 12184 0 1.599999905 1.400000095 * 12184 +* 121840.7500000000 0 0 +GRID* 12185 0 1.599999905 1.600000143 * 12185 +* 121850.7500000000 0 0 +GRID* 12186 0 1.599999905 1.800000191 * 12186 +* 121860.7500000000 0 0 +GRID* 12187 0 1.599999905 2.000000238 * 12187 +* 121870.7500000000 0 0 +GRID* 12188 0 1.599999905 2.200000286 * 12188 +* 121880.7500000000 0 0 +GRID* 12189 0 1.599999905 2.400000334 * 12189 +* 121890.7500000000 0 0 +GRID* 12190 0 1.599999905 2.600000381 * 12190 +* 121900.7500000000 0 0 +GRID* 12191 0 1.599999905 2.800000191 * 12191 +* 121910.7500000000 0 0 +GRID* 12192 0 1.599999905 3.000000477 * 12192 +* 121920.7500000000 0 0 +GRID* 12193 0 1.599999905 3.200000525 * 12193 +* 121930.7500000000 0 0 +GRID* 12194 0 1.599999905 3.400000572 * 12194 +* 121940.7500000000 0 0 +GRID* 12195 0 1.599999905 3.600000858 * 12195 +* 121950.7500000000 0 0 +GRID* 12196 0 1.599999905 3.800000668 * 12196 +* 121960.7500000000 0 0 +GRID* 12197 0 1.599999905 4.000000477 * 12197 +* 121970.7500000000 0 0 +GRID* 12198 0 1.599999905 4.200000286 * 12198 +* 121980.7500000000 0 0 +GRID* 12199 0 1.599999905 4.400000095 * 12199 +* 121990.7500000000 0 0 +GRID* 12200 0 1.599999905 4.599999905 * 12200 +* 122000.7500000000 0 0 +GRID* 12201 0 1.599999905 4.799999714 * 12201 +* 122010.7500000000 0 0 +GRID* 12202 0 1.599999905 4.999999523 * 12202 +* 122020.7500000000 0 0 +GRID* 12203 0 1.599999905 5.199999332 * 12203 +* 122030.7500000000 0 0 +GRID* 12204 0 1.599999905 5.399999142 * 12204 +* 122040.7500000000 0 0 +GRID* 12205 0 1.599999905 5.599998951 * 12205 +* 122050.7500000000 0 0 +GRID* 12206 0 1.599999905 5.799998760 * 12206 +* 122060.7500000000 0 0 +GRID* 12207 0 1.599999905 5.999998569 * 12207 +* 122070.7500000000 0 0 +GRID* 12208 0 1.599999905 6.199998379 * 12208 +* 122080.7500000000 0 0 +GRID* 12209 0 1.599999905 6.399998188 * 12209 +* 122090.7500000000 0 0 +GRID* 12210 0 1.599999905 6.599997997 * 12210 +* 122100.7500000000 0 0 +GRID* 12211 0 1.599999905 6.799997807 * 12211 +* 122110.7500000000 0 0 +GRID* 12212 0 1.599999905 6.999997616 * 12212 +* 122120.7500000000 0 0 +GRID* 12213 0 1.599999905 7.199997425 * 12213 +* 122130.7500000000 0 0 +GRID* 12214 0 1.599999905 7.399997234 * 12214 +* 122140.7500000000 0 0 +GRID* 12215 0 1.599999905 7.599997044 * 12215 +* 122150.7500000000 0 0 +GRID* 12216 0 1.599999905 7.799996853 * 12216 +* 122160.7500000000 0 0 +GRID* 12217 0 1.599999905 7.999996662 * 12217 +* 122170.7500000000 0 0 +GRID* 12218 0 1.599999905 8.199996948 * 12218 +* 122180.7500000000 0 0 +GRID* 12219 0 1.599999905 8.399996758 * 12219 +* 122190.7500000000 0 0 +GRID* 12220 0 1.599999905 8.599996567 * 12220 +* 122200.7500000000 0 0 +GRID* 12221 0 1.599999905 8.799996376 * 12221 +* 122210.7500000000 0 0 +GRID* 12222 0 1.599999905 8.999996185 * 12222 +* 122220.7500000000 0 0 +GRID* 12223 0 1.599999905 9.199995995 * 12223 +* 122230.7500000000 0 0 +GRID* 12224 0 1.599999905 9.399995804 * 12224 +* 122240.7500000000 0 0 +GRID* 12225 0 1.599999905 9.599995613 * 12225 +* 122250.7500000000 0 0 +GRID* 12226 0 1.599999905 9.799995422 * 12226 +* 122260.7500000000 0 0 +GRID* 12227 0 1.599999905 9.999995232 * 12227 +* 122270.7500000000 0 0 +GRID* 12228 0 1.599999905 10.19999504 * 12228 +* 122280.7500000000 0 0 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122420.7500000000 0 0 +GRID* 12243 0 1.599999905 13.19999218 * 12243 +* 122430.7500000000 0 0 +GRID* 12244 0 1.599999905 13.39999199 * 12244 +* 122440.7500000000 0 0 +GRID* 12245 0 1.599999905 13.59999180 * 12245 +* 122450.7500000000 0 0 +GRID* 12246 0 1.599999905 13.79999161 * 12246 +* 122460.7500000000 0 0 +GRID* 12247 0 1.599999905 13.99999142 * 12247 +* 122470.7500000000 0 0 +GRID* 12248 0 1.599999905 14.19999123 * 12248 +* 122480.7500000000 0 0 +GRID* 12249 0 1.599999905 14.39999104 * 12249 +* 122490.7500000000 0 0 +GRID* 12250 0 1.599999905 14.59999084 * 12250 +* 122500.7500000000 0 0 +GRID* 12251 0 1.599999905 14.79999065 * 12251 +* 122510.7500000000 0 0 +GRID* 12252 0 1.599999905 14.99999046 * 12252 +* 122520.7500000000 0 0 +GRID* 12253 0 1.599999905 15.19999027 * 12253 +* 122530.7500000000 0 0 +GRID* 12254 0 1.599999905 15.39999008 * 12254 +* 122540.7500000000 0 0 +GRID* 12255 0 1.599999905 15.59998989 * 12255 +* 122550.7500000000 0 0 +GRID* 12256 0 1.599999905 15.79998970 * 12256 +* 122560.7500000000 0 0 +GRID* 12257 0 1.599999905 15.99998951 * 12257 +* 122570.7500000000 0 0 +GRID* 12258 0 1.599999905 16.19998932 * 12258 +* 122580.7500000000 0 0 +GRID* 12259 0 1.599999905 16.39999008 * 12259 +* 122590.7500000000 0 0 +GRID* 12260 0 1.599999905 16.59999084 * 12260 +* 122600.7500000000 0 0 +GRID* 12261 0 1.599999905 16.79999161 * 12261 +* 122610.7500000000 0 0 +GRID* 12262 0 1.599999905 16.99999237 * 12262 +* 122620.7500000000 0 0 +GRID* 12263 0 1.599999905 17.19999313 * 12263 +* 122630.7500000000 0 0 +GRID* 12264 0 1.599999905 17.39999390 * 12264 +* 122640.7500000000 0 0 +GRID* 12265 0 1.599999905 17.59999466 * 12265 +* 122650.7500000000 0 0 +GRID* 12266 0 1.599999905 17.79999542 * 12266 +* 122660.7500000000 0 0 +GRID* 12267 0 1.599999905 17.99999619 * 12267 +* 122670.7500000000 0 0 +GRID* 12268 0 1.599999905 18.19999695 * 12268 +* 122680.7500000000 0 0 +GRID* 12269 0 1.599999905 18.39999771 * 12269 +* 122690.7500000000 0 0 +GRID* 12270 0 1.599999905 18.59999847 * 12270 +* 122700.7500000000 0 0 +GRID* 12271 0 1.599999905 18.79999924 * 12271 +* 122710.7500000000 0 0 +GRID* 12272 0 1.599999905 19.00000000 * 12272 +* 122720.7500000000 0 0 +GRID* 12273 0 1.599999905 19.20000076 * 12273 +* 122730.7500000000 0 0 +GRID* 12274 0 1.599999905 19.40000153 * 12274 +* 122740.7500000000 0 0 +GRID* 12275 0 1.599999905 19.60000229 * 12275 +* 122750.7500000000 0 0 +GRID* 12276 0 1.599999905 19.80000305 * 12276 +* 122760.7500000000 0 0 +GRID* 12277 0 1.400000095 0.1999999881 * 12277 +* 122770.7500000000 0 0 +GRID* 12278 0 1.400000095 0.3999999762 * 12278 +* 122780.7500000000 0 0 +GRID* 12279 0 1.400000095 0.6000000238 * 12279 +* 122790.7500000000 0 0 +GRID* 12280 0 1.400000095 0.7999999523 * 12280 +* 122800.7500000000 0 0 +GRID* 12281 0 1.400000095 1.000000000 * 12281 +* 122810.7500000000 0 0 +GRID* 12282 0 1.400000095 1.200000048 * 12282 +* 122820.7500000000 0 0 +GRID* 12283 0 1.400000095 1.400000095 * 12283 +* 122830.7500000000 0 0 +GRID* 12284 0 1.400000095 1.600000143 * 12284 +* 122840.7500000000 0 0 +GRID* 12285 0 1.400000095 1.800000191 * 12285 +* 122850.7500000000 0 0 +GRID* 12286 0 1.400000095 2.000000238 * 12286 +* 122860.7500000000 0 0 +GRID* 12287 0 1.400000095 2.200000286 * 12287 +* 122870.7500000000 0 0 +GRID* 12288 0 1.400000095 2.400000334 * 12288 +* 122880.7500000000 0 0 +GRID* 12289 0 1.400000095 2.600000381 * 12289 +* 122890.7500000000 0 0 +GRID* 12290 0 1.400000095 2.800000191 * 12290 +* 122900.7500000000 0 0 +GRID* 12291 0 1.400000095 3.000000477 * 12291 +* 122910.7500000000 0 0 +GRID* 12292 0 1.400000095 3.200000525 * 12292 +* 122920.7500000000 0 0 +GRID* 12293 0 1.400000095 3.400000572 * 12293 +* 122930.7500000000 0 0 +GRID* 12294 0 1.400000095 3.600000858 * 12294 +* 122940.7500000000 0 0 +GRID* 12295 0 1.400000095 3.800000668 * 12295 +* 122950.7500000000 0 0 +GRID* 12296 0 1.400000095 4.000000477 * 12296 +* 122960.7500000000 0 0 +GRID* 12297 0 1.400000095 4.200000286 * 12297 +* 122970.7500000000 0 0 +GRID* 12298 0 1.400000095 4.400000095 * 12298 +* 122980.7500000000 0 0 +GRID* 12299 0 1.400000095 4.599999905 * 12299 +* 122990.7500000000 0 0 +GRID* 12300 0 1.400000095 4.799999714 * 12300 +* 123000.7500000000 0 0 +GRID* 12301 0 1.400000095 4.999999523 * 12301 +* 123010.7500000000 0 0 +GRID* 12302 0 1.400000095 5.199999332 * 12302 +* 123020.7500000000 0 0 +GRID* 12303 0 1.400000095 5.399999142 * 12303 +* 123030.7500000000 0 0 +GRID* 12304 0 1.400000095 5.599998951 * 12304 +* 123040.7500000000 0 0 +GRID* 12305 0 1.400000095 5.799998760 * 12305 +* 123050.7500000000 0 0 +GRID* 12306 0 1.400000095 5.999998569 * 12306 +* 123060.7500000000 0 0 +GRID* 12307 0 1.400000095 6.199998379 * 12307 +* 123070.7500000000 0 0 +GRID* 12308 0 1.400000095 6.399998188 * 12308 +* 123080.7500000000 0 0 +GRID* 12309 0 1.400000095 6.599997997 * 12309 +* 123090.7500000000 0 0 +GRID* 12310 0 1.400000095 6.799997807 * 12310 +* 123100.7500000000 0 0 +GRID* 12311 0 1.400000095 6.999997616 * 12311 +* 123110.7500000000 0 0 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123250.7500000000 0 0 +GRID* 12326 0 1.400000095 9.999995232 * 12326 +* 123260.7500000000 0 0 +GRID* 12327 0 1.400000095 10.19999504 * 12327 +* 123270.7500000000 0 0 +GRID* 12328 0 1.400000095 10.39999485 * 12328 +* 123280.7500000000 0 0 +GRID* 12329 0 1.400000095 10.59999466 * 12329 +* 123290.7500000000 0 0 +GRID* 12330 0 1.400000095 10.79999447 * 12330 +* 123300.7500000000 0 0 +GRID* 12331 0 1.400000095 10.99999428 * 12331 +* 123310.7500000000 0 0 +GRID* 12332 0 1.400000095 11.19999409 * 12332 +* 123320.7500000000 0 0 +GRID* 12333 0 1.400000095 11.39999390 * 12333 +* 123330.7500000000 0 0 +GRID* 12334 0 1.400000095 11.59999371 * 12334 +* 123340.7500000000 0 0 +GRID* 12335 0 1.400000095 11.79999352 * 12335 +* 123350.7500000000 0 0 +GRID* 12336 0 1.400000095 11.99999332 * 12336 +* 123360.7500000000 0 0 +GRID* 12337 0 1.400000095 12.19999313 * 12337 +* 123370.7500000000 0 0 +GRID* 12338 0 1.400000095 12.39999294 * 12338 +* 123380.7500000000 0 0 +GRID* 12339 0 1.400000095 12.59999275 * 12339 +* 123390.7500000000 0 0 +GRID* 12340 0 1.400000095 12.79999256 * 12340 +* 123400.7500000000 0 0 +GRID* 12341 0 1.400000095 12.99999237 * 12341 +* 123410.7500000000 0 0 +GRID* 12342 0 1.400000095 13.19999218 * 12342 +* 123420.7500000000 0 0 +GRID* 12343 0 1.400000095 13.39999199 * 12343 +* 123430.7500000000 0 0 +GRID* 12344 0 1.400000095 13.59999180 * 12344 +* 123440.7500000000 0 0 +GRID* 12345 0 1.400000095 13.79999161 * 12345 +* 123450.7500000000 0 0 +GRID* 12346 0 1.400000095 13.99999142 * 12346 +* 123460.7500000000 0 0 +GRID* 12347 0 1.400000095 14.19999123 * 12347 +* 123470.7500000000 0 0 +GRID* 12348 0 1.400000095 14.39999104 * 12348 +* 123480.7500000000 0 0 +GRID* 12349 0 1.400000095 14.59999084 * 12349 +* 123490.7500000000 0 0 +GRID* 12350 0 1.400000095 14.79999065 * 12350 +* 123500.7500000000 0 0 +GRID* 12351 0 1.400000095 14.99999046 * 12351 +* 123510.7500000000 0 0 +GRID* 12352 0 1.400000095 15.19999027 * 12352 +* 123520.7500000000 0 0 +GRID* 12353 0 1.400000095 15.39999008 * 12353 +* 123530.7500000000 0 0 +GRID* 12354 0 1.400000095 15.59998989 * 12354 +* 123540.7500000000 0 0 +GRID* 12355 0 1.400000095 15.79998970 * 12355 +* 123550.7500000000 0 0 +GRID* 12356 0 1.400000095 15.99998951 * 12356 +* 123560.7500000000 0 0 +GRID* 12357 0 1.400000095 16.19998932 * 12357 +* 123570.7500000000 0 0 +GRID* 12358 0 1.400000095 16.39999008 * 12358 +* 123580.7500000000 0 0 +GRID* 12359 0 1.400000095 16.59999084 * 12359 +* 123590.7500000000 0 0 +GRID* 12360 0 1.400000095 16.79999161 * 12360 +* 123600.7500000000 0 0 +GRID* 12361 0 1.400000095 16.99999237 * 12361 +* 123610.7500000000 0 0 +GRID* 12362 0 1.400000095 17.19999313 * 12362 +* 123620.7500000000 0 0 +GRID* 12363 0 1.400000095 17.39999390 * 12363 +* 123630.7500000000 0 0 +GRID* 12364 0 1.400000095 17.59999466 * 12364 +* 123640.7500000000 0 0 +GRID* 12365 0 1.400000095 17.79999542 * 12365 +* 123650.7500000000 0 0 +GRID* 12366 0 1.400000095 17.99999619 * 12366 +* 123660.7500000000 0 0 +GRID* 12367 0 1.400000095 18.19999695 * 12367 +* 123670.7500000000 0 0 +GRID* 12368 0 1.400000095 18.39999771 * 12368 +* 123680.7500000000 0 0 +GRID* 12369 0 1.400000095 18.59999847 * 12369 +* 123690.7500000000 0 0 +GRID* 12370 0 1.400000095 18.79999924 * 12370 +* 123700.7500000000 0 0 +GRID* 12371 0 1.400000095 19.00000000 * 12371 +* 123710.7500000000 0 0 +GRID* 12372 0 1.400000095 19.20000076 * 12372 +* 123720.7500000000 0 0 +GRID* 12373 0 1.400000095 19.40000153 * 12373 +* 123730.7500000000 0 0 +GRID* 12374 0 1.400000095 19.60000229 * 12374 +* 123740.7500000000 0 0 +GRID* 12375 0 1.400000095 19.80000305 * 12375 +* 123750.7500000000 0 0 +GRID* 12376 0 1.200000286 0.1999999881 * 12376 +* 123760.7500000000 0 0 +GRID* 12377 0 1.200000286 0.3999999762 * 12377 +* 123770.7500000000 0 0 +GRID* 12378 0 1.200000286 0.6000000238 * 12378 +* 123780.7500000000 0 0 +GRID* 12379 0 1.200000286 0.7999999523 * 12379 +* 123790.7500000000 0 0 +GRID* 12380 0 1.200000286 1.000000000 * 12380 +* 123800.7500000000 0 0 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123940.7500000000 0 0 +GRID* 12395 0 1.200000286 4.000000477 * 12395 +* 123950.7500000000 0 0 +GRID* 12396 0 1.200000286 4.200000286 * 12396 +* 123960.7500000000 0 0 +GRID* 12397 0 1.200000286 4.400000095 * 12397 +* 123970.7500000000 0 0 +GRID* 12398 0 1.200000286 4.599999905 * 12398 +* 123980.7500000000 0 0 +GRID* 12399 0 1.200000286 4.799999714 * 12399 +* 123990.7500000000 0 0 +GRID* 12400 0 1.200000286 4.999999523 * 12400 +* 124000.7500000000 0 0 +GRID* 12401 0 1.200000286 5.199999332 * 12401 +* 124010.7500000000 0 0 +GRID* 12402 0 1.200000286 5.399999142 * 12402 +* 124020.7500000000 0 0 +GRID* 12403 0 1.200000286 5.599998951 * 12403 +* 124030.7500000000 0 0 +GRID* 12404 0 1.200000286 5.799998760 * 12404 +* 124040.7500000000 0 0 +GRID* 12405 0 1.200000286 5.999998569 * 12405 +* 124050.7500000000 0 0 +GRID* 12406 0 1.200000286 6.199998379 * 12406 +* 124060.7500000000 0 0 +GRID* 12407 0 1.200000286 6.399998188 * 12407 +* 124070.7500000000 0 0 +GRID* 12408 0 1.200000286 6.599997997 * 12408 +* 124080.7500000000 0 0 +GRID* 12409 0 1.200000286 6.799997807 * 12409 +* 124090.7500000000 0 0 +GRID* 12410 0 1.200000286 6.999997616 * 12410 +* 124100.7500000000 0 0 +GRID* 12411 0 1.200000286 7.199997425 * 12411 +* 124110.7500000000 0 0 +GRID* 12412 0 1.200000286 7.399997234 * 12412 +* 124120.7500000000 0 0 +GRID* 12413 0 1.200000286 7.599997044 * 12413 +* 124130.7500000000 0 0 +GRID* 12414 0 1.200000286 7.799996853 * 12414 +* 124140.7500000000 0 0 +GRID* 12415 0 1.200000286 7.999996662 * 12415 +* 124150.7500000000 0 0 +GRID* 12416 0 1.200000286 8.199996948 * 12416 +* 124160.7500000000 0 0 +GRID* 12417 0 1.200000286 8.399996758 * 12417 +* 124170.7500000000 0 0 +GRID* 12418 0 1.200000286 8.599996567 * 12418 +* 124180.7500000000 0 0 +GRID* 12419 0 1.200000286 8.799996376 * 12419 +* 124190.7500000000 0 0 +GRID* 12420 0 1.200000286 8.999996185 * 12420 +* 124200.7500000000 0 0 +GRID* 12421 0 1.200000286 9.199995995 * 12421 +* 124210.7500000000 0 0 +GRID* 12422 0 1.200000286 9.399995804 * 12422 +* 124220.7500000000 0 0 +GRID* 12423 0 1.200000286 9.599995613 * 12423 +* 124230.7500000000 0 0 +GRID* 12424 0 1.200000286 9.799995422 * 12424 +* 124240.7500000000 0 0 +GRID* 12425 0 1.200000286 9.999995232 * 12425 +* 124250.7500000000 0 0 +GRID* 12426 0 1.200000286 10.19999504 * 12426 +* 124260.7500000000 0 0 +GRID* 12427 0 1.200000286 10.39999485 * 12427 +* 124270.7500000000 0 0 +GRID* 12428 0 1.200000286 10.59999466 * 12428 +* 124280.7500000000 0 0 +GRID* 12429 0 1.200000286 10.79999447 * 12429 +* 124290.7500000000 0 0 +GRID* 12430 0 1.200000286 10.99999428 * 12430 +* 124300.7500000000 0 0 +GRID* 12431 0 1.200000286 11.19999409 * 12431 +* 124310.7500000000 0 0 +GRID* 12432 0 1.200000286 11.39999390 * 12432 +* 124320.7500000000 0 0 +GRID* 12433 0 1.200000286 11.59999371 * 12433 +* 124330.7500000000 0 0 +GRID* 12434 0 1.200000286 11.79999352 * 12434 +* 124340.7500000000 0 0 +GRID* 12435 0 1.200000286 11.99999332 * 12435 +* 124350.7500000000 0 0 +GRID* 12436 0 1.200000286 12.19999313 * 12436 +* 124360.7500000000 0 0 +GRID* 12437 0 1.200000286 12.39999294 * 12437 +* 124370.7500000000 0 0 +GRID* 12438 0 1.200000286 12.59999275 * 12438 +* 124380.7500000000 0 0 +GRID* 12439 0 1.200000286 12.79999256 * 12439 +* 124390.7500000000 0 0 +GRID* 12440 0 1.200000286 12.99999237 * 12440 +* 124400.7500000000 0 0 +GRID* 12441 0 1.200000286 13.19999218 * 12441 +* 124410.7500000000 0 0 +GRID* 12442 0 1.200000286 13.39999199 * 12442 +* 124420.7500000000 0 0 +GRID* 12443 0 1.200000286 13.59999180 * 12443 +* 124430.7500000000 0 0 +GRID* 12444 0 1.200000286 13.79999161 * 12444 +* 124440.7500000000 0 0 +GRID* 12445 0 1.200000286 13.99999142 * 12445 +* 124450.7500000000 0 0 +GRID* 12446 0 1.200000286 14.19999123 * 12446 +* 124460.7500000000 0 0 +GRID* 12447 0 1.200000286 14.39999104 * 12447 +* 124470.7500000000 0 0 +GRID* 12448 0 1.200000286 14.59999084 * 12448 +* 124480.7500000000 0 0 +GRID* 12449 0 1.200000286 14.79999065 * 12449 +* 124490.7500000000 0 0 +GRID* 12450 0 1.200000286 14.99999046 * 12450 +* 124500.7500000000 0 0 +GRID* 12451 0 1.200000286 15.19999027 * 12451 +* 124510.7500000000 0 0 +GRID* 12452 0 1.200000286 15.39999008 * 12452 +* 124520.7500000000 0 0 +GRID* 12453 0 1.200000286 15.59998989 * 12453 +* 124530.7500000000 0 0 +GRID* 12454 0 1.200000286 15.79998970 * 12454 +* 124540.7500000000 0 0 +GRID* 12455 0 1.200000286 15.99998951 * 12455 +* 124550.7500000000 0 0 +GRID* 12456 0 1.200000286 16.19998932 * 12456 +* 124560.7500000000 0 0 +GRID* 12457 0 1.200000286 16.39999008 * 12457 +* 124570.7500000000 0 0 +GRID* 12458 0 1.200000286 16.59999084 * 12458 +* 124580.7500000000 0 0 +GRID* 12459 0 1.200000286 16.79999161 * 12459 +* 124590.7500000000 0 0 +GRID* 12460 0 1.200000286 16.99999237 * 12460 +* 124600.7500000000 0 0 +GRID* 12461 0 1.200000286 17.19999313 * 12461 +* 124610.7500000000 0 0 +GRID* 12462 0 1.200000286 17.39999390 * 12462 +* 124620.7500000000 0 0 +GRID* 12463 0 1.200000286 17.59999466 * 12463 +* 124630.7500000000 0 0 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124770.7500000000 0 0 +GRID* 12478 0 1.000000477 0.7999999523 * 12478 +* 124780.7500000000 0 0 +GRID* 12479 0 1.000000477 1.000000000 * 12479 +* 124790.7500000000 0 0 +GRID* 12480 0 1.000000477 1.200000048 * 12480 +* 124800.7500000000 0 0 +GRID* 12481 0 1.000000477 1.400000095 * 12481 +* 124810.7500000000 0 0 +GRID* 12482 0 1.000000477 1.600000143 * 12482 +* 124820.7500000000 0 0 +GRID* 12483 0 1.000000477 1.800000191 * 12483 +* 124830.7500000000 0 0 +GRID* 12484 0 1.000000477 2.000000238 * 12484 +* 124840.7500000000 0 0 +GRID* 12485 0 1.000000477 2.200000286 * 12485 +* 124850.7500000000 0 0 +GRID* 12486 0 1.000000477 2.400000334 * 12486 +* 124860.7500000000 0 0 +GRID* 12487 0 1.000000477 2.600000381 * 12487 +* 124870.7500000000 0 0 +GRID* 12488 0 1.000000477 2.800000191 * 12488 +* 124880.7500000000 0 0 +GRID* 12489 0 1.000000477 3.000000477 * 12489 +* 124890.7500000000 0 0 +GRID* 12490 0 1.000000477 3.200000525 * 12490 +* 124900.7500000000 0 0 +GRID* 12491 0 1.000000477 3.400000572 * 12491 +* 124910.7500000000 0 0 +GRID* 12492 0 1.000000477 3.600000858 * 12492 +* 124920.7500000000 0 0 +GRID* 12493 0 1.000000477 3.800000668 * 12493 +* 124930.7500000000 0 0 +GRID* 12494 0 1.000000477 4.000000477 * 12494 +* 124940.7500000000 0 0 +GRID* 12495 0 1.000000477 4.200000286 * 12495 +* 124950.7500000000 0 0 +GRID* 12496 0 1.000000477 4.400000095 * 12496 +* 124960.7500000000 0 0 +GRID* 12497 0 1.000000477 4.599999905 * 12497 +* 124970.7500000000 0 0 +GRID* 12498 0 1.000000477 4.799999714 * 12498 +* 124980.7500000000 0 0 +GRID* 12499 0 1.000000477 4.999999523 * 12499 +* 124990.7500000000 0 0 +GRID* 12500 0 1.000000477 5.199999332 * 12500 +* 125000.7500000000 0 0 +GRID* 12501 0 1.000000477 5.399999142 * 12501 +* 125010.7500000000 0 0 +GRID* 12502 0 1.000000477 5.599998951 * 12502 +* 125020.7500000000 0 0 +GRID* 12503 0 1.000000477 5.799998760 * 12503 +* 125030.7500000000 0 0 +GRID* 12504 0 1.000000477 5.999998569 * 12504 +* 125040.7500000000 0 0 +GRID* 12505 0 1.000000477 6.199998379 * 12505 +* 125050.7500000000 0 0 +GRID* 12506 0 1.000000477 6.399998188 * 12506 +* 125060.7500000000 0 0 +GRID* 12507 0 1.000000477 6.599997997 * 12507 +* 125070.7500000000 0 0 +GRID* 12508 0 1.000000477 6.799997807 * 12508 +* 125080.7500000000 0 0 +GRID* 12509 0 1.000000477 6.999997616 * 12509 +* 125090.7500000000 0 0 +GRID* 12510 0 1.000000477 7.199997425 * 12510 +* 125100.7500000000 0 0 +GRID* 12511 0 1.000000477 7.399997234 * 12511 +* 125110.7500000000 0 0 +GRID* 12512 0 1.000000477 7.599997044 * 12512 +* 125120.7500000000 0 0 +GRID* 12513 0 1.000000477 7.799996853 * 12513 +* 125130.7500000000 0 0 +GRID* 12514 0 1.000000477 7.999996662 * 12514 +* 125140.7500000000 0 0 +GRID* 12515 0 1.000000477 8.199996948 * 12515 +* 125150.7500000000 0 0 +GRID* 12516 0 1.000000477 8.399996758 * 12516 +* 125160.7500000000 0 0 +GRID* 12517 0 1.000000477 8.599996567 * 12517 +* 125170.7500000000 0 0 +GRID* 12518 0 1.000000477 8.799996376 * 12518 +* 125180.7500000000 0 0 +GRID* 12519 0 1.000000477 8.999996185 * 12519 +* 125190.7500000000 0 0 +GRID* 12520 0 1.000000477 9.199995995 * 12520 +* 125200.7500000000 0 0 +GRID* 12521 0 1.000000477 9.399995804 * 12521 +* 125210.7500000000 0 0 +GRID* 12522 0 1.000000477 9.599995613 * 12522 +* 125220.7500000000 0 0 +GRID* 12523 0 1.000000477 9.799995422 * 12523 +* 125230.7500000000 0 0 +GRID* 12524 0 1.000000477 9.999995232 * 12524 +* 125240.7500000000 0 0 +GRID* 12525 0 1.000000477 10.19999504 * 12525 +* 125250.7500000000 0 0 +GRID* 12526 0 1.000000477 10.39999485 * 12526 +* 125260.7500000000 0 0 +GRID* 12527 0 1.000000477 10.59999466 * 12527 +* 125270.7500000000 0 0 +GRID* 12528 0 1.000000477 10.79999447 * 12528 +* 125280.7500000000 0 0 +GRID* 12529 0 1.000000477 10.99999428 * 12529 +* 125290.7500000000 0 0 +GRID* 12530 0 1.000000477 11.19999409 * 12530 +* 125300.7500000000 0 0 +GRID* 12531 0 1.000000477 11.39999390 * 12531 +* 125310.7500000000 0 0 +GRID* 12532 0 1.000000477 11.59999371 * 12532 +* 125320.7500000000 0 0 +GRID* 12533 0 1.000000477 11.79999352 * 12533 +* 125330.7500000000 0 0 +GRID* 12534 0 1.000000477 11.99999332 * 12534 +* 125340.7500000000 0 0 +GRID* 12535 0 1.000000477 12.19999313 * 12535 +* 125350.7500000000 0 0 +GRID* 12536 0 1.000000477 12.39999294 * 12536 +* 125360.7500000000 0 0 +GRID* 12537 0 1.000000477 12.59999275 * 12537 +* 125370.7500000000 0 0 +GRID* 12538 0 1.000000477 12.79999256 * 12538 +* 125380.7500000000 0 0 +GRID* 12539 0 1.000000477 12.99999237 * 12539 +* 125390.7500000000 0 0 +GRID* 12540 0 1.000000477 13.19999218 * 12540 +* 125400.7500000000 0 0 +GRID* 12541 0 1.000000477 13.39999199 * 12541 +* 125410.7500000000 0 0 +GRID* 12542 0 1.000000477 13.59999180 * 12542 +* 125420.7500000000 0 0 +GRID* 12543 0 1.000000477 13.79999161 * 12543 +* 125430.7500000000 0 0 +GRID* 12544 0 1.000000477 13.99999142 * 12544 +* 125440.7500000000 0 0 +GRID* 12545 0 1.000000477 14.19999123 * 12545 +* 125450.7500000000 0 0 +GRID* 12546 0 1.000000477 14.39999104 * 12546 +* 125460.7500000000 0 0 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125600.7500000000 0 0 +GRID* 12561 0 1.000000477 17.39999390 * 12561 +* 125610.7500000000 0 0 +GRID* 12562 0 1.000000477 17.59999466 * 12562 +* 125620.7500000000 0 0 +GRID* 12563 0 1.000000477 17.79999542 * 12563 +* 125630.7500000000 0 0 +GRID* 12564 0 1.000000477 17.99999619 * 12564 +* 125640.7500000000 0 0 +GRID* 12565 0 1.000000477 18.19999695 * 12565 +* 125650.7500000000 0 0 +GRID* 12566 0 1.000000477 18.39999771 * 12566 +* 125660.7500000000 0 0 +GRID* 12567 0 1.000000477 18.59999847 * 12567 +* 125670.7500000000 0 0 +GRID* 12568 0 1.000000477 18.79999924 * 12568 +* 125680.7500000000 0 0 +GRID* 12569 0 1.000000477 19.00000000 * 12569 +* 125690.7500000000 0 0 +GRID* 12570 0 1.000000477 19.20000076 * 12570 +* 125700.7500000000 0 0 +GRID* 12571 0 1.000000477 19.40000153 * 12571 +* 125710.7500000000 0 0 +GRID* 12572 0 1.000000477 19.60000229 * 12572 +* 125720.7500000000 0 0 +GRID* 12573 0 1.000000477 19.80000305 * 12573 +* 125730.7500000000 0 0 +GRID* 12574 00.8000006676 0.1999999881 * 12574 +* 125740.7500000000 0 0 +GRID* 12575 00.8000006676 0.3999999762 * 12575 +* 125750.7500000000 0 0 +GRID* 12576 00.8000006676 0.6000000238 * 12576 +* 125760.7500000000 0 0 +GRID* 12577 00.8000006676 0.7999999523 * 12577 +* 125770.7500000000 0 0 +GRID* 12578 00.8000006676 1.000000000 * 12578 +* 125780.7500000000 0 0 +GRID* 12579 00.8000006676 1.200000048 * 12579 +* 125790.7500000000 0 0 +GRID* 12580 00.8000006676 1.400000095 * 12580 +* 125800.7500000000 0 0 +GRID* 12581 00.8000006676 1.600000143 * 12581 +* 125810.7500000000 0 0 +GRID* 12582 00.8000006676 1.800000191 * 12582 +* 125820.7500000000 0 0 +GRID* 12583 00.8000006676 2.000000238 * 12583 +* 125830.7500000000 0 0 +GRID* 12584 00.8000006676 2.200000286 * 12584 +* 125840.7500000000 0 0 +GRID* 12585 00.8000006676 2.400000334 * 12585 +* 125850.7500000000 0 0 +GRID* 12586 00.8000006676 2.600000381 * 12586 +* 125860.7500000000 0 0 +GRID* 12587 00.8000006676 2.800000191 * 12587 +* 125870.7500000000 0 0 +GRID* 12588 00.8000006676 3.000000477 * 12588 +* 125880.7500000000 0 0 +GRID* 12589 00.8000006676 3.200000525 * 12589 +* 125890.7500000000 0 0 +GRID* 12590 00.8000006676 3.400000572 * 12590 +* 125900.7500000000 0 0 +GRID* 12591 00.8000006676 3.600000858 * 12591 +* 125910.7500000000 0 0 +GRID* 12592 00.8000006676 3.800000668 * 12592 +* 125920.7500000000 0 0 +GRID* 12593 00.8000006676 4.000000477 * 12593 +* 125930.7500000000 0 0 +GRID* 12594 00.8000006676 4.200000286 * 12594 +* 125940.7500000000 0 0 +GRID* 12595 00.8000006676 4.400000095 * 12595 +* 125950.7500000000 0 0 +GRID* 12596 00.8000006676 4.599999905 * 12596 +* 125960.7500000000 0 0 +GRID* 12597 00.8000006676 4.799999714 * 12597 +* 125970.7500000000 0 0 +GRID* 12598 00.8000006676 4.999999523 * 12598 +* 125980.7500000000 0 0 +GRID* 12599 00.8000006676 5.199999332 * 12599 +* 125990.7500000000 0 0 +GRID* 12600 00.8000006676 5.399999142 * 12600 +* 126000.7500000000 0 0 +GRID* 12601 00.8000006676 5.599998951 * 12601 +* 126010.7500000000 0 0 +GRID* 12602 00.8000006676 5.799998760 * 12602 +* 126020.7500000000 0 0 +GRID* 12603 00.8000006676 5.999998569 * 12603 +* 126030.7500000000 0 0 +GRID* 12604 00.8000006676 6.199998379 * 12604 +* 126040.7500000000 0 0 +GRID* 12605 00.8000006676 6.399998188 * 12605 +* 126050.7500000000 0 0 +GRID* 12606 00.8000006676 6.599997997 * 12606 +* 126060.7500000000 0 0 +GRID* 12607 00.8000006676 6.799997807 * 12607 +* 126070.7500000000 0 0 +GRID* 12608 00.8000006676 6.999997616 * 12608 +* 126080.7500000000 0 0 +GRID* 12609 00.8000006676 7.199997425 * 12609 +* 126090.7500000000 0 0 +GRID* 12610 00.8000006676 7.399997234 * 12610 +* 126100.7500000000 0 0 +GRID* 12611 00.8000006676 7.599997044 * 12611 +* 126110.7500000000 0 0 +GRID* 12612 00.8000006676 7.799996853 * 12612 +* 126120.7500000000 0 0 +GRID* 12613 00.8000006676 7.999996662 * 12613 +* 126130.7500000000 0 0 +GRID* 12614 00.8000006676 8.199996948 * 12614 +* 126140.7500000000 0 0 +GRID* 12615 00.8000006676 8.399996758 * 12615 +* 126150.7500000000 0 0 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126290.7500000000 0 0 +GRID* 12630 00.8000006676 11.39999390 * 12630 +* 126300.7500000000 0 0 +GRID* 12631 00.8000006676 11.59999371 * 12631 +* 126310.7500000000 0 0 +GRID* 12632 00.8000006676 11.79999352 * 12632 +* 126320.7500000000 0 0 +GRID* 12633 00.8000006676 11.99999332 * 12633 +* 126330.7500000000 0 0 +GRID* 12634 00.8000006676 12.19999313 * 12634 +* 126340.7500000000 0 0 +GRID* 12635 00.8000006676 12.39999294 * 12635 +* 126350.7500000000 0 0 +GRID* 12636 00.8000006676 12.59999275 * 12636 +* 126360.7500000000 0 0 +GRID* 12637 00.8000006676 12.79999256 * 12637 +* 126370.7500000000 0 0 +GRID* 12638 00.8000006676 12.99999237 * 12638 +* 126380.7500000000 0 0 +GRID* 12639 00.8000006676 13.19999218 * 12639 +* 126390.7500000000 0 0 +GRID* 12640 00.8000006676 13.39999199 * 12640 +* 126400.7500000000 0 0 +GRID* 12641 00.8000006676 13.59999180 * 12641 +* 126410.7500000000 0 0 +GRID* 12642 00.8000006676 13.79999161 * 12642 +* 126420.7500000000 0 0 +GRID* 12643 00.8000006676 13.99999142 * 12643 +* 126430.7500000000 0 0 +GRID* 12644 00.8000006676 14.19999123 * 12644 +* 126440.7500000000 0 0 +GRID* 12645 00.8000006676 14.39999104 * 12645 +* 126450.7500000000 0 0 +GRID* 12646 00.8000006676 14.59999084 * 12646 +* 126460.7500000000 0 0 +GRID* 12647 00.8000006676 14.79999065 * 12647 +* 126470.7500000000 0 0 +GRID* 12648 00.8000006676 14.99999046 * 12648 +* 126480.7500000000 0 0 +GRID* 12649 00.8000006676 15.19999027 * 12649 +* 126490.7500000000 0 0 +GRID* 12650 00.8000006676 15.39999008 * 12650 +* 126500.7500000000 0 0 +GRID* 12651 00.8000006676 15.59998989 * 12651 +* 126510.7500000000 0 0 +GRID* 12652 00.8000006676 15.79998970 * 12652 +* 126520.7500000000 0 0 +GRID* 12653 00.8000006676 15.99998951 * 12653 +* 126530.7500000000 0 0 +GRID* 12654 00.8000006676 16.19998932 * 12654 +* 126540.7500000000 0 0 +GRID* 12655 00.8000006676 16.39999008 * 12655 +* 126550.7500000000 0 0 +GRID* 12656 00.8000006676 16.59999084 * 12656 +* 126560.7500000000 0 0 +GRID* 12657 00.8000006676 16.79999161 * 12657 +* 126570.7500000000 0 0 +GRID* 12658 00.8000006676 16.99999237 * 12658 +* 126580.7500000000 0 0 +GRID* 12659 00.8000006676 17.19999313 * 12659 +* 126590.7500000000 0 0 +GRID* 12660 00.8000006676 17.39999390 * 12660 +* 126600.7500000000 0 0 +GRID* 12661 00.8000006676 17.59999466 * 12661 +* 126610.7500000000 0 0 +GRID* 12662 00.8000006676 17.79999542 * 12662 +* 126620.7500000000 0 0 +GRID* 12663 00.8000006676 17.99999619 * 12663 +* 126630.7500000000 0 0 +GRID* 12664 00.8000006676 18.19999695 * 12664 +* 126640.7500000000 0 0 +GRID* 12665 00.8000006676 18.39999771 * 12665 +* 126650.7500000000 0 0 +GRID* 12666 00.8000006676 18.59999847 * 12666 +* 126660.7500000000 0 0 +GRID* 12667 00.8000006676 18.79999924 * 12667 +* 126670.7500000000 0 0 +GRID* 12668 00.8000006676 19.00000000 * 12668 +* 126680.7500000000 0 0 +GRID* 12669 00.8000006676 19.20000076 * 12669 +* 126690.7500000000 0 0 +GRID* 12670 00.8000006676 19.40000153 * 12670 +* 126700.7500000000 0 0 +GRID* 12671 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126980.7500000000 0 0 +GRID* 12699 00.6000003815 5.399999142 * 12699 +* 126990.7500000000 0 0 +GRID* 12700 00.6000003815 5.599998951 * 12700 +* 127000.7500000000 0 0 +GRID* 12701 00.6000003815 5.799998760 * 12701 +* 127010.7500000000 0 0 +GRID* 12702 00.6000003815 5.999998569 * 12702 +* 127020.7500000000 0 0 +GRID* 12703 00.6000003815 6.199998379 * 12703 +* 127030.7500000000 0 0 +GRID* 12704 00.6000003815 6.399998188 * 12704 +* 127040.7500000000 0 0 +GRID* 12705 00.6000003815 6.599997997 * 12705 +* 127050.7500000000 0 0 +GRID* 12706 00.6000003815 6.799997807 * 12706 +* 127060.7500000000 0 0 +GRID* 12707 00.6000003815 6.999997616 * 12707 +* 127070.7500000000 0 0 +GRID* 12708 00.6000003815 7.199997425 * 12708 +* 127080.7500000000 0 0 +GRID* 12709 00.6000003815 7.399997234 * 12709 +* 127090.7500000000 0 0 +GRID* 12710 00.6000003815 7.599997044 * 12710 +* 127100.7500000000 0 0 +GRID* 12711 00.6000003815 7.799996853 * 12711 +* 127110.7500000000 0 0 +GRID* 12712 00.6000003815 7.999996662 * 12712 +* 127120.7500000000 0 0 +GRID* 12713 00.6000003815 8.199996948 * 12713 +* 127130.7500000000 0 0 +GRID* 12714 00.6000003815 8.399996758 * 12714 +* 127140.7500000000 0 0 +GRID* 12715 00.6000003815 8.599996567 * 12715 +* 127150.7500000000 0 0 +GRID* 12716 00.6000003815 8.799996376 * 12716 +* 127160.7500000000 0 0 +GRID* 12717 00.6000003815 8.999996185 * 12717 +* 127170.7500000000 0 0 +GRID* 12718 00.6000003815 9.199995995 * 12718 +* 127180.7500000000 0 0 +GRID* 12719 00.6000003815 9.399995804 * 12719 +* 127190.7500000000 0 0 +GRID* 12720 00.6000003815 9.599995613 * 12720 +* 127200.7500000000 0 0 +GRID* 12721 00.6000003815 9.799995422 * 12721 +* 127210.7500000000 0 0 +GRID* 12722 00.6000003815 9.999995232 * 12722 +* 127220.7500000000 0 0 +GRID* 12723 00.6000003815 10.19999504 * 12723 +* 127230.7500000000 0 0 +GRID* 12724 00.6000003815 10.39999485 * 12724 +* 127240.7500000000 0 0 +GRID* 12725 00.6000003815 10.59999466 * 12725 +* 127250.7500000000 0 0 +GRID* 12726 00.6000003815 10.79999447 * 12726 +* 127260.7500000000 0 0 +GRID* 12727 00.6000003815 10.99999428 * 12727 +* 127270.7500000000 0 0 +GRID* 12728 00.6000003815 11.19999409 * 12728 +* 127280.7500000000 0 0 +GRID* 12729 00.6000003815 11.39999390 * 12729 +* 127290.7500000000 0 0 +GRID* 12730 00.6000003815 11.59999371 * 12730 +* 127300.7500000000 0 0 +GRID* 12731 00.6000003815 11.79999352 * 12731 +* 127310.7500000000 0 0 +GRID* 12732 00.6000003815 11.99999332 * 12732 +* 127320.7500000000 0 0 +GRID* 12733 00.6000003815 12.19999313 * 12733 +* 127330.7500000000 0 0 +GRID* 12734 00.6000003815 12.39999294 * 12734 +* 127340.7500000000 0 0 +GRID* 12735 00.6000003815 12.59999275 * 12735 +* 127350.7500000000 0 0 +GRID* 12736 00.6000003815 12.79999256 * 12736 +* 127360.7500000000 0 0 +GRID* 12737 00.6000003815 12.99999237 * 12737 +* 127370.7500000000 0 0 +GRID* 12738 00.6000003815 13.19999218 * 12738 +* 127380.7500000000 0 0 +GRID* 12739 00.6000003815 13.39999199 * 12739 +* 127390.7500000000 0 0 +GRID* 12740 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127670.7500000000 0 0 +GRID* 12768 00.6000003815 19.20000076 * 12768 +* 127680.7500000000 0 0 +GRID* 12769 00.6000003815 19.40000153 * 12769 +* 127690.7500000000 0 0 +GRID* 12770 00.6000003815 19.60000229 * 12770 +* 127700.7500000000 0 0 +GRID* 12771 00.6000003815 19.80000305 * 12771 +* 127710.7500000000 0 0 +GRID* 12772 00.4000005722 0.1999999881 * 12772 +* 127720.7500000000 0 0 +GRID* 12773 00.4000005722 0.3999999762 * 12773 +* 127730.7500000000 0 0 +GRID* 12774 00.4000005722 0.6000000238 * 12774 +* 127740.7500000000 0 0 +GRID* 12775 00.4000005722 0.7999999523 * 12775 +* 127750.7500000000 0 0 +GRID* 12776 00.4000005722 1.000000000 * 12776 +* 127760.7500000000 0 0 +GRID* 12777 00.4000005722 1.200000048 * 12777 +* 127770.7500000000 0 0 +GRID* 12778 00.4000005722 1.400000095 * 12778 +* 127780.7500000000 0 0 +GRID* 12779 00.4000005722 1.600000143 * 12779 +* 127790.7500000000 0 0 +GRID* 12780 00.4000005722 1.800000191 * 12780 +* 127800.7500000000 0 0 +GRID* 12781 00.4000005722 2.000000238 * 12781 +* 127810.7500000000 0 0 +GRID* 12782 00.4000005722 2.200000286 * 12782 +* 127820.7500000000 0 0 +GRID* 12783 00.4000005722 2.400000334 * 12783 +* 127830.7500000000 0 0 +GRID* 12784 00.4000005722 2.600000381 * 12784 +* 127840.7500000000 0 0 +GRID* 12785 00.4000005722 2.800000191 * 12785 +* 127850.7500000000 0 0 +GRID* 12786 00.4000005722 3.000000477 * 12786 +* 127860.7500000000 0 0 +GRID* 12787 00.4000005722 3.200000525 * 12787 +* 127870.7500000000 0 0 +GRID* 12788 00.4000005722 3.400000572 * 12788 +* 127880.7500000000 0 0 +GRID* 12789 00.4000005722 3.600000858 * 12789 +* 127890.7500000000 0 0 +GRID* 12790 00.4000005722 3.800000668 * 12790 +* 127900.7500000000 0 0 +GRID* 12791 00.4000005722 4.000000477 * 12791 +* 127910.7500000000 0 0 +GRID* 12792 00.4000005722 4.200000286 * 12792 +* 127920.7500000000 0 0 +GRID* 12793 00.4000005722 4.400000095 * 12793 +* 127930.7500000000 0 0 +GRID* 12794 00.4000005722 4.599999905 * 12794 +* 127940.7500000000 0 0 +GRID* 12795 00.4000005722 4.799999714 * 12795 +* 127950.7500000000 0 0 +GRID* 12796 00.4000005722 4.999999523 * 12796 +* 127960.7500000000 0 0 +GRID* 12797 00.4000005722 5.199999332 * 12797 +* 127970.7500000000 0 0 +GRID* 12798 00.4000005722 5.399999142 * 12798 +* 127980.7500000000 0 0 +GRID* 12799 00.4000005722 5.599998951 * 12799 +* 127990.7500000000 0 0 +GRID* 12800 00.4000005722 5.799998760 * 12800 +* 128000.7500000000 0 0 +GRID* 12801 00.4000005722 5.999998569 * 12801 +* 128010.7500000000 0 0 +GRID* 12802 00.4000005722 6.199998379 * 12802 +* 128020.7500000000 0 0 +GRID* 12803 00.4000005722 6.399998188 * 12803 +* 128030.7500000000 0 0 +GRID* 12804 00.4000005722 6.599997997 * 12804 +* 128040.7500000000 0 0 +GRID* 12805 00.4000005722 6.799997807 * 12805 +* 128050.7500000000 0 0 +GRID* 12806 00.4000005722 6.999997616 * 12806 +* 128060.7500000000 0 0 +GRID* 12807 00.4000005722 7.199997425 * 12807 +* 128070.7500000000 0 0 +GRID* 12808 00.4000005722 7.399997234 * 12808 +* 128080.7500000000 0 0 +GRID* 12809 00.4000005722 7.599997044 * 12809 +* 128090.7500000000 0 0 +GRID* 12810 00.4000005722 7.799996853 * 12810 +* 128100.7500000000 0 0 +GRID* 12811 00.4000005722 7.999996662 * 12811 +* 128110.7500000000 0 0 +GRID* 12812 00.4000005722 8.199996948 * 12812 +* 128120.7500000000 0 0 +GRID* 12813 00.4000005722 8.399996758 * 12813 +* 128130.7500000000 0 0 +GRID* 12814 00.4000005722 8.599996567 * 12814 +* 128140.7500000000 0 0 +GRID* 12815 00.4000005722 8.799996376 * 12815 +* 128150.7500000000 0 0 +GRID* 12816 00.4000005722 8.999996185 * 12816 +* 128160.7500000000 0 0 +GRID* 12817 00.4000005722 9.199995995 * 12817 +* 128170.7500000000 0 0 +GRID* 12818 00.4000005722 9.399995804 * 12818 +* 128180.7500000000 0 0 +GRID* 12819 00.4000005722 9.599995613 * 12819 +* 128190.7500000000 0 0 +GRID* 12820 00.4000005722 9.799995422 * 12820 +* 128200.7500000000 0 0 +GRID* 12821 00.4000005722 9.999995232 * 12821 +* 128210.7500000000 0 0 +GRID* 12822 00.4000005722 10.19999504 * 12822 +* 128220.7500000000 0 0 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128360.7500000000 0 0 +GRID* 12837 00.4000005722 13.19999218 * 12837 +* 128370.7500000000 0 0 +GRID* 12838 00.4000005722 13.39999199 * 12838 +* 128380.7500000000 0 0 +GRID* 12839 00.4000005722 13.59999180 * 12839 +* 128390.7500000000 0 0 +GRID* 12840 00.4000005722 13.79999161 * 12840 +* 128400.7500000000 0 0 +GRID* 12841 00.4000005722 13.99999142 * 12841 +* 128410.7500000000 0 0 +GRID* 12842 00.4000005722 14.19999123 * 12842 +* 128420.7500000000 0 0 +GRID* 12843 00.4000005722 14.39999104 * 12843 +* 128430.7500000000 0 0 +GRID* 12844 00.4000005722 14.59999084 * 12844 +* 128440.7500000000 0 0 +GRID* 12845 00.4000005722 14.79999065 * 12845 +* 128450.7500000000 0 0 +GRID* 12846 00.4000005722 14.99999046 * 12846 +* 128460.7500000000 0 0 +GRID* 12847 00.4000005722 15.19999027 * 12847 +* 128470.7500000000 0 0 +GRID* 12848 00.4000005722 15.39999008 * 12848 +* 128480.7500000000 0 0 +GRID* 12849 00.4000005722 15.59998989 * 12849 +* 128490.7500000000 0 0 +GRID* 12850 00.4000005722 15.79998970 * 12850 +* 128500.7500000000 0 0 +GRID* 12851 00.4000005722 15.99998951 * 12851 +* 128510.7500000000 0 0 +GRID* 12852 00.4000005722 16.19998932 * 12852 +* 128520.7500000000 0 0 +GRID* 12853 00.4000005722 16.39999008 * 12853 +* 128530.7500000000 0 0 +GRID* 12854 00.4000005722 16.59999084 * 12854 +* 128540.7500000000 0 0 +GRID* 12855 00.4000005722 16.79999161 * 12855 +* 128550.7500000000 0 0 +GRID* 12856 00.4000005722 16.99999237 * 12856 +* 128560.7500000000 0 0 +GRID* 12857 00.4000005722 17.19999313 * 12857 +* 128570.7500000000 0 0 +GRID* 12858 00.4000005722 17.39999390 * 12858 +* 128580.7500000000 0 0 +GRID* 12859 00.4000005722 17.59999466 * 12859 +* 128590.7500000000 0 0 +GRID* 12860 00.4000005722 17.79999542 * 12860 +* 128600.7500000000 0 0 +GRID* 12861 00.4000005722 17.99999619 * 12861 +* 128610.7500000000 0 0 +GRID* 12862 00.4000005722 18.19999695 * 12862 +* 128620.7500000000 0 0 +GRID* 12863 00.4000005722 18.39999771 * 12863 +* 128630.7500000000 0 0 +GRID* 12864 00.4000005722 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00.2000005245 1.600000143 * 12878 +* 128780.7500000000 0 0 +GRID* 12879 00.2000005245 1.800000191 * 12879 +* 128790.7500000000 0 0 +GRID* 12880 00.2000005245 2.000000238 * 12880 +* 128800.7500000000 0 0 +GRID* 12881 00.2000005245 2.200000286 * 12881 +* 128810.7500000000 0 0 +GRID* 12882 00.2000005245 2.400000334 * 12882 +* 128820.7500000000 0 0 +GRID* 12883 00.2000005245 2.600000381 * 12883 +* 128830.7500000000 0 0 +GRID* 12884 00.2000005245 2.800000191 * 12884 +* 128840.7500000000 0 0 +GRID* 12885 00.2000005245 3.000000477 * 12885 +* 128850.7500000000 0 0 +GRID* 12886 00.2000005245 3.200000525 * 12886 +* 128860.7500000000 0 0 +GRID* 12887 00.2000005245 3.400000572 * 12887 +* 128870.7500000000 0 0 +GRID* 12888 00.2000005245 3.600000858 * 12888 +* 128880.7500000000 0 0 +GRID* 12889 00.2000005245 3.800000668 * 12889 +* 128890.7500000000 0 0 +GRID* 12890 00.2000005245 4.000000477 * 12890 +* 128900.7500000000 0 0 +GRID* 12891 00.2000005245 4.200000286 * 12891 +* 128910.7500000000 0 0 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129050.7500000000 0 0 +GRID* 12906 00.2000005245 7.199997425 * 12906 +* 129060.7500000000 0 0 +GRID* 12907 00.2000005245 7.399997234 * 12907 +* 129070.7500000000 0 0 +GRID* 12908 00.2000005245 7.599997044 * 12908 +* 129080.7500000000 0 0 +GRID* 12909 00.2000005245 7.799996853 * 12909 +* 129090.7500000000 0 0 +GRID* 12910 00.2000005245 7.999996662 * 12910 +* 129100.7500000000 0 0 +GRID* 12911 00.2000005245 8.199996948 * 12911 +* 129110.7500000000 0 0 +GRID* 12912 00.2000005245 8.399996758 * 12912 +* 129120.7500000000 0 0 +GRID* 12913 00.2000005245 8.599996567 * 12913 +* 129130.7500000000 0 0 +GRID* 12914 00.2000005245 8.799996376 * 12914 +* 129140.7500000000 0 0 +GRID* 12915 00.2000005245 8.999996185 * 12915 +* 129150.7500000000 0 0 +GRID* 12916 00.2000005245 9.199995995 * 12916 +* 129160.7500000000 0 0 +GRID* 12917 00.2000005245 9.399995804 * 12917 +* 129170.7500000000 0 0 +GRID* 12918 00.2000005245 9.599995613 * 12918 +* 129180.7500000000 0 0 +GRID* 12919 00.2000005245 9.799995422 * 12919 +* 129190.7500000000 0 0 +GRID* 12920 00.2000005245 9.999995232 * 12920 +* 129200.7500000000 0 0 +GRID* 12921 00.2000005245 10.19999504 * 12921 +* 129210.7500000000 0 0 +GRID* 12922 00.2000005245 10.39999485 * 12922 +* 129220.7500000000 0 0 +GRID* 12923 00.2000005245 10.59999466 * 12923 +* 129230.7500000000 0 0 +GRID* 12924 00.2000005245 10.79999447 * 12924 +* 129240.7500000000 0 0 +GRID* 12925 00.2000005245 10.99999428 * 12925 +* 129250.7500000000 0 0 +GRID* 12926 00.2000005245 11.19999409 * 12926 +* 129260.7500000000 0 0 +GRID* 12927 00.2000005245 11.39999390 * 12927 +* 129270.7500000000 0 0 +GRID* 12928 00.2000005245 11.59999371 * 12928 +* 129280.7500000000 0 0 +GRID* 12929 00.2000005245 11.79999352 * 12929 +* 129290.7500000000 0 0 +GRID* 12930 00.2000005245 11.99999332 * 12930 +* 129300.7500000000 0 0 +GRID* 12931 00.2000005245 12.19999313 * 12931 +* 129310.7500000000 0 0 +GRID* 12932 00.2000005245 12.39999294 * 12932 +* 129320.7500000000 0 0 +GRID* 12933 00.2000005245 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5.799998760 * 13493 +* 134930.7500000000 0 0 +GRID* 13494 0-.9999997616 5.999998569 * 13494 +* 134940.7500000000 0 0 +GRID* 13495 0-.9999997616 6.199998379 * 13495 +* 134950.7500000000 0 0 +GRID* 13496 0-.9999997616 6.399998188 * 13496 +* 134960.7500000000 0 0 +GRID* 13497 0-.9999997616 6.599997997 * 13497 +* 134970.7500000000 0 0 +GRID* 13498 0-.9999997616 6.799997807 * 13498 +* 134980.7500000000 0 0 +GRID* 13499 0-.9999997616 6.999997616 * 13499 +* 134990.7500000000 0 0 +GRID* 13500 0-.9999997616 7.199997425 * 13500 +* 135000.7500000000 0 0 +GRID* 13501 0-.9999997616 7.399997234 * 13501 +* 135010.7500000000 0 0 +GRID* 13502 0-.9999997616 7.599997044 * 13502 +* 135020.7500000000 0 0 +GRID* 13503 0-.9999997616 7.799996853 * 13503 +* 135030.7500000000 0 0 +GRID* 13504 0-.9999997616 7.999996662 * 13504 +* 135040.7500000000 0 0 +GRID* 13505 0-.9999997616 8.199996948 * 13505 +* 135050.7500000000 0 0 +GRID* 13506 0-.9999997616 8.399996758 * 13506 +* 135060.7500000000 0 0 +GRID* 13507 0-.9999997616 8.599996567 * 13507 +* 135070.7500000000 0 0 +GRID* 13508 0-.9999997616 8.799996376 * 13508 +* 135080.7500000000 0 0 +GRID* 13509 0-.9999997616 8.999996185 * 13509 +* 135090.7500000000 0 0 +GRID* 13510 0-.9999997616 9.199995995 * 13510 +* 135100.7500000000 0 0 +GRID* 13511 0-.9999997616 9.399995804 * 13511 +* 135110.7500000000 0 0 +GRID* 13512 0-.9999997616 9.599995613 * 13512 +* 135120.7500000000 0 0 +GRID* 13513 0-.9999997616 9.799995422 * 13513 +* 135130.7500000000 0 0 +GRID* 13514 0-.9999997616 9.999995232 * 13514 +* 135140.7500000000 0 0 +GRID* 13515 0-.9999997616 10.19999504 * 13515 +* 135150.7500000000 0 0 +GRID* 13516 0-.9999997616 10.39999485 * 13516 +* 135160.7500000000 0 0 +GRID* 13517 0-.9999997616 10.59999466 * 13517 +* 135170.7500000000 0 0 +GRID* 13518 0-.9999997616 10.79999447 * 13518 +* 135180.7500000000 0 0 +GRID* 13519 0-.9999997616 10.99999428 * 13519 +* 135190.7500000000 0 0 +GRID* 13520 0-.9999997616 11.19999409 * 13520 +* 135200.7500000000 0 0 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135340.7500000000 0 0 +GRID* 13535 0-.9999997616 14.19999123 * 13535 +* 135350.7500000000 0 0 +GRID* 13536 0-.9999997616 14.39999104 * 13536 +* 135360.7500000000 0 0 +GRID* 13537 0-.9999997616 14.59999084 * 13537 +* 135370.7500000000 0 0 +GRID* 13538 0-.9999997616 14.79999065 * 13538 +* 135380.7500000000 0 0 +GRID* 13539 0-.9999997616 14.99999046 * 13539 +* 135390.7500000000 0 0 +GRID* 13540 0-.9999997616 15.19999027 * 13540 +* 135400.7500000000 0 0 +GRID* 13541 0-.9999997616 15.39999008 * 13541 +* 135410.7500000000 0 0 +GRID* 13542 0-.9999997616 15.59998989 * 13542 +* 135420.7500000000 0 0 +GRID* 13543 0-.9999997616 15.79998970 * 13543 +* 135430.7500000000 0 0 +GRID* 13544 0-.9999997616 15.99998951 * 13544 +* 135440.7500000000 0 0 +GRID* 13545 0-.9999997616 16.19998932 * 13545 +* 135450.7500000000 0 0 +GRID* 13546 0-.9999997616 16.39999008 * 13546 +* 135460.7500000000 0 0 +GRID* 13547 0-.9999997616 16.59999084 * 13547 +* 135470.7500000000 0 0 +GRID* 13548 0-.9999997616 16.79999161 * 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13686 +* 136860.7500000000 0 0 +GRID* 13687 0-1.399999857 4.999999523 * 13687 +* 136870.7500000000 0 0 +GRID* 13688 0-1.399999857 5.199999332 * 13688 +* 136880.7500000000 0 0 +GRID* 13689 0-1.399999857 5.399999142 * 13689 +* 136890.7500000000 0 0 +GRID* 13690 0-1.399999857 5.599998951 * 13690 +* 136900.7500000000 0 0 +GRID* 13691 0-1.399999857 5.799998760 * 13691 +* 136910.7500000000 0 0 +GRID* 13692 0-1.399999857 5.999998569 * 13692 +* 136920.7500000000 0 0 +GRID* 13693 0-1.399999857 6.199998379 * 13693 +* 136930.7500000000 0 0 +GRID* 13694 0-1.399999857 6.399998188 * 13694 +* 136940.7500000000 0 0 +GRID* 13695 0-1.399999857 6.599997997 * 13695 +* 136950.7500000000 0 0 +GRID* 13696 0-1.399999857 6.799997807 * 13696 +* 136960.7500000000 0 0 +GRID* 13697 0-1.399999857 6.999997616 * 13697 +* 136970.7500000000 0 0 +GRID* 13698 0-1.399999857 7.199997425 * 13698 +* 136980.7500000000 0 0 +GRID* 13699 0-1.399999857 7.399997234 * 13699 +* 136990.7500000000 0 0 +GRID* 13700 0-1.399999857 7.599997044 * 13700 +* 137000.7500000000 0 0 +GRID* 13701 0-1.399999857 7.799996853 * 13701 +* 137010.7500000000 0 0 +GRID* 13702 0-1.399999857 7.999996662 * 13702 +* 137020.7500000000 0 0 +GRID* 13703 0-1.399999857 8.199996948 * 13703 +* 137030.7500000000 0 0 +GRID* 13704 0-1.399999857 8.399996758 * 13704 +* 137040.7500000000 0 0 +GRID* 13705 0-1.399999857 8.599996567 * 13705 +* 137050.7500000000 0 0 +GRID* 13706 0-1.399999857 8.799996376 * 13706 +* 137060.7500000000 0 0 +GRID* 13707 0-1.399999857 8.999996185 * 13707 +* 137070.7500000000 0 0 +GRID* 13708 0-1.399999857 9.199995995 * 13708 +* 137080.7500000000 0 0 +GRID* 13709 0-1.399999857 9.399995804 * 13709 +* 137090.7500000000 0 0 +GRID* 13710 0-1.399999857 9.599995613 * 13710 +* 137100.7500000000 0 0 +GRID* 13711 0-1.399999857 9.799995422 * 13711 +* 137110.7500000000 0 0 +GRID* 13712 0-1.399999857 9.999995232 * 13712 +* 137120.7500000000 0 0 +GRID* 13713 0-1.399999857 10.19999504 * 13713 +* 137130.7500000000 0 0 +GRID* 13714 0-1.399999857 10.39999485 * 13714 +* 137140.7500000000 0 0 +GRID* 13715 0-1.399999857 10.59999466 * 13715 +* 137150.7500000000 0 0 +GRID* 13716 0-1.399999857 10.79999447 * 13716 +* 137160.7500000000 0 0 +GRID* 13717 0-1.399999857 10.99999428 * 13717 +* 137170.7500000000 0 0 +GRID* 13718 0-1.399999857 11.19999409 * 13718 +* 137180.7500000000 0 0 +GRID* 13719 0-1.399999857 11.39999390 * 13719 +* 137190.7500000000 0 0 +GRID* 13720 0-1.399999857 11.59999371 * 13720 +* 137200.7500000000 0 0 +GRID* 13721 0-1.399999857 11.79999352 * 13721 +* 137210.7500000000 0 0 +GRID* 13722 0-1.399999857 11.99999332 * 13722 +* 137220.7500000000 0 0 +GRID* 13723 0-1.399999857 12.19999313 * 13723 +* 137230.7500000000 0 0 +GRID* 13724 0-1.399999857 12.39999294 * 13724 +* 137240.7500000000 0 0 +GRID* 13725 0-1.399999857 12.59999275 * 13725 +* 137250.7500000000 0 0 +GRID* 13726 0-1.399999857 12.79999256 * 13726 +* 137260.7500000000 0 0 +GRID* 13727 0-1.399999857 12.99999237 * 13727 +* 137270.7500000000 0 0 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137410.7500000000 0 0 +GRID* 13742 0-1.399999857 15.99998951 * 13742 +* 137420.7500000000 0 0 +GRID* 13743 0-1.399999857 16.19998932 * 13743 +* 137430.7500000000 0 0 +GRID* 13744 0-1.399999857 16.39999008 * 13744 +* 137440.7500000000 0 0 +GRID* 13745 0-1.399999857 16.59999084 * 13745 +* 137450.7500000000 0 0 +GRID* 13746 0-1.399999857 16.79999161 * 13746 +* 137460.7500000000 0 0 +GRID* 13747 0-1.399999857 16.99999237 * 13747 +* 137470.7500000000 0 0 +GRID* 13748 0-1.399999857 17.19999313 * 13748 +* 137480.7500000000 0 0 +GRID* 13749 0-1.399999857 17.39999390 * 13749 +* 137490.7500000000 0 0 +GRID* 13750 0-1.399999857 17.59999466 * 13750 +* 137500.7500000000 0 0 +GRID* 13751 0-1.399999857 17.79999542 * 13751 +* 137510.7500000000 0 0 +GRID* 13752 0-1.399999857 17.99999619 * 13752 +* 137520.7500000000 0 0 +GRID* 13753 0-1.399999857 18.19999695 * 13753 +* 137530.7500000000 0 0 +GRID* 13754 0-1.399999857 18.39999771 * 13754 +* 137540.7500000000 0 0 +GRID* 13755 0-1.399999857 18.59999847 * 13755 +* 137550.7500000000 0 0 +GRID* 13756 0-1.399999857 18.79999924 * 13756 +* 137560.7500000000 0 0 +GRID* 13757 0-1.399999857 19.00000000 * 13757 +* 137570.7500000000 0 0 +GRID* 13758 0-1.399999857 19.20000076 * 13758 +* 137580.7500000000 0 0 +GRID* 13759 0-1.399999857 19.40000153 * 13759 +* 137590.7500000000 0 0 +GRID* 13760 0-1.399999857 19.60000229 * 13760 +* 137600.7500000000 0 0 +GRID* 13761 0-1.399999857 19.80000305 * 13761 +* 137610.7500000000 0 0 +GRID* 13762 0-1.599999905 0.1999999881 * 13762 +* 137620.7500000000 0 0 +GRID* 13763 0-1.599999905 0.3999999762 * 13763 +* 137630.7500000000 0 0 +GRID* 13764 0-1.599999905 0.6000000238 * 13764 +* 137640.7500000000 0 0 +GRID* 13765 0-1.599999905 0.7999999523 * 13765 +* 137650.7500000000 0 0 +GRID* 13766 0-1.599999905 1.000000000 * 13766 +* 137660.7500000000 0 0 +GRID* 13767 0-1.599999905 1.200000048 * 13767 +* 137670.7500000000 0 0 +GRID* 13768 0-1.599999905 1.400000095 * 13768 +* 137680.7500000000 0 0 +GRID* 13769 0-1.599999905 1.600000143 * 13769 +* 137690.7500000000 0 0 +GRID* 13770 0-1.599999905 1.800000191 * 13770 +* 137700.7500000000 0 0 +GRID* 13771 0-1.599999905 2.000000238 * 13771 +* 137710.7500000000 0 0 +GRID* 13772 0-1.599999905 2.200000286 * 13772 +* 137720.7500000000 0 0 +GRID* 13773 0-1.599999905 2.400000334 * 13773 +* 137730.7500000000 0 0 +GRID* 13774 0-1.599999905 2.600000381 * 13774 +* 137740.7500000000 0 0 +GRID* 13775 0-1.599999905 2.800000191 * 13775 +* 137750.7500000000 0 0 +GRID* 13776 0-1.599999905 3.000000477 * 13776 +* 137760.7500000000 0 0 +GRID* 13777 0-1.599999905 3.200000525 * 13777 +* 137770.7500000000 0 0 +GRID* 13778 0-1.599999905 3.400000572 * 13778 +* 137780.7500000000 0 0 +GRID* 13779 0-1.599999905 3.600000858 * 13779 +* 137790.7500000000 0 0 +GRID* 13780 0-1.599999905 3.800000668 * 13780 +* 137800.7500000000 0 0 +GRID* 13781 0-1.599999905 4.000000477 * 13781 +* 137810.7500000000 0 0 +GRID* 13782 0-1.599999905 4.200000286 * 13782 +* 137820.7500000000 0 0 +GRID* 13783 0-1.599999905 4.400000095 * 13783 +* 137830.7500000000 0 0 +GRID* 13784 0-1.599999905 4.599999905 * 13784 +* 137840.7500000000 0 0 +GRID* 13785 0-1.599999905 4.799999714 * 13785 +* 137850.7500000000 0 0 +GRID* 13786 0-1.599999905 4.999999523 * 13786 +* 137860.7500000000 0 0 +GRID* 13787 0-1.599999905 5.199999332 * 13787 +* 137870.7500000000 0 0 +GRID* 13788 0-1.599999905 5.399999142 * 13788 +* 137880.7500000000 0 0 +GRID* 13789 0-1.599999905 5.599998951 * 13789 +* 137890.7500000000 0 0 +GRID* 13790 0-1.599999905 5.799998760 * 13790 +* 137900.7500000000 0 0 +GRID* 13791 0-1.599999905 5.999998569 * 13791 +* 137910.7500000000 0 0 +GRID* 13792 0-1.599999905 6.199998379 * 13792 +* 137920.7500000000 0 0 +GRID* 13793 0-1.599999905 6.399998188 * 13793 +* 137930.7500000000 0 0 +GRID* 13794 0-1.599999905 6.599997997 * 13794 +* 137940.7500000000 0 0 +GRID* 13795 0-1.599999905 6.799997807 * 13795 +* 137950.7500000000 0 0 +GRID* 13796 0-1.599999905 6.999997616 * 13796 +* 137960.7500000000 0 0 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13824 +* 138240.7500000000 0 0 +GRID* 13825 0-1.599999905 12.79999256 * 13825 +* 138250.7500000000 0 0 +GRID* 13826 0-1.599999905 12.99999237 * 13826 +* 138260.7500000000 0 0 +GRID* 13827 0-1.599999905 13.19999218 * 13827 +* 138270.7500000000 0 0 +GRID* 13828 0-1.599999905 13.39999199 * 13828 +* 138280.7500000000 0 0 +GRID* 13829 0-1.599999905 13.59999180 * 13829 +* 138290.7500000000 0 0 +GRID* 13830 0-1.599999905 13.79999161 * 13830 +* 138300.7500000000 0 0 +GRID* 13831 0-1.599999905 13.99999142 * 13831 +* 138310.7500000000 0 0 +GRID* 13832 0-1.599999905 14.19999123 * 13832 +* 138320.7500000000 0 0 +GRID* 13833 0-1.599999905 14.39999104 * 13833 +* 138330.7500000000 0 0 +GRID* 13834 0-1.599999905 14.59999084 * 13834 +* 138340.7500000000 0 0 +GRID* 13835 0-1.599999905 14.79999065 * 13835 +* 138350.7500000000 0 0 +GRID* 13836 0-1.599999905 14.99999046 * 13836 +* 138360.7500000000 0 0 +GRID* 13837 0-1.599999905 15.19999027 * 13837 +* 138370.7500000000 0 0 +GRID* 13838 0-1.599999905 15.39999008 * 13838 +* 138380.7500000000 0 0 +GRID* 13839 0-1.599999905 15.59998989 * 13839 +* 138390.7500000000 0 0 +GRID* 13840 0-1.599999905 15.79998970 * 13840 +* 138400.7500000000 0 0 +GRID* 13841 0-1.599999905 15.99998951 * 13841 +* 138410.7500000000 0 0 +GRID* 13842 0-1.599999905 16.19998932 * 13842 +* 138420.7500000000 0 0 +GRID* 13843 0-1.599999905 16.39999008 * 13843 +* 138430.7500000000 0 0 +GRID* 13844 0-1.599999905 16.59999084 * 13844 +* 138440.7500000000 0 0 +GRID* 13845 0-1.599999905 16.79999161 * 13845 +* 138450.7500000000 0 0 +GRID* 13846 0-1.599999905 16.99999237 * 13846 +* 138460.7500000000 0 0 +GRID* 13847 0-1.599999905 17.19999313 * 13847 +* 138470.7500000000 0 0 +GRID* 13848 0-1.599999905 17.39999390 * 13848 +* 138480.7500000000 0 0 +GRID* 13849 0-1.599999905 17.59999466 * 13849 +* 138490.7500000000 0 0 +GRID* 13850 0-1.599999905 17.79999542 * 13850 +* 138500.7500000000 0 0 +GRID* 13851 0-1.599999905 17.99999619 * 13851 +* 138510.7500000000 0 0 +GRID* 13852 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+============================================================================== +@File : analysis.py +@Date : 2023/01/25 +@Author : Alasdair Christison Gray +@Description : This code runs a nonlinear rectangular thin wall wingbox model +with a single rib made from plate elements. The model is clamped at one end, +with a smallout-of-plane force applied at the tip. Since the model only has one +rib in the middle, the ribs and spars buckle almost immediatly for a small +amount of load. +This case was originally created by Tim Brooks. +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +import os + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +from mpi4py import MPI +from pprint import pprint + +# ============================================================================== +# Extension modules +# ============================================================================== +from tacs import pyTACS, constitutive, elements, functions + + +# ============================================================================== +# Constants +# ============================================================================== +COMM = MPI.COMM_WORLD +BDF_FILE = os.path.join(os.path.dirname(__file__), "Box.bdf") +E = 1.2e8 # Young's modulus +NU = 0.0 # Poisson's ratio +RHO = 1.0 # density +YIELD_STRESS = 1.0 # yield stress +THICKNESS = 0.02 # Shell thickness +STRAIN_TYPE = "linear" +ROTATION_TYPE = "linear" + +elementType = None +if STRAIN_TYPE == "linear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4Shell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4ShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4ShellQuaternion +elif STRAIN_TYPE == "nonlinear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4NonlinearShell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4NonlinearShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4NonlinearShellQuaternion + +if elementType is None: + raise RuntimeError("Invalid element type, check STRAIN_TYPE and ROTATION_TYPE.") + +# ============================================================================== +# Create pyTACS Assembler and problems +# ============================================================================== +structOptions = { + "printtiming": True, +} +FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) + + +def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + con = constitutive.IsoShellConstitutive( + matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS + ) + transform = None + element = elementType(transform, con) + tScale = [50.0] + return element, tScale + + +FEAAssembler.initialize(elemCallBack) + +probOptions = {"printTiming": True} +problem = FEAAssembler.createStaticProblem("TipForce") + + +# ============================================================================== +# Find tip force points +# ============================================================================== +bdfInfo = FEAAssembler.getBDFInfo() +# cross-reference bdf object to use some of pynastran's advanced features +bdfInfo.cross_reference() +nodeCoords = bdfInfo.get_xyz_in_coord() +nastranNodeNums = list(bdfInfo.node_ids) +loadPoints = np.array( + [[3.0, 40.0, 0.75], [3.0, 40.0, -0.75], [-3.0, 40.0, 0.75], [-3.0, 40.0, -0.75]] +) +loadPointNodeIDs = [] +for ii in range(loadPoints.shape[0]): + # find the closest node to the load point + dists = np.linalg.norm(nodeCoords - loadPoints[ii, :], axis=1) + closestNode = np.argmin(dists) + loadPointNodeIDs.append(nastranNodeNums[closestNode]) + +# ============================================================================== +# Add tip loads +# ============================================================================== +tipForceTotal = 250.0 +problem.addLoadToNodes( + loadPointNodeIDs, [0.0, 0.0, tipForceTotal / 4, 0.0, 0.0, 0.0], nastranOrdering=True +) + +# ============================================================================== +# Add functions +# ============================================================================== + +# KS approximation of the maximum failure value +problem.addFunction("KSFailure", functions.KSFailure, ksWeight=80.0, ftype="discrete") + +# Maximum displacement in the z-direction (KS with a very large weight to get a true max) +problem.addFunction( + "MaxZDisp", + functions.KSDisplacement, + direction=np.array([0.0, 0.0, 1.0]), + ksWeight=1e20, + ftype="discrete", +) + +# Compliance +problem.addFunction("Compliance", functions.Compliance) + +# ============================================================================== +# Solve all problems and evaluate functions +# ============================================================================== +funcs = {} +funcsSens = {} +problem.solve() +problem.evalFunctions(funcs) +problem.evalFunctionsSens(funcsSens) +problem.writeSolution(outputDir=os.path.dirname(__file__)) + +if COMM.rank == 0: + pprint(funcs) diff --git a/examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py b/examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py new file mode 100644 index 000000000..025124bb4 --- /dev/null +++ b/examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py @@ -0,0 +1,43 @@ +""" +This script is used to regression test the example against historical values. +""" + +import numpy as np +import unittest +import sys +import os + +# Set the path to the example script we're testing +example_path = os.path.join(os.path.dirname(__file__), "..") +sys.path.append(example_path) + +# Reference values for eval functions +FUNC_REF = { + "TipForce_Compliance": 77.24115682981399, + "TipForce_KSFailure": 0.14455448256999026, + "TipForce_MaxZDisp": 0.30895165325451046, +} + + +class ExampleBenchmark(unittest.TestCase): + + N_PROCS = 1 # this is how many MPI processes to use for this TestCase. + + def setUp(self): + # Import the example to automatically run the script + import analysis + + self.example = analysis + + def benchmark_funcs(self): + """ + Test the example eval functions against reference values + """ + func_dict = self.example.funcs + + # Test functions values against historical values + for func_name in func_dict: + with self.subTest(function=func_name): + np.testing.assert_allclose( + func_dict[func_name], FUNC_REF[func_name], rtol=1e-6, atol=1e-6 + ) From 429185dced0305907b0daa03ad6443b4ba804928 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 7 Feb 2023 18:41:44 -0500 Subject: [PATCH 005/174] Add option to specify that problem is nonlinear This is a temporary implementation until I can figure out how to figure it out automatically from the element/contitutive objects. --- tacs/problems/base.py | 10 +++++++++- tacs/problems/modal.py | 3 ++- tacs/problems/static.py | 3 ++- tacs/problems/transient.py | 3 ++- tacs/pytacs.py | 5 +++++ 5 files changed, 20 insertions(+), 4 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index c13be261c..c177981b1 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -19,7 +19,7 @@ class TACSProblem(BaseUI): Base class for TACS problem types. Contains methods common to all TACS problems. """ - def __init__(self, assembler, comm, outputViewer=None, meshLoader=None): + def __init__(self, assembler, comm, outputViewer=None, meshLoader=None, isNonlinear=False): # TACS assembler object self.assembler = assembler @@ -47,8 +47,16 @@ def __init__(self, assembler, comm, outputViewer=None, meshLoader=None): # Empty options dict, should be filled out by child class self.options = {} + self._isNonlinear = isNonlinear + return + @property + def isnonlinear(self): + """The public interface for the isNonlinear attribute. Implemented as a property so that it is read-only. + """ + return self._isNonlinear + ####### Design variable methods ######## def setVarName(self, varName): diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index 058355885..c81188665 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -87,6 +87,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, + isNonlinear=False, options={}, ): """ @@ -124,7 +125,7 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader) + TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) # Set time eigenvalue parameters self.sigma = sigma diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 06582ed71..e705d6355 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -110,6 +110,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, + isNonlinear=False, options={}, ): """ @@ -142,7 +143,7 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader) + TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) # Process the default options which are added to self.options # under the 'defaults' key. Make sure the key are lower case diff --git a/tacs/problems/transient.py b/tacs/problems/transient.py index 776d7d5c5..eff061189 100644 --- a/tacs/problems/transient.py +++ b/tacs/problems/transient.py @@ -92,6 +92,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, + isNonlinear=False, options={}, ): """ @@ -132,7 +133,7 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader) + TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader,isNonlinear=isNonlinear) # Set time interval parameters self.tInit = tInit diff --git a/tacs/pytacs.py b/tacs/pytacs.py index 000aad817..9a5956ce0 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -80,6 +80,8 @@ class pyTACS(BaseUI): # Default class options defaultOptions = { + # TODO: Figure out a way to automatically figure out if model is nonlinear so we can remove this option + "isNonlinear": [bool, False, "Flag for whether the model is nonlinear."], # Meshloader options "printDebug": [ bool, @@ -246,6 +248,9 @@ def __init__(self, fileName, comm=None, dvNum=0, scaleList=None, options={}): # TACS assembler object self.assembler = None + # Nonlinear flag + self.isNonlinear = self.getOption("isNonlinear") + initFinishTime = time.time() if self.getOption("printTiming"): self._pp("+--------------------------------------------------+") From d9a141570646a1b0e7cc4f23508fc62e3a170e54 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 7 Feb 2023 18:42:16 -0500 Subject: [PATCH 006/174] add a `getForces` method --- tacs/problems/static.py | 50 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index e705d6355..e0750c8ec 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1350,6 +1350,56 @@ def getResidual(self, res, Fext=None): if resArray is not None: resArray[:] = res.getArray() + def getForces(self, externalForceVec, internalForceVec, Fext=None): + """Compute the internal and external forces acting on the structure + + The computations here are based on the residual equation: + r(u, loadScale) = -(Fint(u) + loadScale * Fext(u)) + Thus, the internal forces are given by: + Fint(u) = -r(u, 0) + And the external forces are given by: + Fext(u) = -r(u, 1) - Fi(u) + + Parameters + ---------- + externalForceVec : TACS BVec or numpy array + Vector/array to store external forces in + internalForceVec : TACS BVec or numpy array + Vector/array to store internal forces in + Fext : TACS BVec or numpy array, optional + Distributed array containing additional loads (ex. aerodynamic forces for aerostructural coupling) + to applied to RHS of the static problem. + """ + loadScale = self._loadScale + self.setLoadScale(0.0) + self.getResidual(internalForceVec, Fext) + self.setLoadScale(1.0) + self.getResidual(externalForceVec, Fext) + + # Compute internal forces + if isinstance(internalForceVec, tacs.TACS.Vec): + internalForceVec.scale(-1.0) + elif isinstance(internalForceVec, np.ndarray): + internalForceVec[:] = -internalForceVec[:] + + # Compute external forces + if isinstance(externalForceVec, tacs.TACS.Vec): + externalForceVec.scale(-1.0) + elif isinstance(externalForceVec, np.ndarray): + externalForceVec[:] = -externalForceVec[:] + + if isinstance(internalForceVec, tacs.TACS.Vec): + if isinstance(externalForceVec, tacs.TACS.Vec): + externalForceVec.axpy(-1.0, internalForceVec) + elif isinstance(externalForceVec, np.ndarray): + externalForceVec[:] = externalForceVec[:] - internalForceVec.getArray() + elif isinstance(internalForceVec, np.ndarray): + if isinstance(externalForceVec, np.ndarray): + externalForceVec[:] = externalForceVec[:] - internalForceVec[:] + elif isinstance(externalForceVec, tacs.TACS.Vec): + externalForceVec.axpy(-1.0, self._arrayToVec(internalForceVec)) + + def getJacobian(self): """Get the problem's Jacobian in sciPy sparse matrix format From b1c718dd355a7dc7a77961cc75285dfc410ff7c3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 09:53:20 -0500 Subject: [PATCH 007/174] fix capitalisation of `isNonlinear` --- tacs/problems/base.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index c177981b1..963f7a133 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -19,7 +19,9 @@ class TACSProblem(BaseUI): Base class for TACS problem types. Contains methods common to all TACS problems. """ - def __init__(self, assembler, comm, outputViewer=None, meshLoader=None, isNonlinear=False): + def __init__( + self, assembler, comm, outputViewer=None, meshLoader=None, isNonlinear=False + ): # TACS assembler object self.assembler = assembler @@ -32,6 +34,7 @@ def __init__(self, assembler, comm, outputViewer=None, meshLoader=None, isNonlin self.bdfInfo = self.meshLoader.getBDFInfo() # MPI communicator object self.comm = comm + self.rank = comm.rank # Create Design variable vector self.x = self.assembler.createDesignVec() @@ -52,9 +55,8 @@ def __init__(self, assembler, comm, outputViewer=None, meshLoader=None, isNonlin return @property - def isnonlinear(self): - """The public interface for the isNonlinear attribute. Implemented as a property so that it is read-only. - """ + def isNonlinear(self): + """The public interface for the isNonlinear attribute. Implemented as a property so that it is read-only.""" return self._isNonlinear ####### Design variable methods ######## From 61e75b1d529e7d305420a54245641c6de27ce9d4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 09:53:38 -0500 Subject: [PATCH 008/174] black format --- tacs/problems/modal.py | 4 +++- tacs/problems/transient.py | 4 +++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index c81188665..06f23c297 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -125,7 +125,9 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) + TACSProblem.__init__( + self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear + ) # Set time eigenvalue parameters self.sigma = sigma diff --git a/tacs/problems/transient.py b/tacs/problems/transient.py index eff061189..783b61894 100644 --- a/tacs/problems/transient.py +++ b/tacs/problems/transient.py @@ -133,7 +133,9 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader,isNonlinear=isNonlinear) + TACSProblem.__init__( + self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear + ) # Set time interval parameters self.tInit = tInit From 03676ce0bda896a851e367638b625195aa609eb7 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 09:56:11 -0500 Subject: [PATCH 009/174] more black formatting --- tacs/problems/base.py | 1 - tacs/problems/modal.py | 2 - tacs/problems/static.py | 577 +++++++++++++++++++++++++++++++++------- 3 files changed, 484 insertions(+), 96 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index 963f7a133..cbb554417 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -22,7 +22,6 @@ class TACSProblem(BaseUI): def __init__( self, assembler, comm, outputViewer=None, meshLoader=None, isNonlinear=False ): - # TACS assembler object self.assembler = assembler # TACS F5 output writer diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index 06f23c297..be3de7bfe 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -19,7 +19,6 @@ class ModalProblem(TACSProblem): - # Default Option List defaultOptions = { "outputDir": [str, "./", "Output directory for F5 file writer."], @@ -511,7 +510,6 @@ def writeSolution(self, outputDir=None, baseName=None, number=None, indices=None # Unless the writeSolution option is off write actual file: if self.getOption("writeSolution"): - # If indices is None, output all modes if indices is None: indices = np.arange(self.numEigs) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index e0750c8ec..2fa091173 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -24,7 +24,6 @@ class StaticProblem(TACSProblem): - # Default options for class defaultOptions = { "outputDir": [str, "./", "Output directory for F5 file writer."], @@ -101,6 +100,112 @@ class StaticProblem(TACSProblem): False, "Flag for printing out timing information for class procedures.", ], + # Nonlinear continuation options + "continuationTargetIter": [ + int, + 8, + "Target number of Newton iterations for each continuation increment.", + ], + "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], + "continuationInitialStep": [float, 0.2, "Initial continuation step size."], + "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], + "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], + "continuationMinStepFactor": [ + float, + 0.5, + "The minimum factor by which the continuation step size can decrease in a single step.", + ], + "continuationMaxStepFactor": [ + float, + 2.0, + "The maximum factor by which the continuation step size can increase in a single step.", + ], + "continuationRetractionFactor": [ + float, + 0.5, + "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", + ], + # Predictor step options + "usePredictor": [bool, True, "Flag for using predictor step in continuation."], + "predictorNumStates": [ + int, + 2, + "Number of previous equilibrium states to use in computing the predictor step.", + ], + "predictorUseDerivative": [ + bool, + False, + "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", + ], + # Newton solver options + "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], + "newtonSolverAbsTol": [ + float, + 1e-8, + "Convergence criteria for the nonlinear residual norm.", + ], + "newtonSolverRelTol": [ + float, + 1e-8, + "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", + ], + "newtonSolverCoarseAbsTol": [ + float, + 1e-4, + "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", + ], + "newtonSolverCoarseRelTol": [ + float, + 1e-4, + "Relative residual norm criteria for intermediate load increments.", + ], + "newtonSolverDivergenceTol": [ + float, + 1e10, + "Residual norm at which the nonlinear solver is jugded to have diverged", + ], + # Line search options + "useLineSearch": [ + bool, + True, + "Flag for using line search in the nonlinear solver.", + ], + "lineSearchMonitor": [ + bool, + True, + "Flag for printing out line search information.", + ], + "skipFirstNLineSearch": [ + int, + 0, + "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", + ], + "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], + "lineSearchExpectedDecrease": [ + float, + 1e-4, + "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", + ], + "lineSearchMaxStep": [ + float, + 2.0, + "Maximum step size for the linesearch, as a fraction of the Newton step", + ], + "lineSearchMinStep": [ + float, + 1e-2, + "Minimum step size for the linesearch, as a fraction of the Newton step", + ], + "lineSearchMaxStepChange": [ + float, + 0.5, + "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", + ], + "lineSearchFallbackStepLimit": [ + float, + 0.9, + "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", + ], } def __init__( @@ -143,7 +248,9 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) + TACSProblem.__init__( + self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear + ) # Process the default options which are added to self.options # under the 'defaults' key. Make sure the key are lower case @@ -163,6 +270,8 @@ def __init__( def _createVariables(self): """Internal to create the variable required by TACS""" + opt = self.getOption + # Generic residual vector self.res = self.assembler.createVec() self.rhs = self.assembler.createVec() @@ -172,6 +281,7 @@ def _createVariables(self): self.dIduList = OrderedDict() self.dvSensList = OrderedDict() self.xptSensList = OrderedDict() + # Temporary vector for adjoint solve self.phi = self.assembler.createVec() self.adjRHS = self.assembler.createVec() @@ -179,9 +289,26 @@ def _createVariables(self): # Load vector self.F = self.assembler.createVec() self.F_array = self.F.getArray() + # State variable vector self.u = self.assembler.createVec() self.u_array = self.u.getArray() + + # Vectors used to decompose residual into external and internal forces + self.externalForce = self.assembler.createVec() + self.internalForce = self.assembler.createVec() + + # Vectors used to compute extrapolate the equilibrium path during nonlinear solutions + self.equilibriumPathStates = [] + self.equilibriumPathLoadScales = [] + if self.isNonlinear and opt("usePredictor"): + for _ in range(opt("predictorNumStates")): + self.equilibriumPathStates.append(self.assembler.createVec()) + self.equilibriumPathLoadScales.append(None) + + if self.isNonlinear: + self.u_inc_start = self.assembler.createVec() + # Auxiliary element object for applying tractions/pressure self.auxElems = tacs.TACS.AuxElements() self.callCounter = -1 @@ -194,8 +321,6 @@ def _createVariables(self): # Load scaling factor self._loadScale = 1.0 - opt = self.getOption - # Tangent Stiffness --- process the ordering option here: ordering = opt("orderingType") @@ -279,6 +404,7 @@ def _createVariables(self): ) # Linear solver factor flag + self._stiffnessUpdateRequired = True self._factorOnNext = True def setOption(self, name, value): @@ -303,12 +429,20 @@ def setOption(self, name, value): self.getOption("L2Convergence"), ) # No need to reset solver for output options - elif name.lower() in [ - "writesolution", - "printtiming", - "numbersolutions", - "outputdir", - ]: + elif ( + name.lower() + in [ + "writesolution", + "printtiming", + "numbersolutions", + "outputdir", + "skipFirstNLineSearch", + "usePredictor", + "predictorUseDerivative", + ] + or "linesearch" in name.lower() + or "newtonsolver" in name.lower() + ): pass # Reset solver for all other option changes else: @@ -354,7 +488,7 @@ def setLoadScale(self, value): Value to set the load scale to """ if value != self._loadScale: - self._factorOnNext = True + self._stiffnessUpdateRequired = True self._loadScale = value def addFunction(self, funcName, funcHandle, compIDs=None, **kwargs): @@ -401,7 +535,7 @@ def setDesignVars(self, x): """ TACSProblem.setDesignVars(self, x) - self._factorOnNext = True + self._stiffnessUpdateRequired = True def setNodes(self, coords): """ @@ -414,7 +548,7 @@ def setNodes(self, coords): the number of structural nodes on this processor. """ TACSProblem.setNodes(self, coords) - self._factorOnNext = True + self._stiffnessUpdateRequired = True ####### Load adding methods ######## @@ -716,23 +850,8 @@ def _initializeSolve(self): loadCase. The stiffness matrix is assembled and factored. """ - if self._factorOnNext: - # Assemble residual and stiffness matrix (w/o artificial terms) - self.assembler.assembleJacobian( - self.alpha, - self.beta, - self.gamma, - self.res, - self.K, - loadScale=self._loadScale, - ) - # Stiffness matrix must include artificial terms before pc factor - # to prevent factorization issues w/ zero-diagonals - self.K.axpy(1.0, self.rbeArtificialStiffness) - self.PC.factor() - # Remove artificial stiffness terms to get true stiffness mat - self.K.axpy(-1.0, self.rbeArtificialStiffness) - self._factorOnNext = False + self.updateJacobian() + self.updatePreconditioner() def solve(self, Fext=None): """ @@ -762,23 +881,308 @@ def solve(self, Fext=None): initSolveTime = time.time() - # Get current residual + if self.isNonlinear: + self.solveNonlinear(Fext) + else: + # Get current residual + self.getResidual(self.res, Fext=Fext) + + # Get rhs vector + self.K.mult(self.u, self.rhs) + self.rhs.axpy(-1.0, self.res) + + # Set initnorm as the norm of rhs + self.initNorm = np.real(self.rhs.norm()) + + # Starting Norm for this computation + self.startNorm = np.real(self.res.norm()) + + initNormTime = time.time() + + # Solve Linear System for the update + self.solveJacLinear(self.res, self.update) + + self.update.scale(-1.0) + + solveTime = time.time() + + # Update State Variables + self.assembler.getVariables(self.u) + self.u.axpy(1.0, self.update) + self.assembler.setVariables(self.u) + + stateUpdateTime = time.time() + + # Get updated residual + self.getResidual(self.res, Fext) + self.finalNorm = np.real(self.res.norm()) + + finalNormTime = time.time() + + # If timing was was requested print it, if the solution is nonlinear + # print this information automatically if prinititerations was requested. + if self.getOption("printTiming"): + self._pp("+--------------------------------------------------+") + self._pp("|") + self._pp("| TACS Solve Times:") + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Setup Time", setupProblemTime - startTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Solve Init Time", initSolveTime - setupProblemTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Init Norm Time", initNormTime - initSolveTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Solve Time", solveTime - initNormTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS State Update Time", stateUpdateTime - solveTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Final Norm Time", finalNormTime - stateUpdateTime) + ) + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Total Solution Time", finalNormTime - startTime) + ) + self._pp("+--------------------------------------------------+") + + return + + def solveNonlinear(self, Fext=None, maxLoadScale=1.0): + TARGET_ITERS = self.getOption("continuationTargetIter") + INIT_STEP = self.getOption("continuationInitialStep") + MIN_STEP = self.getOption("continuationMinStep") + MAX_STEP = self.getOption("continuationMaxStep") + MAX_INCREMENTS = self.getOption("continuationMaxIter") + MIN_STEP_FACTOR = self.getOption("continuationMinStepFactor") + MAX_STEP_FACTOR = self.getOption("continuationMaxStepFactor") + STEP_RETRACT_FACTOR = self.getOption("continuationRetractionFactor") + + USE_PREDICTOR = self.getOption("usePredictor") + NUM_PREDICTOR_STATES = self.getOption("predictorNumStates") + PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") + + # Compute the internal and external force components of the residual at the current point + self.getForces( + externalForceVec=self.externalForce, + internalForceVec=self.internalForce, + Fext=Fext, + ) + self.initNorm = np.real(self.externalForce.norm()) + + # ============================================================================== + # Compute the initial load scale + # ============================================================================== + self.setLoadScale(min(maxLoadScale, INIT_STEP)) + loadStepDirection = 1 + + # If we're restarting from a previous solution we should compute the optimum load scale + # to restart from. This is done by computing the load scale that minimizes the work + # done by the resulting Newton step: + # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) + # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe + if np.real(self.u.norm()) > 0: + if self._stiffnessUpdateRequired: + self.updateJacobian() + if self._factorOnNext: + self.updatePreconditioner() + du_i = self.u + du_e = self.update + self.solveJacLinear(self.externalForce, du_e) + self.solveJacLinear(self.internalForce, du_i) + FeUe = self.externalForce.dot(du_e) + FeUi = self.externalForce.dot(du_i) + FiUe = self.internalForce.dot(du_e) + optLoadScale = (FeUi + FiUe) / (-2 * FeUe) + + if optLoadScale > 2 * maxLoadScale or optLoadScale < 0.0: + # If the optimum load scale is more than double the max load scale we're aiming for, or if it's + # negative then the loading/structure has changed so much that we'll be closer to the final + # solution if we just reset the displacements to zero and start the solver from there + self.zeroVariables() + optLoadScale = self.loadScale + elif np.abs(optLoadScale - self.loadScale) < 1e-2: + # If the optimum load scale is close to the max load scale then we'll just use the max load scale + optLoadScale = maxLoadScale + else: + # Otherwise choose the maximum of the ideal load scale and the default initial load scale + optLoadScale = max(optLoadScale, self.loadScale) + # If the optimum load scale is greater than the max we want to get to then we need to reverse the + # direction of load incrementation + if optLoadScale > maxLoadScale: + loadStepDirection = -1 + + self.setLoadScale(optLoadScale) + + stepSize = INIT_STEP + + for increment in range(MAX_INCREMENTS): + if self.rank == 0: + print("===============================================================") + print( + f"Starting increment {increment:3d} with load scale: {self.loadScale}" + ) + print("===============================================================") + + # Save displacement at start of this increment, this is what + # we'll reset to if the increment diverges + self.u_inc_start.copyValues(self.u) + + # --- Compute predictor step --- + # TODO: Add predictor computation here + + success, numIters = self.newtonSolve(Fext=Fext) + + # --- Check convergence --- + if not success: + # If the Newton solve failed then we'll reduce the step size and try again + self.setVariables(self.u_inc_start) + self.setLoadScale(self.loadScale - stepSize * loadStepDirection) + stepSize *= STEP_RETRACT_FACTOR + else: + if self.loadScale == maxLoadScale: + break + else: + stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) + stepSize *= np.clip( + stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR + ) + if USE_PREDICTOR: + stateToOverwrite = self.equilibriumPathStates.pop(0) + stateToOverwrite.copyValues(self.u) + self.equilibriumPathStates.append(stateToOverwrite) + + self.equilibriumPathLoadScales.pop(0) + self.equilibriumPathLoadScales.append(self.loadScale) + + maxStep = min(np.abs(maxLoadScale - self.loadScale), MAX_STEP) + stepSize = np.clip(stepSize, MIN_STEP, maxStep) + self.setLoadScale(self.loadScale + loadStepDirection * stepSize) + + # ============================================================================== + # End of nonlinear solution + # ============================================================================== + + def newtonSolve(self, Fext=None): + LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") + MAX_ITERS = self.getOption("newtonSolverMaxIter") + + for iteration in range(MAX_ITERS): + self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) + + # Compute residual + self.getResidual(self.res, Fext=Fext) + + # Test convergence (exit if converged/diverged) + resNorm = np.real(self.res.norm()) + if self.rank == 0: + print(f"Iteration {iteration:3d}: Residual Norm = {resNorm:e}") + hasConverged = self.checkConvergence(resNorm) + hasDiverged = self.checkDivergence(resNorm) + if hasConverged or hasDiverged: + break + + # Update Jacobian + self.updateJacobian() + self.updatePreconditioner() + + # Compute Newton step + self.solveJacLinear(self.res, self.update) + self.update.scale(-1.0) + + if iteration >= LINESEARCH_SKIP_ITERS: + # Do linesearch + alpha = self.energyLineSearch(self.u, self.update, Fext=Fext) + else: + alpha = 1.0 + self.u.axpy(alpha, self.update) + self.assembler.setVariables(self.u) + self._stiffnessUpdateRequired = True + + return hasConverged, iteration + + def energyLineSearch(self, u, stepDir, Fext=None): + MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") + LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") + LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") + LINESEARCH_ALPHA_MAX = self.getOption("lineSearchMaxStep") + LINESEARCH_MAX_STEP_CHANGE = self.getOption("lineSearchMaxStepChange") + PRINT_LINESEARCH_ITERS = self.getOption("lineSearchMonitor") + + # Compute residual and merit function at u0 + self.assembler.setVariables(u) self.getResidual(self.res, Fext=Fext) + f0 = np.real(self.res.dot(stepDir)) + fOld = f0 + alphaOld = 0.0 + uNorm = u.norm() + if self.rank == 0 and PRINT_LINESEARCH_ITERS: + print( + f"Line search iter 0: alpha = {0: 11e}, f0 = {(f0): 11e}, uNorm = {uNorm: 11e}" + ) - # Get rhs vector - self.K.mult(self.u, self.rhs) - self.rhs.axpy(-1.0, self.res) + # 3. Set $\alpha = 1$ + alpha = 1.0 + alphaNew = alpha + for ii in range(MAX_LINESEARCH_ITERS): + # 4. Increment state, $u = u + \alpha \Delta u$ + u.axpy(alpha, stepDir) + self.assembler.setVariables(u) - # Set initnorm as the norm of rhs - self.initNorm = np.real(self.rhs.norm()) + # 5. Compute residual, $r = r(u)$ + self.getResidual(self.res, Fext=Fext) - # Starting Norm for this computation - self.startNorm = np.real(self.res.norm()) + # 6. Compute merit function, $f(\alpha)=f(u, r, \Delta u)$ + fNew = np.real(self.res.dot(stepDir)) - initNormTime = time.time() + # 7. if $abs(f(\alpha)) \leq \mu f_0 + \alpha f'_0$: + # 1. exit + uNorm = u.norm() + if self.rank == 0 and PRINT_LINESEARCH_ITERS: + print( + f"Line search iter {(ii+1):2d}: alpha = {alpha: 11e}, f/f0 = {(fNew/f0): 11e}, uNorm = {uNorm: 11e}" + ) + u.axpy(-alpha, stepDir) + fReduction = np.abs(fNew / f0) + if fReduction <= 1 - LINESEARCH_MU * min(alpha, 1.0): + break + else: + # 8. Update $\alpha$ (based on search method) + if ii == 0: + alphaMin = 0.9 + else: + alphaMin = LINESEARCH_ALPHA_MIN + if fNew == fOld: + alphaNew = alpha + LINESEARCH_ALPHA_MIN + else: + alphaNew = np.clip( + alpha - fNew * (alpha - alphaOld) / (fNew - fOld), + alphaMin, + LINESEARCH_ALPHA_MAX, + ) + if ii > 0 and abs(alphaNew - alpha) > LINESEARCH_MAX_STEP_CHANGE: + alphaNew = ( + alpha + np.sign(alphaNew - alpha) * LINESEARCH_MAX_STEP_CHANGE + ) + alphaOld = alpha + alpha = alphaNew + fOld = fNew + # 9. return to step 4 + return alpha - # Solve Linear System for the update - success = self.KSM.solve(self.res, self.update) + def solveJacLinear(self, res, sol): + success = self.KSM.solve(res, sol) if not success: self._TACSWarning( @@ -786,62 +1190,50 @@ def solve(self, Fext=None): "This is likely a sign that the problem is ill-conditioned. " "Check that the model is properly restrained." ) + return success - self.update.scale(-1.0) - - solveTime = time.time() - - # Update State Variables - self.assembler.getVariables(self.u) - self.u.axpy(1.0, self.update) - self.assembler.setVariables(self.u) + def updateJacobian(self, res=None): + if self._stiffnessUpdateRequired: + # Assemble residual and stiffness matrix (w/o artificial terms) + self.assembler.assembleJacobian( + self.alpha, + self.beta, + self.gamma, + res, + self.K, + loadScale=self._loadScale, + ) + self._factorOnNext = True - stateUpdateTime = time.time() + def updatePreconditioner(self): + if self._factorOnNext: + # Stiffness matrix must include artificial terms before pc factor + # to prevent factorization issues w/ zero-diagonals + self.K.axpy(1.0, self.rbeArtificialStiffness) + self.PC.factor() + # Remove artificial stiffness terms to get true stiffness mat + self.K.axpy(-1.0, self.rbeArtificialStiffness) + self._factorOnNext = False - # Get updated residual - self.getResidual(self.res, Fext) - self.finalNorm = np.real(self.res.norm()) + def checkConvergence(self, resNorm): + """Check whether the residual is sufficiently converged - finalNormTime = time.time() + Returns + ------- + _type_ + _description_ + """ + return resNorm / self.initNorm < 1e-8 - # If timing was was requested print it, if the solution is nonlinear - # print this information automatically if prinititerations was requested. - if self.getOption("printTiming"): - self._pp("+--------------------------------------------------+") - self._pp("|") - self._pp("| TACS Solve Times:") - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Setup Time", setupProblemTime - startTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Solve Init Time", initSolveTime - setupProblemTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Init Norm Time", initNormTime - initSolveTime) - ) - self._pp( - "| %-30s: %10.3f sec" % ("TACS Solve Time", solveTime - initNormTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS State Update Time", stateUpdateTime - solveTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Final Norm Time", finalNormTime - stateUpdateTime) - ) - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Total Solution Time", finalNormTime - startTime) - ) - self._pp("+--------------------------------------------------+") + def checkDivergence(self, resNorm): + """Check whether the residual has diverged - return + Returns + ------- + _type_ + _description_ + """ + return resNorm > 1e10 or np.isnan(resNorm) ####### Function eval/sensitivity methods ######## @@ -1030,7 +1422,7 @@ def evalFunctionsSens(self, funcsSens, evalFuncs=None): totalSensitivityTime = time.time() - if self.getOption("printTiming"): + if self.getOption("printTiming") and self.rank == 0: self._pp("+--------------------------------------------------+") self._pp("|") self._pp("| TACS Adjoint Times:") @@ -1399,7 +1791,6 @@ def getForces(self, externalForceVec, internalForceVec, Fext=None): elif isinstance(externalForceVec, tacs.TACS.Vec): externalForceVec.axpy(-1.0, self._arrayToVec(internalForceVec)) - def getJacobian(self): """Get the problem's Jacobian in sciPy sparse matrix format From 0df1ed46a17ccda79a3c48583d89fa2f621c5419 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 09:56:43 -0500 Subject: [PATCH 010/174] Revert "more black formatting" This reverts commit 03676ce0bda896a851e367638b625195aa609eb7. --- tacs/problems/base.py | 1 + tacs/problems/modal.py | 2 + tacs/problems/static.py | 577 +++++++--------------------------------- 3 files changed, 96 insertions(+), 484 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index cbb554417..963f7a133 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -22,6 +22,7 @@ class TACSProblem(BaseUI): def __init__( self, assembler, comm, outputViewer=None, meshLoader=None, isNonlinear=False ): + # TACS assembler object self.assembler = assembler # TACS F5 output writer diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index be3de7bfe..06f23c297 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -19,6 +19,7 @@ class ModalProblem(TACSProblem): + # Default Option List defaultOptions = { "outputDir": [str, "./", "Output directory for F5 file writer."], @@ -510,6 +511,7 @@ def writeSolution(self, outputDir=None, baseName=None, number=None, indices=None # Unless the writeSolution option is off write actual file: if self.getOption("writeSolution"): + # If indices is None, output all modes if indices is None: indices = np.arange(self.numEigs) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 2fa091173..e0750c8ec 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -24,6 +24,7 @@ class StaticProblem(TACSProblem): + # Default options for class defaultOptions = { "outputDir": [str, "./", "Output directory for F5 file writer."], @@ -100,112 +101,6 @@ class StaticProblem(TACSProblem): False, "Flag for printing out timing information for class procedures.", ], - # Nonlinear continuation options - "continuationTargetIter": [ - int, - 8, - "Target number of Newton iterations for each continuation increment.", - ], - "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], - "continuationInitialStep": [float, 0.2, "Initial continuation step size."], - "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], - "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], - "continuationMinStepFactor": [ - float, - 0.5, - "The minimum factor by which the continuation step size can decrease in a single step.", - ], - "continuationMaxStepFactor": [ - float, - 2.0, - "The maximum factor by which the continuation step size can increase in a single step.", - ], - "continuationRetractionFactor": [ - float, - 0.5, - "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", - ], - # Predictor step options - "usePredictor": [bool, True, "Flag for using predictor step in continuation."], - "predictorNumStates": [ - int, - 2, - "Number of previous equilibrium states to use in computing the predictor step.", - ], - "predictorUseDerivative": [ - bool, - False, - "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", - ], - # Newton solver options - "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], - "newtonSolverAbsTol": [ - float, - 1e-8, - "Convergence criteria for the nonlinear residual norm.", - ], - "newtonSolverRelTol": [ - float, - 1e-8, - "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", - ], - "newtonSolverCoarseAbsTol": [ - float, - 1e-4, - "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", - ], - "newtonSolverCoarseRelTol": [ - float, - 1e-4, - "Relative residual norm criteria for intermediate load increments.", - ], - "newtonSolverDivergenceTol": [ - float, - 1e10, - "Residual norm at which the nonlinear solver is jugded to have diverged", - ], - # Line search options - "useLineSearch": [ - bool, - True, - "Flag for using line search in the nonlinear solver.", - ], - "lineSearchMonitor": [ - bool, - True, - "Flag for printing out line search information.", - ], - "skipFirstNLineSearch": [ - int, - 0, - "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", - ], - "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], - "lineSearchExpectedDecrease": [ - float, - 1e-4, - "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", - ], - "lineSearchMaxStep": [ - float, - 2.0, - "Maximum step size for the linesearch, as a fraction of the Newton step", - ], - "lineSearchMinStep": [ - float, - 1e-2, - "Minimum step size for the linesearch, as a fraction of the Newton step", - ], - "lineSearchMaxStepChange": [ - float, - 0.5, - "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", - ], - "lineSearchFallbackStepLimit": [ - float, - 0.9, - "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", - ], } def __init__( @@ -248,9 +143,7 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__( - self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear - ) + TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) # Process the default options which are added to self.options # under the 'defaults' key. Make sure the key are lower case @@ -270,8 +163,6 @@ def __init__( def _createVariables(self): """Internal to create the variable required by TACS""" - opt = self.getOption - # Generic residual vector self.res = self.assembler.createVec() self.rhs = self.assembler.createVec() @@ -281,7 +172,6 @@ def _createVariables(self): self.dIduList = OrderedDict() self.dvSensList = OrderedDict() self.xptSensList = OrderedDict() - # Temporary vector for adjoint solve self.phi = self.assembler.createVec() self.adjRHS = self.assembler.createVec() @@ -289,26 +179,9 @@ def _createVariables(self): # Load vector self.F = self.assembler.createVec() self.F_array = self.F.getArray() - # State variable vector self.u = self.assembler.createVec() self.u_array = self.u.getArray() - - # Vectors used to decompose residual into external and internal forces - self.externalForce = self.assembler.createVec() - self.internalForce = self.assembler.createVec() - - # Vectors used to compute extrapolate the equilibrium path during nonlinear solutions - self.equilibriumPathStates = [] - self.equilibriumPathLoadScales = [] - if self.isNonlinear and opt("usePredictor"): - for _ in range(opt("predictorNumStates")): - self.equilibriumPathStates.append(self.assembler.createVec()) - self.equilibriumPathLoadScales.append(None) - - if self.isNonlinear: - self.u_inc_start = self.assembler.createVec() - # Auxiliary element object for applying tractions/pressure self.auxElems = tacs.TACS.AuxElements() self.callCounter = -1 @@ -321,6 +194,8 @@ def _createVariables(self): # Load scaling factor self._loadScale = 1.0 + opt = self.getOption + # Tangent Stiffness --- process the ordering option here: ordering = opt("orderingType") @@ -404,7 +279,6 @@ def _createVariables(self): ) # Linear solver factor flag - self._stiffnessUpdateRequired = True self._factorOnNext = True def setOption(self, name, value): @@ -429,20 +303,12 @@ def setOption(self, name, value): self.getOption("L2Convergence"), ) # No need to reset solver for output options - elif ( - name.lower() - in [ - "writesolution", - "printtiming", - "numbersolutions", - "outputdir", - "skipFirstNLineSearch", - "usePredictor", - "predictorUseDerivative", - ] - or "linesearch" in name.lower() - or "newtonsolver" in name.lower() - ): + elif name.lower() in [ + "writesolution", + "printtiming", + "numbersolutions", + "outputdir", + ]: pass # Reset solver for all other option changes else: @@ -488,7 +354,7 @@ def setLoadScale(self, value): Value to set the load scale to """ if value != self._loadScale: - self._stiffnessUpdateRequired = True + self._factorOnNext = True self._loadScale = value def addFunction(self, funcName, funcHandle, compIDs=None, **kwargs): @@ -535,7 +401,7 @@ def setDesignVars(self, x): """ TACSProblem.setDesignVars(self, x) - self._stiffnessUpdateRequired = True + self._factorOnNext = True def setNodes(self, coords): """ @@ -548,7 +414,7 @@ def setNodes(self, coords): the number of structural nodes on this processor. """ TACSProblem.setNodes(self, coords) - self._stiffnessUpdateRequired = True + self._factorOnNext = True ####### Load adding methods ######## @@ -850,8 +716,23 @@ def _initializeSolve(self): loadCase. The stiffness matrix is assembled and factored. """ - self.updateJacobian() - self.updatePreconditioner() + if self._factorOnNext: + # Assemble residual and stiffness matrix (w/o artificial terms) + self.assembler.assembleJacobian( + self.alpha, + self.beta, + self.gamma, + self.res, + self.K, + loadScale=self._loadScale, + ) + # Stiffness matrix must include artificial terms before pc factor + # to prevent factorization issues w/ zero-diagonals + self.K.axpy(1.0, self.rbeArtificialStiffness) + self.PC.factor() + # Remove artificial stiffness terms to get true stiffness mat + self.K.axpy(-1.0, self.rbeArtificialStiffness) + self._factorOnNext = False def solve(self, Fext=None): """ @@ -881,308 +762,23 @@ def solve(self, Fext=None): initSolveTime = time.time() - if self.isNonlinear: - self.solveNonlinear(Fext) - else: - # Get current residual - self.getResidual(self.res, Fext=Fext) - - # Get rhs vector - self.K.mult(self.u, self.rhs) - self.rhs.axpy(-1.0, self.res) - - # Set initnorm as the norm of rhs - self.initNorm = np.real(self.rhs.norm()) - - # Starting Norm for this computation - self.startNorm = np.real(self.res.norm()) - - initNormTime = time.time() - - # Solve Linear System for the update - self.solveJacLinear(self.res, self.update) - - self.update.scale(-1.0) - - solveTime = time.time() - - # Update State Variables - self.assembler.getVariables(self.u) - self.u.axpy(1.0, self.update) - self.assembler.setVariables(self.u) - - stateUpdateTime = time.time() - - # Get updated residual - self.getResidual(self.res, Fext) - self.finalNorm = np.real(self.res.norm()) - - finalNormTime = time.time() - - # If timing was was requested print it, if the solution is nonlinear - # print this information automatically if prinititerations was requested. - if self.getOption("printTiming"): - self._pp("+--------------------------------------------------+") - self._pp("|") - self._pp("| TACS Solve Times:") - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Setup Time", setupProblemTime - startTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Solve Init Time", initSolveTime - setupProblemTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Init Norm Time", initNormTime - initSolveTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Solve Time", solveTime - initNormTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS State Update Time", stateUpdateTime - solveTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Final Norm Time", finalNormTime - stateUpdateTime) - ) - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Total Solution Time", finalNormTime - startTime) - ) - self._pp("+--------------------------------------------------+") - - return - - def solveNonlinear(self, Fext=None, maxLoadScale=1.0): - TARGET_ITERS = self.getOption("continuationTargetIter") - INIT_STEP = self.getOption("continuationInitialStep") - MIN_STEP = self.getOption("continuationMinStep") - MAX_STEP = self.getOption("continuationMaxStep") - MAX_INCREMENTS = self.getOption("continuationMaxIter") - MIN_STEP_FACTOR = self.getOption("continuationMinStepFactor") - MAX_STEP_FACTOR = self.getOption("continuationMaxStepFactor") - STEP_RETRACT_FACTOR = self.getOption("continuationRetractionFactor") - - USE_PREDICTOR = self.getOption("usePredictor") - NUM_PREDICTOR_STATES = self.getOption("predictorNumStates") - PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") - - # Compute the internal and external force components of the residual at the current point - self.getForces( - externalForceVec=self.externalForce, - internalForceVec=self.internalForce, - Fext=Fext, - ) - self.initNorm = np.real(self.externalForce.norm()) - - # ============================================================================== - # Compute the initial load scale - # ============================================================================== - self.setLoadScale(min(maxLoadScale, INIT_STEP)) - loadStepDirection = 1 - - # If we're restarting from a previous solution we should compute the optimum load scale - # to restart from. This is done by computing the load scale that minimizes the work - # done by the resulting Newton step: - # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) - # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe - if np.real(self.u.norm()) > 0: - if self._stiffnessUpdateRequired: - self.updateJacobian() - if self._factorOnNext: - self.updatePreconditioner() - du_i = self.u - du_e = self.update - self.solveJacLinear(self.externalForce, du_e) - self.solveJacLinear(self.internalForce, du_i) - FeUe = self.externalForce.dot(du_e) - FeUi = self.externalForce.dot(du_i) - FiUe = self.internalForce.dot(du_e) - optLoadScale = (FeUi + FiUe) / (-2 * FeUe) - - if optLoadScale > 2 * maxLoadScale or optLoadScale < 0.0: - # If the optimum load scale is more than double the max load scale we're aiming for, or if it's - # negative then the loading/structure has changed so much that we'll be closer to the final - # solution if we just reset the displacements to zero and start the solver from there - self.zeroVariables() - optLoadScale = self.loadScale - elif np.abs(optLoadScale - self.loadScale) < 1e-2: - # If the optimum load scale is close to the max load scale then we'll just use the max load scale - optLoadScale = maxLoadScale - else: - # Otherwise choose the maximum of the ideal load scale and the default initial load scale - optLoadScale = max(optLoadScale, self.loadScale) - # If the optimum load scale is greater than the max we want to get to then we need to reverse the - # direction of load incrementation - if optLoadScale > maxLoadScale: - loadStepDirection = -1 - - self.setLoadScale(optLoadScale) - - stepSize = INIT_STEP - - for increment in range(MAX_INCREMENTS): - if self.rank == 0: - print("===============================================================") - print( - f"Starting increment {increment:3d} with load scale: {self.loadScale}" - ) - print("===============================================================") - - # Save displacement at start of this increment, this is what - # we'll reset to if the increment diverges - self.u_inc_start.copyValues(self.u) - - # --- Compute predictor step --- - # TODO: Add predictor computation here - - success, numIters = self.newtonSolve(Fext=Fext) - - # --- Check convergence --- - if not success: - # If the Newton solve failed then we'll reduce the step size and try again - self.setVariables(self.u_inc_start) - self.setLoadScale(self.loadScale - stepSize * loadStepDirection) - stepSize *= STEP_RETRACT_FACTOR - else: - if self.loadScale == maxLoadScale: - break - else: - stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) - stepSize *= np.clip( - stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR - ) - if USE_PREDICTOR: - stateToOverwrite = self.equilibriumPathStates.pop(0) - stateToOverwrite.copyValues(self.u) - self.equilibriumPathStates.append(stateToOverwrite) - - self.equilibriumPathLoadScales.pop(0) - self.equilibriumPathLoadScales.append(self.loadScale) - - maxStep = min(np.abs(maxLoadScale - self.loadScale), MAX_STEP) - stepSize = np.clip(stepSize, MIN_STEP, maxStep) - self.setLoadScale(self.loadScale + loadStepDirection * stepSize) - - # ============================================================================== - # End of nonlinear solution - # ============================================================================== - - def newtonSolve(self, Fext=None): - LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") - MAX_ITERS = self.getOption("newtonSolverMaxIter") - - for iteration in range(MAX_ITERS): - self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) - - # Compute residual - self.getResidual(self.res, Fext=Fext) - - # Test convergence (exit if converged/diverged) - resNorm = np.real(self.res.norm()) - if self.rank == 0: - print(f"Iteration {iteration:3d}: Residual Norm = {resNorm:e}") - hasConverged = self.checkConvergence(resNorm) - hasDiverged = self.checkDivergence(resNorm) - if hasConverged or hasDiverged: - break - - # Update Jacobian - self.updateJacobian() - self.updatePreconditioner() - - # Compute Newton step - self.solveJacLinear(self.res, self.update) - self.update.scale(-1.0) - - if iteration >= LINESEARCH_SKIP_ITERS: - # Do linesearch - alpha = self.energyLineSearch(self.u, self.update, Fext=Fext) - else: - alpha = 1.0 - self.u.axpy(alpha, self.update) - self.assembler.setVariables(self.u) - self._stiffnessUpdateRequired = True - - return hasConverged, iteration - - def energyLineSearch(self, u, stepDir, Fext=None): - MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") - LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") - LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") - LINESEARCH_ALPHA_MAX = self.getOption("lineSearchMaxStep") - LINESEARCH_MAX_STEP_CHANGE = self.getOption("lineSearchMaxStepChange") - PRINT_LINESEARCH_ITERS = self.getOption("lineSearchMonitor") - - # Compute residual and merit function at u0 - self.assembler.setVariables(u) + # Get current residual self.getResidual(self.res, Fext=Fext) - f0 = np.real(self.res.dot(stepDir)) - fOld = f0 - alphaOld = 0.0 - uNorm = u.norm() - if self.rank == 0 and PRINT_LINESEARCH_ITERS: - print( - f"Line search iter 0: alpha = {0: 11e}, f0 = {(f0): 11e}, uNorm = {uNorm: 11e}" - ) - # 3. Set $\alpha = 1$ - alpha = 1.0 - alphaNew = alpha - for ii in range(MAX_LINESEARCH_ITERS): - # 4. Increment state, $u = u + \alpha \Delta u$ - u.axpy(alpha, stepDir) - self.assembler.setVariables(u) + # Get rhs vector + self.K.mult(self.u, self.rhs) + self.rhs.axpy(-1.0, self.res) - # 5. Compute residual, $r = r(u)$ - self.getResidual(self.res, Fext=Fext) + # Set initnorm as the norm of rhs + self.initNorm = np.real(self.rhs.norm()) - # 6. Compute merit function, $f(\alpha)=f(u, r, \Delta u)$ - fNew = np.real(self.res.dot(stepDir)) + # Starting Norm for this computation + self.startNorm = np.real(self.res.norm()) - # 7. if $abs(f(\alpha)) \leq \mu f_0 + \alpha f'_0$: - # 1. exit - uNorm = u.norm() - if self.rank == 0 and PRINT_LINESEARCH_ITERS: - print( - f"Line search iter {(ii+1):2d}: alpha = {alpha: 11e}, f/f0 = {(fNew/f0): 11e}, uNorm = {uNorm: 11e}" - ) - u.axpy(-alpha, stepDir) - fReduction = np.abs(fNew / f0) - if fReduction <= 1 - LINESEARCH_MU * min(alpha, 1.0): - break - else: - # 8. Update $\alpha$ (based on search method) - if ii == 0: - alphaMin = 0.9 - else: - alphaMin = LINESEARCH_ALPHA_MIN - if fNew == fOld: - alphaNew = alpha + LINESEARCH_ALPHA_MIN - else: - alphaNew = np.clip( - alpha - fNew * (alpha - alphaOld) / (fNew - fOld), - alphaMin, - LINESEARCH_ALPHA_MAX, - ) - if ii > 0 and abs(alphaNew - alpha) > LINESEARCH_MAX_STEP_CHANGE: - alphaNew = ( - alpha + np.sign(alphaNew - alpha) * LINESEARCH_MAX_STEP_CHANGE - ) - alphaOld = alpha - alpha = alphaNew - fOld = fNew - # 9. return to step 4 - return alpha + initNormTime = time.time() - def solveJacLinear(self, res, sol): - success = self.KSM.solve(res, sol) + # Solve Linear System for the update + success = self.KSM.solve(self.res, self.update) if not success: self._TACSWarning( @@ -1190,50 +786,62 @@ def solveJacLinear(self, res, sol): "This is likely a sign that the problem is ill-conditioned. " "Check that the model is properly restrained." ) - return success - def updateJacobian(self, res=None): - if self._stiffnessUpdateRequired: - # Assemble residual and stiffness matrix (w/o artificial terms) - self.assembler.assembleJacobian( - self.alpha, - self.beta, - self.gamma, - res, - self.K, - loadScale=self._loadScale, - ) - self._factorOnNext = True + self.update.scale(-1.0) - def updatePreconditioner(self): - if self._factorOnNext: - # Stiffness matrix must include artificial terms before pc factor - # to prevent factorization issues w/ zero-diagonals - self.K.axpy(1.0, self.rbeArtificialStiffness) - self.PC.factor() - # Remove artificial stiffness terms to get true stiffness mat - self.K.axpy(-1.0, self.rbeArtificialStiffness) - self._factorOnNext = False + solveTime = time.time() - def checkConvergence(self, resNorm): - """Check whether the residual is sufficiently converged + # Update State Variables + self.assembler.getVariables(self.u) + self.u.axpy(1.0, self.update) + self.assembler.setVariables(self.u) - Returns - ------- - _type_ - _description_ - """ - return resNorm / self.initNorm < 1e-8 + stateUpdateTime = time.time() - def checkDivergence(self, resNorm): - """Check whether the residual has diverged + # Get updated residual + self.getResidual(self.res, Fext) + self.finalNorm = np.real(self.res.norm()) - Returns - ------- - _type_ - _description_ - """ - return resNorm > 1e10 or np.isnan(resNorm) + finalNormTime = time.time() + + # If timing was was requested print it, if the solution is nonlinear + # print this information automatically if prinititerations was requested. + if self.getOption("printTiming"): + self._pp("+--------------------------------------------------+") + self._pp("|") + self._pp("| TACS Solve Times:") + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Setup Time", setupProblemTime - startTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Solve Init Time", initSolveTime - setupProblemTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Init Norm Time", initNormTime - initSolveTime) + ) + self._pp( + "| %-30s: %10.3f sec" % ("TACS Solve Time", solveTime - initNormTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS State Update Time", stateUpdateTime - solveTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Final Norm Time", finalNormTime - stateUpdateTime) + ) + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Total Solution Time", finalNormTime - startTime) + ) + self._pp("+--------------------------------------------------+") + + return ####### Function eval/sensitivity methods ######## @@ -1422,7 +1030,7 @@ def evalFunctionsSens(self, funcsSens, evalFuncs=None): totalSensitivityTime = time.time() - if self.getOption("printTiming") and self.rank == 0: + if self.getOption("printTiming"): self._pp("+--------------------------------------------------+") self._pp("|") self._pp("| TACS Adjoint Times:") @@ -1791,6 +1399,7 @@ def getForces(self, externalForceVec, internalForceVec, Fext=None): elif isinstance(externalForceVec, tacs.TACS.Vec): externalForceVec.axpy(-1.0, self._arrayToVec(internalForceVec)) + def getJacobian(self): """Get the problem's Jacobian in sciPy sparse matrix format From 426de507b81194259cf6cf01671fcadd11bbe698 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 09:58:14 -0500 Subject: [PATCH 011/174] More black formatting --- tacs/problems/base.py | 1 - tacs/problems/modal.py | 4 +--- tacs/problems/transient.py | 2 -- 3 files changed, 1 insertion(+), 6 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index 963f7a133..cbb554417 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -22,7 +22,6 @@ class TACSProblem(BaseUI): def __init__( self, assembler, comm, outputViewer=None, meshLoader=None, isNonlinear=False ): - # TACS assembler object self.assembler = assembler # TACS F5 output writer diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index 06f23c297..c81188665 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -125,9 +125,7 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__( - self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear - ) + TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) # Set time eigenvalue parameters self.sigma = sigma diff --git a/tacs/problems/transient.py b/tacs/problems/transient.py index 783b61894..c8f85ad55 100644 --- a/tacs/problems/transient.py +++ b/tacs/problems/transient.py @@ -22,7 +22,6 @@ class TransientProblem(TACSProblem): - # Default Option List defaultOptions = { "outputDir": [str, "./", "Output directory for F5 file writer."], @@ -1372,7 +1371,6 @@ def writeSolution(self, outputDir=None, baseName=None, number=None, timeSteps=No # Unless the writeSolution option is off write actual file: if self.getOption("writeSolution"): - # If timeSteps is None, output all timesteps if timeSteps is None: timeSteps = np.arange(self.numSteps + 1) From 55b3e36b4d4d30e394f424ccb8849b08132619bf Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 09:58:52 -0500 Subject: [PATCH 012/174] Nonlinear solver functioning with basic incrementation --- tacs/problems/static.py | 577 +++++++++++++++++++++++++++++++++------- tacs/pytacs.py | 19 +- 2 files changed, 499 insertions(+), 97 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index e0750c8ec..2fa091173 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -24,7 +24,6 @@ class StaticProblem(TACSProblem): - # Default options for class defaultOptions = { "outputDir": [str, "./", "Output directory for F5 file writer."], @@ -101,6 +100,112 @@ class StaticProblem(TACSProblem): False, "Flag for printing out timing information for class procedures.", ], + # Nonlinear continuation options + "continuationTargetIter": [ + int, + 8, + "Target number of Newton iterations for each continuation increment.", + ], + "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], + "continuationInitialStep": [float, 0.2, "Initial continuation step size."], + "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], + "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], + "continuationMinStepFactor": [ + float, + 0.5, + "The minimum factor by which the continuation step size can decrease in a single step.", + ], + "continuationMaxStepFactor": [ + float, + 2.0, + "The maximum factor by which the continuation step size can increase in a single step.", + ], + "continuationRetractionFactor": [ + float, + 0.5, + "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", + ], + # Predictor step options + "usePredictor": [bool, True, "Flag for using predictor step in continuation."], + "predictorNumStates": [ + int, + 2, + "Number of previous equilibrium states to use in computing the predictor step.", + ], + "predictorUseDerivative": [ + bool, + False, + "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", + ], + # Newton solver options + "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], + "newtonSolverAbsTol": [ + float, + 1e-8, + "Convergence criteria for the nonlinear residual norm.", + ], + "newtonSolverRelTol": [ + float, + 1e-8, + "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", + ], + "newtonSolverCoarseAbsTol": [ + float, + 1e-4, + "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", + ], + "newtonSolverCoarseRelTol": [ + float, + 1e-4, + "Relative residual norm criteria for intermediate load increments.", + ], + "newtonSolverDivergenceTol": [ + float, + 1e10, + "Residual norm at which the nonlinear solver is jugded to have diverged", + ], + # Line search options + "useLineSearch": [ + bool, + True, + "Flag for using line search in the nonlinear solver.", + ], + "lineSearchMonitor": [ + bool, + True, + "Flag for printing out line search information.", + ], + "skipFirstNLineSearch": [ + int, + 0, + "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", + ], + "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], + "lineSearchExpectedDecrease": [ + float, + 1e-4, + "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", + ], + "lineSearchMaxStep": [ + float, + 2.0, + "Maximum step size for the linesearch, as a fraction of the Newton step", + ], + "lineSearchMinStep": [ + float, + 1e-2, + "Minimum step size for the linesearch, as a fraction of the Newton step", + ], + "lineSearchMaxStepChange": [ + float, + 0.5, + "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", + ], + "lineSearchFallbackStepLimit": [ + float, + 0.9, + "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", + ], } def __init__( @@ -143,7 +248,9 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) + TACSProblem.__init__( + self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear + ) # Process the default options which are added to self.options # under the 'defaults' key. Make sure the key are lower case @@ -163,6 +270,8 @@ def __init__( def _createVariables(self): """Internal to create the variable required by TACS""" + opt = self.getOption + # Generic residual vector self.res = self.assembler.createVec() self.rhs = self.assembler.createVec() @@ -172,6 +281,7 @@ def _createVariables(self): self.dIduList = OrderedDict() self.dvSensList = OrderedDict() self.xptSensList = OrderedDict() + # Temporary vector for adjoint solve self.phi = self.assembler.createVec() self.adjRHS = self.assembler.createVec() @@ -179,9 +289,26 @@ def _createVariables(self): # Load vector self.F = self.assembler.createVec() self.F_array = self.F.getArray() + # State variable vector self.u = self.assembler.createVec() self.u_array = self.u.getArray() + + # Vectors used to decompose residual into external and internal forces + self.externalForce = self.assembler.createVec() + self.internalForce = self.assembler.createVec() + + # Vectors used to compute extrapolate the equilibrium path during nonlinear solutions + self.equilibriumPathStates = [] + self.equilibriumPathLoadScales = [] + if self.isNonlinear and opt("usePredictor"): + for _ in range(opt("predictorNumStates")): + self.equilibriumPathStates.append(self.assembler.createVec()) + self.equilibriumPathLoadScales.append(None) + + if self.isNonlinear: + self.u_inc_start = self.assembler.createVec() + # Auxiliary element object for applying tractions/pressure self.auxElems = tacs.TACS.AuxElements() self.callCounter = -1 @@ -194,8 +321,6 @@ def _createVariables(self): # Load scaling factor self._loadScale = 1.0 - opt = self.getOption - # Tangent Stiffness --- process the ordering option here: ordering = opt("orderingType") @@ -279,6 +404,7 @@ def _createVariables(self): ) # Linear solver factor flag + self._stiffnessUpdateRequired = True self._factorOnNext = True def setOption(self, name, value): @@ -303,12 +429,20 @@ def setOption(self, name, value): self.getOption("L2Convergence"), ) # No need to reset solver for output options - elif name.lower() in [ - "writesolution", - "printtiming", - "numbersolutions", - "outputdir", - ]: + elif ( + name.lower() + in [ + "writesolution", + "printtiming", + "numbersolutions", + "outputdir", + "skipFirstNLineSearch", + "usePredictor", + "predictorUseDerivative", + ] + or "linesearch" in name.lower() + or "newtonsolver" in name.lower() + ): pass # Reset solver for all other option changes else: @@ -354,7 +488,7 @@ def setLoadScale(self, value): Value to set the load scale to """ if value != self._loadScale: - self._factorOnNext = True + self._stiffnessUpdateRequired = True self._loadScale = value def addFunction(self, funcName, funcHandle, compIDs=None, **kwargs): @@ -401,7 +535,7 @@ def setDesignVars(self, x): """ TACSProblem.setDesignVars(self, x) - self._factorOnNext = True + self._stiffnessUpdateRequired = True def setNodes(self, coords): """ @@ -414,7 +548,7 @@ def setNodes(self, coords): the number of structural nodes on this processor. """ TACSProblem.setNodes(self, coords) - self._factorOnNext = True + self._stiffnessUpdateRequired = True ####### Load adding methods ######## @@ -716,23 +850,8 @@ def _initializeSolve(self): loadCase. The stiffness matrix is assembled and factored. """ - if self._factorOnNext: - # Assemble residual and stiffness matrix (w/o artificial terms) - self.assembler.assembleJacobian( - self.alpha, - self.beta, - self.gamma, - self.res, - self.K, - loadScale=self._loadScale, - ) - # Stiffness matrix must include artificial terms before pc factor - # to prevent factorization issues w/ zero-diagonals - self.K.axpy(1.0, self.rbeArtificialStiffness) - self.PC.factor() - # Remove artificial stiffness terms to get true stiffness mat - self.K.axpy(-1.0, self.rbeArtificialStiffness) - self._factorOnNext = False + self.updateJacobian() + self.updatePreconditioner() def solve(self, Fext=None): """ @@ -762,23 +881,308 @@ def solve(self, Fext=None): initSolveTime = time.time() - # Get current residual + if self.isNonlinear: + self.solveNonlinear(Fext) + else: + # Get current residual + self.getResidual(self.res, Fext=Fext) + + # Get rhs vector + self.K.mult(self.u, self.rhs) + self.rhs.axpy(-1.0, self.res) + + # Set initnorm as the norm of rhs + self.initNorm = np.real(self.rhs.norm()) + + # Starting Norm for this computation + self.startNorm = np.real(self.res.norm()) + + initNormTime = time.time() + + # Solve Linear System for the update + self.solveJacLinear(self.res, self.update) + + self.update.scale(-1.0) + + solveTime = time.time() + + # Update State Variables + self.assembler.getVariables(self.u) + self.u.axpy(1.0, self.update) + self.assembler.setVariables(self.u) + + stateUpdateTime = time.time() + + # Get updated residual + self.getResidual(self.res, Fext) + self.finalNorm = np.real(self.res.norm()) + + finalNormTime = time.time() + + # If timing was was requested print it, if the solution is nonlinear + # print this information automatically if prinititerations was requested. + if self.getOption("printTiming"): + self._pp("+--------------------------------------------------+") + self._pp("|") + self._pp("| TACS Solve Times:") + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Setup Time", setupProblemTime - startTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Solve Init Time", initSolveTime - setupProblemTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Init Norm Time", initNormTime - initSolveTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Solve Time", solveTime - initNormTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS State Update Time", stateUpdateTime - solveTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Final Norm Time", finalNormTime - stateUpdateTime) + ) + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Total Solution Time", finalNormTime - startTime) + ) + self._pp("+--------------------------------------------------+") + + return + + def solveNonlinear(self, Fext=None, maxLoadScale=1.0): + TARGET_ITERS = self.getOption("continuationTargetIter") + INIT_STEP = self.getOption("continuationInitialStep") + MIN_STEP = self.getOption("continuationMinStep") + MAX_STEP = self.getOption("continuationMaxStep") + MAX_INCREMENTS = self.getOption("continuationMaxIter") + MIN_STEP_FACTOR = self.getOption("continuationMinStepFactor") + MAX_STEP_FACTOR = self.getOption("continuationMaxStepFactor") + STEP_RETRACT_FACTOR = self.getOption("continuationRetractionFactor") + + USE_PREDICTOR = self.getOption("usePredictor") + NUM_PREDICTOR_STATES = self.getOption("predictorNumStates") + PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") + + # Compute the internal and external force components of the residual at the current point + self.getForces( + externalForceVec=self.externalForce, + internalForceVec=self.internalForce, + Fext=Fext, + ) + self.initNorm = np.real(self.externalForce.norm()) + + # ============================================================================== + # Compute the initial load scale + # ============================================================================== + self.setLoadScale(min(maxLoadScale, INIT_STEP)) + loadStepDirection = 1 + + # If we're restarting from a previous solution we should compute the optimum load scale + # to restart from. This is done by computing the load scale that minimizes the work + # done by the resulting Newton step: + # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) + # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe + if np.real(self.u.norm()) > 0: + if self._stiffnessUpdateRequired: + self.updateJacobian() + if self._factorOnNext: + self.updatePreconditioner() + du_i = self.u + du_e = self.update + self.solveJacLinear(self.externalForce, du_e) + self.solveJacLinear(self.internalForce, du_i) + FeUe = self.externalForce.dot(du_e) + FeUi = self.externalForce.dot(du_i) + FiUe = self.internalForce.dot(du_e) + optLoadScale = (FeUi + FiUe) / (-2 * FeUe) + + if optLoadScale > 2 * maxLoadScale or optLoadScale < 0.0: + # If the optimum load scale is more than double the max load scale we're aiming for, or if it's + # negative then the loading/structure has changed so much that we'll be closer to the final + # solution if we just reset the displacements to zero and start the solver from there + self.zeroVariables() + optLoadScale = self.loadScale + elif np.abs(optLoadScale - self.loadScale) < 1e-2: + # If the optimum load scale is close to the max load scale then we'll just use the max load scale + optLoadScale = maxLoadScale + else: + # Otherwise choose the maximum of the ideal load scale and the default initial load scale + optLoadScale = max(optLoadScale, self.loadScale) + # If the optimum load scale is greater than the max we want to get to then we need to reverse the + # direction of load incrementation + if optLoadScale > maxLoadScale: + loadStepDirection = -1 + + self.setLoadScale(optLoadScale) + + stepSize = INIT_STEP + + for increment in range(MAX_INCREMENTS): + if self.rank == 0: + print("===============================================================") + print( + f"Starting increment {increment:3d} with load scale: {self.loadScale}" + ) + print("===============================================================") + + # Save displacement at start of this increment, this is what + # we'll reset to if the increment diverges + self.u_inc_start.copyValues(self.u) + + # --- Compute predictor step --- + # TODO: Add predictor computation here + + success, numIters = self.newtonSolve(Fext=Fext) + + # --- Check convergence --- + if not success: + # If the Newton solve failed then we'll reduce the step size and try again + self.setVariables(self.u_inc_start) + self.setLoadScale(self.loadScale - stepSize * loadStepDirection) + stepSize *= STEP_RETRACT_FACTOR + else: + if self.loadScale == maxLoadScale: + break + else: + stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) + stepSize *= np.clip( + stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR + ) + if USE_PREDICTOR: + stateToOverwrite = self.equilibriumPathStates.pop(0) + stateToOverwrite.copyValues(self.u) + self.equilibriumPathStates.append(stateToOverwrite) + + self.equilibriumPathLoadScales.pop(0) + self.equilibriumPathLoadScales.append(self.loadScale) + + maxStep = min(np.abs(maxLoadScale - self.loadScale), MAX_STEP) + stepSize = np.clip(stepSize, MIN_STEP, maxStep) + self.setLoadScale(self.loadScale + loadStepDirection * stepSize) + + # ============================================================================== + # End of nonlinear solution + # ============================================================================== + + def newtonSolve(self, Fext=None): + LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") + MAX_ITERS = self.getOption("newtonSolverMaxIter") + + for iteration in range(MAX_ITERS): + self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) + + # Compute residual + self.getResidual(self.res, Fext=Fext) + + # Test convergence (exit if converged/diverged) + resNorm = np.real(self.res.norm()) + if self.rank == 0: + print(f"Iteration {iteration:3d}: Residual Norm = {resNorm:e}") + hasConverged = self.checkConvergence(resNorm) + hasDiverged = self.checkDivergence(resNorm) + if hasConverged or hasDiverged: + break + + # Update Jacobian + self.updateJacobian() + self.updatePreconditioner() + + # Compute Newton step + self.solveJacLinear(self.res, self.update) + self.update.scale(-1.0) + + if iteration >= LINESEARCH_SKIP_ITERS: + # Do linesearch + alpha = self.energyLineSearch(self.u, self.update, Fext=Fext) + else: + alpha = 1.0 + self.u.axpy(alpha, self.update) + self.assembler.setVariables(self.u) + self._stiffnessUpdateRequired = True + + return hasConverged, iteration + + def energyLineSearch(self, u, stepDir, Fext=None): + MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") + LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") + LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") + LINESEARCH_ALPHA_MAX = self.getOption("lineSearchMaxStep") + LINESEARCH_MAX_STEP_CHANGE = self.getOption("lineSearchMaxStepChange") + PRINT_LINESEARCH_ITERS = self.getOption("lineSearchMonitor") + + # Compute residual and merit function at u0 + self.assembler.setVariables(u) self.getResidual(self.res, Fext=Fext) + f0 = np.real(self.res.dot(stepDir)) + fOld = f0 + alphaOld = 0.0 + uNorm = u.norm() + if self.rank == 0 and PRINT_LINESEARCH_ITERS: + print( + f"Line search iter 0: alpha = {0: 11e}, f0 = {(f0): 11e}, uNorm = {uNorm: 11e}" + ) - # Get rhs vector - self.K.mult(self.u, self.rhs) - self.rhs.axpy(-1.0, self.res) + # 3. Set $\alpha = 1$ + alpha = 1.0 + alphaNew = alpha + for ii in range(MAX_LINESEARCH_ITERS): + # 4. Increment state, $u = u + \alpha \Delta u$ + u.axpy(alpha, stepDir) + self.assembler.setVariables(u) - # Set initnorm as the norm of rhs - self.initNorm = np.real(self.rhs.norm()) + # 5. Compute residual, $r = r(u)$ + self.getResidual(self.res, Fext=Fext) - # Starting Norm for this computation - self.startNorm = np.real(self.res.norm()) + # 6. Compute merit function, $f(\alpha)=f(u, r, \Delta u)$ + fNew = np.real(self.res.dot(stepDir)) - initNormTime = time.time() + # 7. if $abs(f(\alpha)) \leq \mu f_0 + \alpha f'_0$: + # 1. exit + uNorm = u.norm() + if self.rank == 0 and PRINT_LINESEARCH_ITERS: + print( + f"Line search iter {(ii+1):2d}: alpha = {alpha: 11e}, f/f0 = {(fNew/f0): 11e}, uNorm = {uNorm: 11e}" + ) + u.axpy(-alpha, stepDir) + fReduction = np.abs(fNew / f0) + if fReduction <= 1 - LINESEARCH_MU * min(alpha, 1.0): + break + else: + # 8. Update $\alpha$ (based on search method) + if ii == 0: + alphaMin = 0.9 + else: + alphaMin = LINESEARCH_ALPHA_MIN + if fNew == fOld: + alphaNew = alpha + LINESEARCH_ALPHA_MIN + else: + alphaNew = np.clip( + alpha - fNew * (alpha - alphaOld) / (fNew - fOld), + alphaMin, + LINESEARCH_ALPHA_MAX, + ) + if ii > 0 and abs(alphaNew - alpha) > LINESEARCH_MAX_STEP_CHANGE: + alphaNew = ( + alpha + np.sign(alphaNew - alpha) * LINESEARCH_MAX_STEP_CHANGE + ) + alphaOld = alpha + alpha = alphaNew + fOld = fNew + # 9. return to step 4 + return alpha - # Solve Linear System for the update - success = self.KSM.solve(self.res, self.update) + def solveJacLinear(self, res, sol): + success = self.KSM.solve(res, sol) if not success: self._TACSWarning( @@ -786,62 +1190,50 @@ def solve(self, Fext=None): "This is likely a sign that the problem is ill-conditioned. " "Check that the model is properly restrained." ) + return success - self.update.scale(-1.0) - - solveTime = time.time() - - # Update State Variables - self.assembler.getVariables(self.u) - self.u.axpy(1.0, self.update) - self.assembler.setVariables(self.u) + def updateJacobian(self, res=None): + if self._stiffnessUpdateRequired: + # Assemble residual and stiffness matrix (w/o artificial terms) + self.assembler.assembleJacobian( + self.alpha, + self.beta, + self.gamma, + res, + self.K, + loadScale=self._loadScale, + ) + self._factorOnNext = True - stateUpdateTime = time.time() + def updatePreconditioner(self): + if self._factorOnNext: + # Stiffness matrix must include artificial terms before pc factor + # to prevent factorization issues w/ zero-diagonals + self.K.axpy(1.0, self.rbeArtificialStiffness) + self.PC.factor() + # Remove artificial stiffness terms to get true stiffness mat + self.K.axpy(-1.0, self.rbeArtificialStiffness) + self._factorOnNext = False - # Get updated residual - self.getResidual(self.res, Fext) - self.finalNorm = np.real(self.res.norm()) + def checkConvergence(self, resNorm): + """Check whether the residual is sufficiently converged - finalNormTime = time.time() + Returns + ------- + _type_ + _description_ + """ + return resNorm / self.initNorm < 1e-8 - # If timing was was requested print it, if the solution is nonlinear - # print this information automatically if prinititerations was requested. - if self.getOption("printTiming"): - self._pp("+--------------------------------------------------+") - self._pp("|") - self._pp("| TACS Solve Times:") - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Setup Time", setupProblemTime - startTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Solve Init Time", initSolveTime - setupProblemTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Init Norm Time", initNormTime - initSolveTime) - ) - self._pp( - "| %-30s: %10.3f sec" % ("TACS Solve Time", solveTime - initNormTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS State Update Time", stateUpdateTime - solveTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Final Norm Time", finalNormTime - stateUpdateTime) - ) - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Total Solution Time", finalNormTime - startTime) - ) - self._pp("+--------------------------------------------------+") + def checkDivergence(self, resNorm): + """Check whether the residual has diverged - return + Returns + ------- + _type_ + _description_ + """ + return resNorm > 1e10 or np.isnan(resNorm) ####### Function eval/sensitivity methods ######## @@ -1030,7 +1422,7 @@ def evalFunctionsSens(self, funcsSens, evalFuncs=None): totalSensitivityTime = time.time() - if self.getOption("printTiming"): + if self.getOption("printTiming") and self.rank == 0: self._pp("+--------------------------------------------------+") self._pp("|") self._pp("| TACS Adjoint Times:") @@ -1399,7 +1791,6 @@ def getForces(self, externalForceVec, internalForceVec, Fext=None): elif isinstance(externalForceVec, tacs.TACS.Vec): externalForceVec.axpy(-1.0, self._arrayToVec(internalForceVec)) - def getJacobian(self): """Get the problem's Jacobian in sciPy sparse matrix format diff --git a/tacs/pytacs.py b/tacs/pytacs.py index 9a5956ce0..e1b1f408b 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -249,7 +249,7 @@ def __init__(self, fileName, comm=None, dvNum=0, scaleList=None, options={}): self.assembler = None # Nonlinear flag - self.isNonlinear = self.getOption("isNonlinear") + self._isNonlinear = self.getOption("isNonlinear") initFinishTime = time.time() if self.getOption("printTiming"): @@ -279,6 +279,11 @@ def __init__(self, fileName, comm=None, dvNum=0, scaleList=None, options={}): ) self._pp("+--------------------------------------------------+") + @property + def isNonlinear(self): + """The public interface for the isNonlinear attribute. Implemented as a property so that it is read-only.""" + return self._isNonlinear + @preinitialize_method def addGlobalDV(self, descript, value, lower=None, upper=None, scale=1.0): """ @@ -1331,7 +1336,13 @@ def createStaticProblem(self, name, options={}): StaticProblem object used for modeling and solving static cases. """ problem = tacs.problems.static.StaticProblem( - name, self.assembler, self.comm, self.outputViewer, self.meshLoader, options + name, + self.assembler, + self.comm, + self.outputViewer, + self.meshLoader, + self.isNonlinear, + options, ) # Set with original design vars and coordinates, in case they have changed problem.setDesignVars(self.x0) @@ -1372,6 +1383,7 @@ def createTransientProblem(self, name, tInit, tFinal, numSteps, options={}): self.comm, self.outputViewer, self.meshLoader, + self.isNonlinear, options, ) # Set with original design vars and coordinates, in case they have changed @@ -1411,6 +1423,7 @@ def createModalProblem(self, name, sigma, numEigs, options={}): self.comm, self.outputViewer, self.meshLoader, + self.isNonlinear, options, ) # Set with original design vars and coordinates, in case they have changed @@ -1665,7 +1678,6 @@ def _createElements(self, elemCallBack): """ for i in range(self.nComp): - # Get a list of compDescripts to help the user compDescript = self.compDescripts[i] numElements = len(self.elemDescripts[i]) @@ -1757,7 +1769,6 @@ def _createElements(self, elemCallBack): dvs = elemObject.getDesignVarNums(0) if len(dvs) > 0: - # We will also check if the user screwed up. That is # make sure that for added variables, the are # continuous starting at self.dvNum From 97f8c93c2d2d9d8da433440dfb457865b8ef4373 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 10:24:54 -0500 Subject: [PATCH 013/174] Remove skin_buckle benchmark --- .../benchmark/benchmark_analysis.py | 43 ------------------- 1 file changed, 43 deletions(-) delete mode 100644 examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py diff --git a/examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py b/examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py deleted file mode 100644 index 025124bb4..000000000 --- a/examples/nonlinear_skin_buckle/benchmark/benchmark_analysis.py +++ /dev/null @@ -1,43 +0,0 @@ -""" -This script is used to regression test the example against historical values. -""" - -import numpy as np -import unittest -import sys -import os - -# Set the path to the example script we're testing -example_path = os.path.join(os.path.dirname(__file__), "..") -sys.path.append(example_path) - -# Reference values for eval functions -FUNC_REF = { - "TipForce_Compliance": 77.24115682981399, - "TipForce_KSFailure": 0.14455448256999026, - "TipForce_MaxZDisp": 0.30895165325451046, -} - - -class ExampleBenchmark(unittest.TestCase): - - N_PROCS = 1 # this is how many MPI processes to use for this TestCase. - - def setUp(self): - # Import the example to automatically run the script - import analysis - - self.example = analysis - - def benchmark_funcs(self): - """ - Test the example eval functions against reference values - """ - func_dict = self.example.funcs - - # Test functions values against historical values - for func_name in func_dict: - with self.subTest(function=func_name): - np.testing.assert_allclose( - func_dict[func_name], FUNC_REF[func_name], rtol=1e-6, atol=1e-6 - ) From 337f73b452667878eef030914ebcb0a6d727938a Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 17:36:50 -0500 Subject: [PATCH 014/174] Fix bug `addDirectorJacobian` in `TACSQuadraticRotation` --- src/elements/shell/TACSDirector.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/elements/shell/TACSDirector.h b/src/elements/shell/TACSDirector.h index 44838b298..ed1bd51ed 100644 --- a/src/elements/shell/TACSDirector.h +++ b/src/elements/shell/TACSDirector.h @@ -1166,9 +1166,9 @@ class TACSQuadraticRotation { const TacsScalar *Di = D; for (int i = 0; i < num_nodes; i++, Di += 9) { if (res) { - r[0] += D[0] * dd[0] + D[1] * dd[1] + D[2] * dd[2]; - r[1] += D[3] * dd[0] + D[4] * dd[1] + D[5] * dd[2]; - r[2] += D[6] * dd[0] + D[7] * dd[1] + D[8] * dd[2]; + r[0] += Di[0] * dd[0] + Di[1] * dd[1] + Di[2] * dd[2]; + r[1] += Di[3] * dd[0] + Di[4] * dd[1] + Di[5] * dd[2]; + r[2] += Di[6] * dd[0] + Di[7] * dd[1] + Di[8] * dd[2]; r += vars_per_node; } From 7f7aec395b805efcaaf42ffd49fa31c185327656 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 10 Feb 2023 17:46:55 -0500 Subject: [PATCH 015/174] Add moderate rotation elements to shell tests --- tests/element_tests/shell_tests/test_shell_element.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tests/element_tests/shell_tests/test_shell_element.py b/tests/element_tests/shell_tests/test_shell_element.py index 23e6cdd24..aaaaa42fd 100644 --- a/tests/element_tests/shell_tests/test_shell_element.py +++ b/tests/element_tests/shell_tests/test_shell_element.py @@ -80,6 +80,10 @@ def setUp(self): elements.Quad9NonlinearThermalShell, elements.Quad16NonlinearThermalShell, elements.Tri3NonlinearThermalShell, + elements.Quad4NonlinearShellModRot, + elements.Quad9NonlinearShellModRot, + elements.Quad16NonlinearShellModRot, + elements.Tri3NonlinearShellModRot, ] # The thermal elements will not pass the residual test since they are not derived From 3624093c8e7e9266e8e3d3d6ae662f6afa0cb94c Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 16 Feb 2023 15:19:38 -0500 Subject: [PATCH 016/174] Improve clarity of printout for element mat derivative tests --- src/elements/TACSElementVerification.cpp | 40 ++++++++++++++++++------ 1 file changed, 31 insertions(+), 9 deletions(-) diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index ce07e450f..184be5244 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -17,6 +17,29 @@ #include "TACSElementAlgebra.h" #include "tacslapack.h" +/* + Helper function to get the matrix type name from the ElementMatrixType enum +*/ +inline auto TacsGetMatrixTypeName(ElementMatrixType matType){ + switch (matType) { + case TACS_JACOBIAN_MATRIX: + return "Jacobian Matrix"; + break; + case TACS_MASS_MATRIX: + return "Mass Matrix"; + break; + case TACS_STIFFNESS_MATRIX: + return "Stiffness Matrix"; + break; + case TACS_GEOMETRIC_STIFFNESS_MATRIX: + return "Geometric Stiffness Matrix"; + break; + case TACS_STIFFNESS_PRODUCT_DERIVATIVE: + return "Stiffness Product Derivative"; + break; + } +} + /* Seed random number generator for repeatable test results */ @@ -877,9 +900,8 @@ int TacsTestElementMatDVSens(TACSElement *element, ElementMatrixType matType, double max_rel = TacsGetMaxRelError(result, fd, num_dvs, &max_rel_index); if (test_print_level > 0) { - fprintf(stderr, - "Testing the derivative of the matrix inner product for %s\n", - element->getObjectName()); + fprintf(stderr, "Testing the %s derivative for %s.\n", + TacsGetMatrixTypeName(matType),element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -970,8 +992,8 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, double max_rel = TacsGetMaxRelError(&res, &fd, 1, &max_rel_index); if (test_print_level > 0) { - fprintf(stderr, "Testing the element matrix type for element %s.\n", - element->getObjectName()); + fprintf(stderr, "Testing the %s derivative for %s.\n", + TacsGetMatrixTypeName(elemType),element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -980,7 +1002,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The product of a random vector and the stiffness matrix\n"); + "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element Xpt product", &res, &fd, 1); } if (test_print_level) { @@ -1058,8 +1080,8 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, double max_rel = TacsGetMaxRelError(&res, &fd, 1, &max_rel_index); if (test_print_level > 0) { - fprintf(stderr, "Testing the element matrix type for element %s.\n", - element->getObjectName()); + fprintf(stderr, "Testing the %s derivative for %s.\n", + TacsGetMatrixTypeName(elemType),element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1068,7 +1090,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The product of a random vector and the stiffness matrix\n"); + "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element SV product", &res, &fd, 1); } if (test_print_level) { From 0f095328305338a6b8c99b81b6e557e06f7086e4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 16 Feb 2023 15:55:18 -0500 Subject: [PATCH 017/174] Add SolverHistory to utils --- tacs/utilities.py | 538 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 538 insertions(+) diff --git a/tacs/utilities.py b/tacs/utilities.py index 5cc5e1547..28d1aa67f 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -1,3 +1,11 @@ +from collections import OrderedDict +import copy +import os +import time +from typing import Optional, Type, Dict, Any, List, Iterable, Union +import pickle +import warnings + import tacs.TACS @@ -242,3 +250,533 @@ def __init__(self, objName, message): msg += " " * (78 - i) + "|\n" + "+" + "-" * 78 + "+" + "\n" print(msg) Exception.__init__(self) + + +class HistoryVariable(object): + """The HistoryVariable class is used to store the history of a single variable during the execution of a solver. + + NOTE: This class is intended only to be used within the SolverHistory class, and should not be used directly. + """ + + __slots__ = [ + "_name", + "_type", + "_valueFormat", + "_headerFormat", + "_data", + ] + + def __init__( + self, + name: str, + varType: Type, + valueFormat: Optional[str] = None, + headerFormat: Optional[str] = None, + ): + """Create a HistoryVariable object + + Parameters + ---------- + name : str + Name of the variable + varType : Type + Variable value type, i.e int, float, str etc + valueFormat : Optional[str], optional + Format string valid for printing variable values with the str.format() method (e.g "{:17.11e}" for a float + or "{:03d}" for an int), only important for variables that are to be printed. By default None + headerFormat : Optional[str], optional + Format string valid for printing variable name with the str.format() method (e.g "{:^20}" to print the name + centred in 20 columns), only important for variables that are to be printed. By default None + """ + self._name: str = name + self._type: Type = varType + self._valueFormat: Optional[str] = valueFormat + self._headerFormat: Optional[str] = headerFormat + self._data: List = [] + + def getName(self) -> str: + """Return name of the variable""" + return copy.deepcopy(self._name) + + def getType(self) -> Type: + """Return type of the variable""" + return self._type + + def reset(self) -> None: + """Reset the variable history to its initial state.""" + self._data = [] + + def write(self, value: Any) -> None: + """Record data for a single iteration""" + if value is None: + self._data.append(None) + else: + # Store data, only if the supplied data can be converted to the correct type + try: + convertedValue = self._type(value) + self._data.append(convertedValue) + except ValueError as e: + raise TypeError( + f"Value '{value}' provided for variable '{self._name}' could not be converted to the type declared for this variable: {self._type}" + ) from e + + def writeFullHistory(self, values: Iterable) -> None: + """Write the entire history of the variable in one go""" + try: + self._data = [None if v is None else self._type(v) for v in values] + except ValueError as e: + raise TypeError( + f"A value provided for variable '{self._name}' could not be converted to the type declared for this variable: {self._type}" + ) from e + + def getData(self) -> List: + """Return the recorded data for this variable + + Returns + ------- + List + Recorded data for this variable, None values indicate iteration where no value was provided for this + variable + """ + return copy.deepcopy(self._data) + + def getValue(self, iteration: int) -> Any: + """Return the value of the variable for a given iteration + + Parameters + ---------- + iteration : int + Iteration number to get value for + + Returns + ------- + Any + Value of the variable for the given iteration + + Raises + ------ + IndexError + Error is raised if the iteration number is out of range + """ + try: + return self._data[iteration] + except IndexError as e: + raise IndexError( + f"Iteration {iteration} is out of range for variable {self._name}" + ) from e + + def getFormattedHeaderString(self, string: Optional[str] = None) -> str: + """Format a string in the header format for this variable + + Parameters + ---------- + string : str, optional + String to be formatted, by default uses self._name + + Returns + ------- + str + Formatted string + + Raises + ------ + ValueError + Error is raised if this method is called when no headerFormat has been defined + """ + if self._headerFormat is None: + raise ValueError(f"No header format specified for variable {self._name}") + if string is None: + string = self._name + return self._headerFormat.format(string) + + def getFormattedValueString(self, val) -> str: + """Format a string in the value format for this variable + + Parameters + ---------- + val : Any + Value to be formatted + + Returns + ------- + str + Formatted string + + Raises + ------ + ValueError + Error is raised if this method is called when no valueFormat has been defined + """ + if self._valueFormat is None: + raise ValueError(f"No print format specified for variable {self._name}") + return self._valueFormat.format(val) + + +class SolverHistory(object): + """The SolverHistory class can be used to store and print various useful values during the execution of a solver. + + NOTE: The implementation of this class contains no consideration of parallelism. If you are using a solverHistory + object in your parallel solver, you will need to take care over which procs you make calls to the SolverHistory + object on. + """ + + __slots__ = [ + "_variables", + "_printVariables", + "_metadata", + "_iter", + "_startTime", + "_defaultFormat", + "_includeIter", + "_includeTime", + "_DEFAULT_OTHER_FORMAT", + ] + + def __init__(self, includeIter: bool = True, includeTime: bool = True) -> None: + """Create a solver history instance + + Parameters + ---------- + includeIter : bool, optional + Whether to include the history's internal iteration variable in the history, by default True + includeTime : bool, optional + Whether to include the history's internal timing variable in the history, by default True + """ + # Dictionaries for storing variable information and values + self._variables: Dict[str, HistoryVariable] = OrderedDict() + self._printVariables: Dict[str, bool] = {} + self._metadata: Dict[str, Any] = {} + + # Initialise iteration counter and solve start time + self._iter: int = 0 + self._startTime: float = -1.0 + + # --- Define default print formatting for some common types --- + self._defaultFormat: Dict[Type, str] = {} + # float + self._defaultFormat[float] = "{: 17.11e}" + # complex + self._defaultFormat[complex] = "{: 9.3e}" + # int + self._defaultFormat[int] = "{: 5d}" + # str + self._defaultFormat[str] = "{:^10}" + # other + self._DEFAULT_OTHER_FORMAT: str = "{}" + + # Add fields for the iteration number and time, unless the user excluded them + self._includeIter = includeIter + if self._includeIter: + self.addVariable("Iter", varType=int, printVar=True) + + self._includeTime = includeTime + if self._includeTime: + self.addVariable( + "Time", varType=float, printVar=True, valueFormat="{:9.3e}" + ) + + def reset(self, clearMetadata: bool = False) -> None: + """Reset the history to its initial state. + + Parameters + ---------- + clearMetadata : bool, optional + Whether to clear the metadata too, by default False + """ + + # Reset iteration counter + self._iter = 0 + + # Reset solve start time + self._startTime = -1.0 + + # Clear recorded data + for variable in self._variables.values(): + variable.reset() + + # Clear metadata if required + if clearMetadata: + self._metadata = {} + + def addMetadata(self, name: str, data: Any) -> None: + """Add a piece of metadata to the history + + The metadata attribute is simply a dictionary that can be used to store arbitrary information related to the + solution being recorded, e.g solver options + + Parameters + ---------- + name : str + Item name/key + data : Any + Item to store + """ + self._metadata[name] = data + + def addVariable( + self, + name: str, + varType: Type, + printVar: bool = False, + valueFormat: Optional[str] = None, + overwrite: bool = False, + ) -> None: + """Define a new field to be stored in the history. + + Parameters + ---------- + name : str + Variable name + varType : Type + Variable type, i.e int, float, str etc + printVar : bool, optional + Whether to include the variable in the iteration printout, by default False + valueFormat : str, optional + Format string valid for use with the str.format() method (e.g "{:17.11e}" for a float or "{:03d}" for an + int), only important for variables that are to be printed. By default a predefined format for the given + `varType` is used + overwrite : bool, optional + Whether to overwrite any existing variables with the same name, by default False + """ + + if not overwrite and name in self._variables: + warnings.warn( + f"Variable '{name}' already defined, set `overwrite=True` to overwrite" + ) + else: + if valueFormat is not None: + pass + elif varType in self._defaultFormat: + valueFormat = self._defaultFormat[varType] + else: + valueFormat = self._DEFAULT_OTHER_FORMAT + + # Figure out column width, the maximum of the length of the name and the formatted value, also check + # that the format string is valid by testing it on the default value for the provided varType + try: + testString = valueFormat.format(varType()) + except (ValueError, TypeError) as e: + raise ValueError( + f'Supplied format string "{valueFormat}" is invalid for variable type {varType}' + ) from e + + dataLen = len(testString) + nameLen = len(name) + columnWidth = max(dataLen, nameLen) + + # --- Now figure out the format strings for the iteration printout header and values --- + # The header is simply centred in the available width, which is actually columnWidth + 4 + headerFormat = f"{{:^{(columnWidth + 4)}s}}" + + self._variables[name] = HistoryVariable( + name, varType, valueFormat, headerFormat + ) + self._printVariables[name] = printVar + + def startTiming(self) -> None: + """Record the start time of the solver + + This function only needs to be called explicitly if the start time of your solver is separate from the first + time the `write` method is called. + """ + self._startTime = time.time() + + def write(self, data: dict) -> None: + """Record data for a single iteration + + Note that each call to this method is treated as a new iteration. All data to be recorded for a single solver + iteration must therefore be recorded in a single call to this method. + + Parameters + ---------- + data : dict + Dictionary of values to record, with variable names as keys + """ + + # Store time + if self._includeTime: + if self._startTime < 0.0: + self.startTiming() + data["Time"] = 0.0 + else: + data["Time"] = time.time() - self._startTime + + # Store iteration number + if self._includeIter: + data["Iter"] = self._iter + + for variable in self._variables.values(): + try: + variable.write(data.pop(variable.getName())) + # If no data was supplied for a given variable, store a None + except KeyError: + variable.write(None) + + # Any remaining entries in the data dictionary are variables that have not been defined using addVariable(), throw an error + if len(data) > 0: + raise ValueError( + f"Unknown variables {data.keys()} supplied to Solution History recorder, recorded variables are {self.getVariables()}" + ) + + # Increment iteration counter + self._iter += 1 + + def writeFullVariableHistory(self, name: str, values: Iterable) -> None: + """Write the entire history of a variable in one go + + This function should be used in the case where your solver already handles the recording of variables during a + solution (e.g ADflow) but you want to use a SolverHistory object to facilitate writing it to a file + + Parameters + ---------- + name : str + Variable name + values : Iterable + Values to record, will be converted to a list + """ + if name not in self._variables: + raise ValueError( + f"Unknown variables {name} supplied to Solution History recorder, recorded variables are {self.getVariables()}" + ) + self._variables[name].writeFullHistory(values) + + def printHeader(self) -> None: + """Print the header of the iteration printout + + The header will look something like this: + + .. code-block:: text + + +--------------------------------------------------------------------...------+ + | Iter | Time | Random Int | Random Float | ... | + +--------------------------------------------------------------------...------+ + """ + + # Each field will be `columnWidth` characters wide plus 2 spaces each side, plus the vertical bar between each + # field + headerString = "|" + for variable in self._variablesToPrint: + headerString += variable.getFormattedHeaderString() + headerString += "|" + headerWidth = len(headerString) + + headerBar = "+" + "-" * (headerWidth - 2) + "+" + print(headerBar) + print(headerString) + print(headerBar) + + def printData(self, iters: Optional[Union[int, Iterable[int]]] = None) -> None: + """Print a selection of lines from the history + + Each line will look something like this: + + .. code-block:: text + + | 0 | 1.000e-01 | -84 | 2.87098307489e-01 | ... | + + + Parameters + ---------- + iters : int or Iterable of ints, optional + Iteration numbers to print, by default only the last iteration will be printed + """ + if iters is None: + iters = [-1] + elif isinstance(iters, int): + iters = [iters] + + if max(iters) >= self._iter or min(iters) < -self._iter: + if max(iters) >= self._iter: + badIter = max(iters) + else: + badIter = min(iters) + raise ValueError( + f"Requested iteration {badIter} (zero-based) is not in the history, only {self._iter} iterations in history" + ) + + for i in iters: + lineString = "|" + for variable in self._variablesToPrint: + data = variable.getValue(i) + if data is None: + lineString += variable.getFormattedHeaderString("-") + else: + valueString = variable.getFormattedValueString(data) + lineString += variable.getFormattedHeaderString(valueString) + lineString += "|" + print(lineString) + + def save(self, fileName: str) -> None: + """Write the solution history to a pickle file + + Only the data dictionary is saved + + Parameters + ---------- + fileName : str + File path to save the solution history to, file extension not required, will be ignored if supplied + """ + base = os.path.splitext(fileName)[0] + fileName = base + ".pkl" + + dataToSave = {"data": self.getData(), "metadata": self.getMetadata()} + with open(fileName, "wb") as file: + pickle.dump(dataToSave, file, protocol=pickle.HIGHEST_PROTOCOL) + + def getData(self) -> Dict[str, List]: + """Get the recorded data + + Returns + ------- + dict + Dictionary of recorded data + """ + data = {} + for varName, variable in self._variables.items(): + data[varName] = copy.deepcopy(variable.getData()) + return data + + def getMetadata(self) -> Dict[str, Any]: + """Get the recorded metadata + + Returns + ------- + dict + Dictionary of recorded metadata + """ + return copy.deepcopy(self._metadata) + + def getVariables(self) -> List[str]: + """Get the recorded variables + + Returns + ------- + dict + Dictionary of recorded variables + """ + return list(self._variables.keys()) + + def getIter(self) -> int: + """Get the current number of iterations recorded + + Returns + ------- + int + Number of iterations recorded + """ + return copy.copy(self._iter) + + @property + def _variablesToPrint(self) -> List[HistoryVariable]: + """Get the variables to print + + Returns + ------- + list + List of variables to print + """ + return [ + self._variables[varName] + for varName in self._printVariables + if self._printVariables[varName] + ] From 3db81d6b54e07b3e36eba8a88ed8ddbde46dd88b Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 17 Feb 2023 16:41:37 -0500 Subject: [PATCH 018/174] Add methods for retreiving number of iterations and residual norm from KSM solvers --- src/bpmat/KSM.cpp | 12 ++++++++++++ src/bpmat/KSM.h | 10 ++++++++++ tacs/TACS.pxd | 2 ++ tacs/TACS.pyx | 8 ++++++++ 4 files changed, 32 insertions(+) diff --git a/src/bpmat/KSM.cpp b/src/bpmat/KSM.cpp index b6289c508..22cc4e8d9 100644 --- a/src/bpmat/KSM.cpp +++ b/src/bpmat/KSM.cpp @@ -438,6 +438,7 @@ void PCG::setMonitor(KSMPrint *_monitor) { */ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { int solve_flag = 0; + iterCount = 0; TacsScalar rhs_norm = 0.0; // R, Z and P are work-vectors // R == the residual @@ -477,6 +478,7 @@ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { pc->applyFactor(R, Z); // Z' = M^{-1} R TacsScalar beta = R->dot(Z) / temp; // beta = (R',Z')/(R,Z) P->axpby(1.0, beta, Z); // P' = Z' + beta*P + iterCount++; TacsScalar norm = R->norm(); @@ -491,6 +493,7 @@ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { } } } + resNorm = norm if (solve_flag) { break; @@ -782,6 +785,7 @@ const char *GMRES::gmresName = "GMRES"; int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { TacsScalar rhs_norm = 0.0; int solve_flag = 0; + iterCount = 0; double t_pc = 0.0, t_ortho = 0.0; double t_total = 0.0; @@ -928,6 +932,10 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { x->axpy(1.0, W[0]); } + + iterCount += niters; + resNorm = res[niters]; + if (solve_flag) { break; } @@ -1189,6 +1197,7 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { TacsScalar rhs_norm = 0.0; int solve_flag = 0; int mat_iters = 0; + iterCount = 0; // Compute the residual if (zero_guess) { @@ -1207,6 +1216,7 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { if (TacsRealPart(rhs_norm) < atol) { solve_flag = 1; + resNorm = rhs_norm; return solve_flag; } @@ -1395,6 +1405,8 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { // mat->mult( x, R ); // R = A*x // R->axpy( -1.0, b ); // R = A*x - b // R->scale( -1.0 ); + iterCount += niters; + resNorm = R->norm(); if (solve_flag) { break; diff --git a/src/bpmat/KSM.h b/src/bpmat/KSM.h index 7806d9462..b3c022a77 100644 --- a/src/bpmat/KSM.h +++ b/src/bpmat/KSM.h @@ -252,9 +252,14 @@ class KSMPrint : public TACSObject { tolerances for the method setMonitor(): Set the monitor - possibly NULL - that will be used + + getIterCount(): Return the number of iterations taken during the last solve + + getResidualNorm(): Return the residual norm from the end of the last solve */ class TACSKsm : public TACSObject { public: + TACSKsm() : iterCount(0), resNorm(0.0) {} virtual ~TACSKsm() {} virtual TACSVec *createVec() = 0; @@ -263,10 +268,15 @@ class TACSKsm : public TACSObject { virtual int solve(TACSVec *b, TACSVec *x, int zero_guess = 1) = 0; virtual void setTolerances(double _rtol, double _atol) = 0; virtual void setMonitor(KSMPrint *_monitor) = 0; + inline int getIterCount() {return iterCount;} + inline TacsScalar getResidualNorm() {return resNorm;} const char *getObjectName(); private: static const char *ksmName; +protected: + int iterCount; ///< Number of iterations taken during the last solve + TacsScalar resNorm; ///< The residual norm at the end of the last solve }; /* diff --git a/tacs/TACS.pxd b/tacs/TACS.pxd index b335c2b21..d5623984f 100644 --- a/tacs/TACS.pxd +++ b/tacs/TACS.pxd @@ -155,6 +155,8 @@ cdef extern from "KSM.h": int solve(TACSVec *b, TACSVec *x, int zero_guess) void setTolerances(double _rtol, double _atol) void setMonitor(KSMPrint *_monitor) + int getIterCount() + TacsScalar getResidualNorm() cdef cppclass GMRES(TACSKsm): GMRES(TACSMat *_mat, TACSPc *_pc, int _m, diff --git a/tacs/TACS.pyx b/tacs/TACS.pyx index 19fb7cc44..1048ec0f1 100644 --- a/tacs/TACS.pyx +++ b/tacs/TACS.pyx @@ -1141,6 +1141,14 @@ cdef class KSM: self.ptr.incref() return + def getIterCount(self): + """Get the number of iterations performed in the last solve""" + return self.ptr.getIterCount() + + def getResidualNorm(self): + """Get the residual norm of the last solve""" + return self.ptr.getResidualNorm() + def __dealloc__(self): if self.ptr: self.ptr.decref() From b24daebf596a8519de985fc6fa7c6513475b5303 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 17 Feb 2023 17:06:48 -0500 Subject: [PATCH 019/174] black formatting --- examples/nonlinear_cantilever/benchmark/benchmark_analysis.py | 1 - examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py | 1 - tacs/problems/modal.py | 4 +++- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py b/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py index 2f00d0f30..010f736c0 100644 --- a/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py +++ b/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py @@ -23,7 +23,6 @@ class ExampleBenchmark(unittest.TestCase): - N_PROCS = 1 # this is how many MPI processes to use for this TestCase. def setUp(self): diff --git a/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py b/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py index a539f4b59..c4ae34f3a 100644 --- a/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py +++ b/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py @@ -20,7 +20,6 @@ class ExampleBenchmark(unittest.TestCase): - N_PROCS = 1 # this is how many MPI processes to use for this TestCase. def setUp(self): diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index f5a563076..be3de7bfe 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -124,7 +124,9 @@ def __init__( self.name = name # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear) + TACSProblem.__init__( + self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear + ) # Set time eigenvalue parameters self.sigma = sigma From c08e61f41f4f4547be2f7ebb254aa992587eccc6 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sat, 18 Feb 2023 00:05:22 -0500 Subject: [PATCH 020/174] Nonlinear solver working with solver history --- tacs/problems/static.py | 180 ++++++++++++++++++++++++++++++++-------- tacs/utilities.py | 2 +- 2 files changed, 145 insertions(+), 37 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 2fa091173..a32162354 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -21,6 +21,7 @@ import tacs.TACS import tacs.elements from .base import TACSProblem +from tacs.utilities import SolverHistory class StaticProblem(TACSProblem): @@ -138,6 +139,17 @@ class StaticProblem(TACSProblem): "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", ], # Newton solver options + "newtonSolverMonitorVars": [ + list, + [ + "linSolverIters", + "linSolverRes", + "loadScale", + "lineSearchStep", + "lineSearchIters", + ], + "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep' and 'lineSearchIters'.", + ], "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], "newtonSolverAbsTol": [ float, @@ -172,7 +184,7 @@ class StaticProblem(TACSProblem): ], "lineSearchMonitor": [ bool, - True, + False, "Flag for printing out line search information.", ], "skipFirstNLineSearch": [ @@ -264,9 +276,63 @@ def __init__( for key in options: TACSProblem.setOption(self, key, options[key]) + # Setup solver history object for nonlinear problems + self.history = None + if self.isNonlinear: + self._createSolverHistory() + # Create problem-specific variables self._createVariables() + def _createSolverHistory(self): + """Setup the solver history object based on the current options + + The solver history is only created on the root processor. + """ + monitorVars = [s.lower() for s in self.getOption("newtonSolverMonitorVars")] + numType = float if self.dtype == np.float64 else complex + if self.comm.rank == 0: + history = SolverHistory() + + # Define the variables to be stored in the history + # Continuation increment number + history.addVariable("Increment", int, printVar=True) + # Load scale + history.addVariable( + "Load scale", float, printVar="loadscale" in monitorVars + ) + # Newton solve iteration number + history.addVariable("SubIter", int, printVar=True) + # Number of linear solver iterations + history.addVariable( + "Lin iters", int, printVar="linsolveriters" in monitorVars + ) + # Linear solver residual norm + history.addVariable( + "Lin res", numType, printVar="linsolverres" in monitorVars + ) + # Residual norm (absolute and relative) + history.addVariable("Res norm", numType, printVar=True) + history.addVariable("Rel res norm", numType, printVar=True) + # state norm + history.addVariable("U norm", numType, printVar=True) + # Line search step size + history.addVariable( + "LS step", + float, + printVar="linesearchstep" in monitorVars + and self.getOption("useLineSearch"), + ) + # Num line search iterations + history.addVariable( + "LS iters", + int, + printVar="linesearchiters" in monitorVars + and self.getOption("useLineSearch"), + ) + + self.history = history + def _createVariables(self): """Internal to create the variable required by TACS""" @@ -436,7 +502,6 @@ def setOption(self, name, value): "printtiming", "numbersolutions", "outputdir", - "skipFirstNLineSearch", "usePredictor", "predictorUseDerivative", ] @@ -448,6 +513,10 @@ def setOption(self, name, value): else: self._createVariables() + # We need to create a new solver history object if the monitor variables have updated + if name.lower() == "newtonsolvermonitorvars": + self._createSolverHistory() + @property def loadScale(self): """This is a scaling factor applied to all forcing terms @@ -1027,13 +1096,13 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): stepSize = INIT_STEP + # Reset the solver history + if self.rank == 0: + self.history.reset(clearMetadata=True) + self.history.addMetadata("Options", self.options) + self.history.addMetadata("Name", self.name) + for increment in range(MAX_INCREMENTS): - if self.rank == 0: - print("===============================================================") - print( - f"Starting increment {increment:3d} with load scale: {self.loadScale}" - ) - print("===============================================================") # Save displacement at start of this increment, this is what # we'll reset to if the increment diverges @@ -1075,19 +1144,42 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): # ============================================================================== def newtonSolve(self, Fext=None): + USE_LINESEARCH = self.getOption("useLineSearch") LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") MAX_ITERS = self.getOption("newtonSolverMaxIter") + for iteration in range(MAX_ITERS): - self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) + # TODO: Write output file here based on option + # self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) # Compute residual self.getResidual(self.res, Fext=Fext) + resNorm = self.res.norm() + uNorm = self.u.norm() + + # Write data to history + histData = { + "Increment":0, + "SubIter": iteration, + "Load scale": self.loadScale, + "Res norm": resNorm, + "Rel res norm":resNorm/self.initNorm, + "U norm":uNorm, + } + if iteration > 0: + histData["Lin iters"] = linearSolveIterations + histData["Lin res"] = linearSolveResNorm + histData["LS step"] = alpha + histData["LS iters"] = lineSearchIters + if self.rank == 0: + self.history.write(histData) + if iteration % 50 == 0: + self.history.printHeader() + self.history.printData() + # Test convergence (exit if converged/diverged) - resNorm = np.real(self.res.norm()) - if self.rank == 0: - print(f"Iteration {iteration:3d}: Residual Norm = {resNorm:e}") hasConverged = self.checkConvergence(resNorm) hasDiverged = self.checkDivergence(resNorm) if hasConverged or hasDiverged: @@ -1101,11 +1193,16 @@ def newtonSolve(self, Fext=None): self.solveJacLinear(self.res, self.update) self.update.scale(-1.0) - if iteration >= LINESEARCH_SKIP_ITERS: + # Check data from linear solve + linearSolveIterations = self.KSM.getIterCount() + linearSolveResNorm = self.KSM.getResidualNorm() + + if USE_LINESEARCH and iteration >= LINESEARCH_SKIP_ITERS: # Do linesearch - alpha = self.energyLineSearch(self.u, self.update, Fext=Fext) + alpha, lineSearchIters = self.energyLineSearch(self.u, self.update, Fext=Fext) else: alpha = 1.0 + lineSearchIters = 1 self.u.axpy(alpha, self.update) self.assembler.setVariables(self.u) self._stiffnessUpdateRequired = True @@ -1135,7 +1232,7 @@ def energyLineSearch(self, u, stepDir, Fext=None): # 3. Set $\alpha = 1$ alpha = 1.0 alphaNew = alpha - for ii in range(MAX_LINESEARCH_ITERS): + for iteration in range(MAX_LINESEARCH_ITERS): # 4. Increment state, $u = u + \alpha \Delta u$ u.axpy(alpha, stepDir) self.assembler.setVariables(u) @@ -1151,7 +1248,7 @@ def energyLineSearch(self, u, stepDir, Fext=None): uNorm = u.norm() if self.rank == 0 and PRINT_LINESEARCH_ITERS: print( - f"Line search iter {(ii+1):2d}: alpha = {alpha: 11e}, f/f0 = {(fNew/f0): 11e}, uNorm = {uNorm: 11e}" + f"Line search iter {(iteration+1):2d}: alpha = {alpha: 11e}, f/f0 = {(fNew/f0): 11e}, uNorm = {uNorm: 11e}" ) u.axpy(-alpha, stepDir) fReduction = np.abs(fNew / f0) @@ -1159,7 +1256,7 @@ def energyLineSearch(self, u, stepDir, Fext=None): break else: # 8. Update $\alpha$ (based on search method) - if ii == 0: + if iteration == 0: alphaMin = 0.9 else: alphaMin = LINESEARCH_ALPHA_MIN @@ -1171,7 +1268,7 @@ def energyLineSearch(self, u, stepDir, Fext=None): alphaMin, LINESEARCH_ALPHA_MAX, ) - if ii > 0 and abs(alphaNew - alpha) > LINESEARCH_MAX_STEP_CHANGE: + if iteration > 0 and abs(alphaNew - alpha) > LINESEARCH_MAX_STEP_CHANGE: alphaNew = ( alpha + np.sign(alphaNew - alpha) * LINESEARCH_MAX_STEP_CHANGE ) @@ -1179,7 +1276,7 @@ def energyLineSearch(self, u, stepDir, Fext=None): alpha = alphaNew fOld = fNew # 9. return to step 4 - return alpha + return alpha, iteration def solveJacLinear(self, res, sol): success = self.KSM.solve(res, sol) @@ -1954,6 +2051,26 @@ def setVariables(self, states): # Set states to assembler self.assembler.setVariables(self.u) + def getOutputFileName(self, outputDir=None, baseName=None, number=None): + # Check input + if outputDir is None: + outputDir = self.getOption("outputDir") + + if baseName is None: + baseName = self.name + + # If we are numbering solution, it saving the sequence of + # calls, add the call number + if number is not None: + # We need number based on the provided number: + baseName = baseName + "_%3.3d" % number + else: + # if number is none, i.e. standalone, but we need to + # number solutions, use internal counter + if self.getOption("numberSolutions"): + baseName = baseName + "_%3.3d" % self.callCounter + return baseName + def writeSolution(self, outputDir=None, baseName=None, number=None): """ This is a generic shell function that writes the output @@ -1977,25 +2094,16 @@ def writeSolution(self, outputDir=None, baseName=None, number=None): # Make sure assembler variables are up to date self._updateAssemblerVars() - # Check input - if outputDir is None: - outputDir = self.getOption("outputDir") - - if baseName is None: - baseName = self.name - - # If we are numbering solution, it saving the sequence of - # calls, add the call number - if number is not None: - # We need number based on the provided number: - baseName = baseName + "_%3.3d" % number - else: - # if number is none, i.e. standalone, but we need to - # number solutions, use internal counter - if self.getOption("numberSolutions"): - baseName = baseName + "_%3.3d" % self.callCounter + # Figure out the output file base name + baseName = self.getOutputFileName(outputDir, baseName, number) # Unless the writeSolution option is off write actual file: if self.getOption("writeSolution"): base = os.path.join(outputDir, baseName) + ".f5" self.outputViewer.writeToFile(base) + + def writeSolverHistory(self, outputDir=None, baseName=None, number=None): + # Figure out the output file base name + baseName = self.getOutputFileName(outputDir, baseName, number) + if self.history is not None: + self.history.save(baseName) diff --git a/tacs/utilities.py b/tacs/utilities.py index 28d1aa67f..29d914cbb 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -454,7 +454,7 @@ def __init__(self, includeIter: bool = True, includeTime: bool = True) -> None: # --- Define default print formatting for some common types --- self._defaultFormat: Dict[Type, str] = {} # float - self._defaultFormat[float] = "{: 17.11e}" + self._defaultFormat[float] = "{: 12.6e}" # complex self._defaultFormat[complex] = "{: 9.3e}" # int From 8d9d5c3e6722de6b8177c86e7f1228aaa389d74e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sat, 18 Feb 2023 00:05:52 -0500 Subject: [PATCH 021/174] Example tweaks --- examples/nonlinear_cantilever/analysis.py | 12 +++++++----- examples/nonlinear_hemisphere/analysis.py | 12 ++++++++---- examples/nonlinear_skin_buckle/analysis.py | 14 ++++++++++---- 3 files changed, 25 insertions(+), 13 deletions(-) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index f426862a2..b5a05e771 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -38,8 +38,8 @@ THICKNESS = 0.1 # Shell thickness FORCE_MULTIPLIER = 1.0 # Multiplier applied to the baseline force of EI/L^2 MOMENT_MULTIPLIER = 0.1 # Multiplier applied to the baseline moment of 2pi * EI/L (which results in a full rotation) -STRAIN_TYPE = "linear" -ROTATION_TYPE = "linear" +STRAIN_TYPE = "nonlinear" +ROTATION_TYPE = "quadratic" elementType = None if STRAIN_TYPE == "linear": @@ -65,6 +65,7 @@ # ============================================================================== structOptions = { "printtiming": True, + "isNonlinear": True, } FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) @@ -82,9 +83,10 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) -probOptions = {"printTiming": True} -forceProblem = FEAAssembler.createStaticProblem("TipForce") -momentProblem = FEAAssembler.createStaticProblem("TipMoment") +probOptions = {"printTiming": True, + "skipFirstNLineSearch":1} +forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) +momentProblem = FEAAssembler.createStaticProblem("TipMoment", options=probOptions) problems = [forceProblem, momentProblem] diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py index ec6129d64..ba7034801 100644 --- a/examples/nonlinear_hemisphere/analysis.py +++ b/examples/nonlinear_hemisphere/analysis.py @@ -40,8 +40,8 @@ RHO = 1.0 # density YIELD_STRESS = 1.0 # yield stress THICKNESS = 0.04 # Shell thickness -STRAIN_TYPE = "linear" -ROTATION_TYPE = "linear" +STRAIN_TYPE = "nonlinear" +ROTATION_TYPE = "quadratic" elementType = None if STRAIN_TYPE == "linear": @@ -67,6 +67,7 @@ # ============================================================================== structOptions = { "printtiming": True, + "isNonlinear": STRAIN_TYPE != "linear" or ROTATION_TYPE != "linear", } FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) @@ -84,8 +85,11 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) -probOptions = {"printTiming": True} -problem = FEAAssembler.createStaticProblem("RadialForces") +probOptions = {"printTiming": True, + "skipFirstNLineSearch":0, + "continuationInitialStep":1.0, + "newtonSolverMaxIter":100} +problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) # ============================================================================== diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index b71277439..53e117e55 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -41,8 +41,8 @@ RHO = 1.0 # density YIELD_STRESS = 1.0 # yield stress THICKNESS = 0.02 # Shell thickness -STRAIN_TYPE = "linear" -ROTATION_TYPE = "linear" +STRAIN_TYPE = "nonlinear" +ROTATION_TYPE = "quadratic" elementType = None if STRAIN_TYPE == "linear": @@ -68,6 +68,7 @@ # ============================================================================== structOptions = { "printtiming": True, + "isNonlinear": STRAIN_TYPE != "linear" or ROTATION_TYPE != "linear", } FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) @@ -85,8 +86,13 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) -probOptions = {"printTiming": True} -problem = FEAAssembler.createStaticProblem("TipForce") +probOptions = { + "printTiming": True, + "continuationInitialStep": 1.0, + "skipFirstNLineSearch": 0, + "newtonSolverMaxIter": 100, +} +problem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) # ============================================================================== From 917a816480001e2cb23c0f013591df66283ae7a9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 17 Feb 2023 16:41:37 -0500 Subject: [PATCH 022/174] Add methods for retreiving number of iterations and residual norm from KSM solvers --- src/bpmat/KSM.cpp | 12 ++++++++++++ src/bpmat/KSM.h | 10 ++++++++++ tacs/TACS.pxd | 2 ++ tacs/TACS.pyx | 8 ++++++++ 4 files changed, 32 insertions(+) diff --git a/src/bpmat/KSM.cpp b/src/bpmat/KSM.cpp index b6289c508..22cc4e8d9 100644 --- a/src/bpmat/KSM.cpp +++ b/src/bpmat/KSM.cpp @@ -438,6 +438,7 @@ void PCG::setMonitor(KSMPrint *_monitor) { */ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { int solve_flag = 0; + iterCount = 0; TacsScalar rhs_norm = 0.0; // R, Z and P are work-vectors // R == the residual @@ -477,6 +478,7 @@ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { pc->applyFactor(R, Z); // Z' = M^{-1} R TacsScalar beta = R->dot(Z) / temp; // beta = (R',Z')/(R,Z) P->axpby(1.0, beta, Z); // P' = Z' + beta*P + iterCount++; TacsScalar norm = R->norm(); @@ -491,6 +493,7 @@ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { } } } + resNorm = norm if (solve_flag) { break; @@ -782,6 +785,7 @@ const char *GMRES::gmresName = "GMRES"; int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { TacsScalar rhs_norm = 0.0; int solve_flag = 0; + iterCount = 0; double t_pc = 0.0, t_ortho = 0.0; double t_total = 0.0; @@ -928,6 +932,10 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { x->axpy(1.0, W[0]); } + + iterCount += niters; + resNorm = res[niters]; + if (solve_flag) { break; } @@ -1189,6 +1197,7 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { TacsScalar rhs_norm = 0.0; int solve_flag = 0; int mat_iters = 0; + iterCount = 0; // Compute the residual if (zero_guess) { @@ -1207,6 +1216,7 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { if (TacsRealPart(rhs_norm) < atol) { solve_flag = 1; + resNorm = rhs_norm; return solve_flag; } @@ -1395,6 +1405,8 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { // mat->mult( x, R ); // R = A*x // R->axpy( -1.0, b ); // R = A*x - b // R->scale( -1.0 ); + iterCount += niters; + resNorm = R->norm(); if (solve_flag) { break; diff --git a/src/bpmat/KSM.h b/src/bpmat/KSM.h index 7806d9462..b3c022a77 100644 --- a/src/bpmat/KSM.h +++ b/src/bpmat/KSM.h @@ -252,9 +252,14 @@ class KSMPrint : public TACSObject { tolerances for the method setMonitor(): Set the monitor - possibly NULL - that will be used + + getIterCount(): Return the number of iterations taken during the last solve + + getResidualNorm(): Return the residual norm from the end of the last solve */ class TACSKsm : public TACSObject { public: + TACSKsm() : iterCount(0), resNorm(0.0) {} virtual ~TACSKsm() {} virtual TACSVec *createVec() = 0; @@ -263,10 +268,15 @@ class TACSKsm : public TACSObject { virtual int solve(TACSVec *b, TACSVec *x, int zero_guess = 1) = 0; virtual void setTolerances(double _rtol, double _atol) = 0; virtual void setMonitor(KSMPrint *_monitor) = 0; + inline int getIterCount() {return iterCount;} + inline TacsScalar getResidualNorm() {return resNorm;} const char *getObjectName(); private: static const char *ksmName; +protected: + int iterCount; ///< Number of iterations taken during the last solve + TacsScalar resNorm; ///< The residual norm at the end of the last solve }; /* diff --git a/tacs/TACS.pxd b/tacs/TACS.pxd index b335c2b21..d5623984f 100644 --- a/tacs/TACS.pxd +++ b/tacs/TACS.pxd @@ -155,6 +155,8 @@ cdef extern from "KSM.h": int solve(TACSVec *b, TACSVec *x, int zero_guess) void setTolerances(double _rtol, double _atol) void setMonitor(KSMPrint *_monitor) + int getIterCount() + TacsScalar getResidualNorm() cdef cppclass GMRES(TACSKsm): GMRES(TACSMat *_mat, TACSPc *_pc, int _m, diff --git a/tacs/TACS.pyx b/tacs/TACS.pyx index 19fb7cc44..1048ec0f1 100644 --- a/tacs/TACS.pyx +++ b/tacs/TACS.pyx @@ -1141,6 +1141,14 @@ cdef class KSM: self.ptr.incref() return + def getIterCount(self): + """Get the number of iterations performed in the last solve""" + return self.ptr.getIterCount() + + def getResidualNorm(self): + """Get the residual norm of the last solve""" + return self.ptr.getResidualNorm() + def __dealloc__(self): if self.ptr: self.ptr.decref() From 2f5726aaf8b410bb1ab6fe6e3b4dea9d3fc54604 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sat, 18 Feb 2023 13:15:49 -0500 Subject: [PATCH 023/174] PCG fix --- src/bpmat/KSM.cpp | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/src/bpmat/KSM.cpp b/src/bpmat/KSM.cpp index 22cc4e8d9..e2aa1421f 100644 --- a/src/bpmat/KSM.cpp +++ b/src/bpmat/KSM.cpp @@ -456,6 +456,7 @@ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { if (count == 0) { rhs_norm = R->norm(); + resNorm = rhs_norm; } if (monitor && count == 0) { @@ -480,20 +481,19 @@ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { P->axpby(1.0, beta, Z); // P' = Z' + beta*P iterCount++; - TacsScalar norm = R->norm(); + resNorm = R->norm(); if (monitor) { - monitor->printResidual(i + 1, norm); + monitor->printResidual(i + 1, resNorm); } - if (TacsRealPart(norm) < atol || - TacsRealPart(norm) < rtol * TacsRealPart(rhs_norm)) { + if (TacsRealPart(resNorm) < atol || + TacsRealPart(resNorm) < rtol * TacsRealPart(rhs_norm)) { solve_flag = 1; break; } } } - resNorm = norm if (solve_flag) { break; @@ -932,7 +932,6 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { x->axpy(1.0, W[0]); } - iterCount += niters; resNorm = res[niters]; From 254099d95047b253b15623b23afaaac391db3240 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sat, 18 Feb 2023 13:15:57 -0500 Subject: [PATCH 024/174] clang-format --- src/bpmat/KSM.h | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/bpmat/KSM.h b/src/bpmat/KSM.h index b3c022a77..010113701 100644 --- a/src/bpmat/KSM.h +++ b/src/bpmat/KSM.h @@ -268,15 +268,16 @@ class TACSKsm : public TACSObject { virtual int solve(TACSVec *b, TACSVec *x, int zero_guess = 1) = 0; virtual void setTolerances(double _rtol, double _atol) = 0; virtual void setMonitor(KSMPrint *_monitor) = 0; - inline int getIterCount() {return iterCount;} - inline TacsScalar getResidualNorm() {return resNorm;} + inline int getIterCount() { return iterCount; } + inline TacsScalar getResidualNorm() { return resNorm; } const char *getObjectName(); private: static const char *ksmName; -protected: - int iterCount; ///< Number of iterations taken during the last solve - TacsScalar resNorm; ///< The residual norm at the end of the last solve + + protected: + int iterCount; ///< Number of iterations taken during the last solve + TacsScalar resNorm; ///< The residual norm at the end of the last solve }; /* From 7e3355b791c5214c3cc04be792731e50a8ae463d Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sat, 18 Feb 2023 13:51:40 -0500 Subject: [PATCH 025/174] Test `getResidualNorm` and `getIterCount` in `StaticTestCase` --- .../static_analysis_base_test.py | 33 +++++++++++++------ 1 file changed, 23 insertions(+), 10 deletions(-) diff --git a/tests/integration_tests/static_analysis_base_test.py b/tests/integration_tests/static_analysis_base_test.py index 1e5751e48..25ed0e918 100644 --- a/tests/integration_tests/static_analysis_base_test.py +++ b/tests/integration_tests/static_analysis_base_test.py @@ -7,20 +7,20 @@ """ This is a base class for static problem unit test cases. -This base class will test function evaluations and total -and partial sensitivities for the user-specified problem +This base class will test function evaluations and total +and partial sensitivities for the user-specified problem that inherits from it. -When the user creates a new test based on this class three -methods are required to be defined in the child class. +When the user creates a new test based on this class three +methods are required to be defined in the child class. 1. setup_assembler 2. setup_tacs_vecs 3. setup_funcs - -See the virtual method implementations for each method + +See the virtual method implementations for each method below for more details. -NOTE: The child class must NOT implement its own setUp method +NOTE: The child class must NOT implement its own setUp method for the unittest class. This is handled in the base class. """ @@ -89,10 +89,11 @@ def setUp(self): # Create GMRES solver object subspace = 100 restarts = 2 - atol = 1e-30 - rtol = 1e-12 + self.linSolveIterLimit = subspace * restarts + self.linSolveAtol = 1e-30 + self.linSolveRrtol = 1e-12 self.gmres = TACS.KSM(self.mat, self.pc, subspace, restarts) - self.gmres.setTolerances(rtol, atol) + self.gmres.setTolerances(self.linSolveRrtol, self.linSolveAtol) # Create the function list self.func_list, self.func_ref = self.setup_funcs(self.assembler) @@ -149,6 +150,18 @@ def test_solve(self): # solve func_vals = self.run_solve() + # Test that linear solver residual is sufficiently small + linSolveRes = np.abs(np.real(self.gmres.getResidualNorm())) + converged = ( + linSolveRes < self.linSolveAtol + or linSolveRes < self.linSolveRrtol * np.real(self.res0.norm()) + ) + self.assertTrue(converged, "Linear solver did not converge") + + # Test that linear solver took between 1 and subspce * restarts iterations + numIters = self.gmres.getIterCount() + self.assertTrue(numIters > 0 and numIters <= self.linSolveIterLimit) + # Test functions values against historical values np.testing.assert_allclose( func_vals, self.func_ref, rtol=self.rtol, atol=self.atol From 92cab8f8adc1b489c9b0ed15646e272da03cf651 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sat, 18 Feb 2023 13:15:49 -0500 Subject: [PATCH 026/174] PCG fix --- src/bpmat/KSM.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/bpmat/KSM.cpp b/src/bpmat/KSM.cpp index ed86c81bd..e2aa1421f 100644 --- a/src/bpmat/KSM.cpp +++ b/src/bpmat/KSM.cpp @@ -494,7 +494,6 @@ int PCG::solve(TACSVec *b, TACSVec *x, int zero_guess) { } } } - resNorm = norm if (solve_flag) { break; From 3ab3c75bb5d262961281b86094c93f6ac643891c Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 20 Feb 2023 20:59:27 -0500 Subject: [PATCH 027/174] Fix SuiteSparse installation commands --- Makefile.in.info | 4 ++-- extern/Makefile | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Makefile.in.info b/Makefile.in.info index 080dedc68..d3974aa8d 100644 --- a/Makefile.in.info +++ b/Makefile.in.info @@ -56,13 +56,13 @@ METIS_LIB = ${TACS_DIR}/extern/metis/lib/libmetis.a # AMD is a set of routines for ordering matrices, included in the SuiteSparse package. It is not required by default. -# SUITESPARSE_DIR = ${TACS_DIR}/extern/SuiteSparse-5.13.0 +# SUITESPARSE_DIR = ${TACS_DIR}/extern/SuiteSparse-7.0.1 # The variables below should not need to be altered if you are installing SuiteSparse from the standard release tarball # SUITESPARSE_CONFIG_DIR = ${SUITESPARSE_DIR}/SuiteSparse_config # AMD_DIR = ${SUITESPARSE_DIR}/AMD # AMD_INCLUDE = -I${AMD_DIR}/Include -I${SUITESPARSE_CONFIG_DIR} -# AMD_LIBS = ${AMD_DIR}/Lib/libamd.a ${SUITESPARSE_CONFIG_DIR}/libsuitesparseconfig.a +# AMD_LIBS = ${AMD_DIR}/build/libamd.a ${SUITESPARSE_CONFIG_DIR}/build/libsuitesparseconfig.a # TACS_DEF += -DTACS_HAS_AMD_LIBRARY # TECIO is a library for reading and writing tecplot data files, only required for building f5totec, can use either teciosrc or teciompisrc diff --git a/extern/Makefile b/extern/Makefile index e66cec331..e614e8b46 100644 --- a/extern/Makefile +++ b/extern/Makefile @@ -6,7 +6,7 @@ default: suitesparse tecio metis .phony: suitesparse suitesparse: # Allowed to fail since SuiteSparse/AMD is optional - tar -xzf suitesparse*.tar.gz && cd ${SUITESPARSE_CONFIG_DIR} && make CFLAGS="-O3 -fPIC -fexceptions" && cd ${AMD_DIR} && make CFLAGS="-O3 -fPIC -fexceptions" || exit 0; + tar -xzf SuiteSparse*.tar.gz && cd ${SUITESPARSE_CONFIG_DIR} && make CFLAGS="-O3 -fPIC -fexceptions" && cd ${AMD_DIR} && make CFLAGS="-O3 -fPIC -fexceptions" || exit 0; .phony: metis metis: From af372be51f61a3efcae5886a6fb91f4e229724b4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Feb 2023 15:18:20 -0500 Subject: [PATCH 028/174] Fix solution file writing --- tacs/problems/static.py | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index a32162354..de8b777ff 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -2052,6 +2052,22 @@ def setVariables(self, states): self.assembler.setVariables(self.u) def getOutputFileName(self, outputDir=None, baseName=None, number=None): + """Figure out a base path/name for output files + + Parameters + ---------- + outputDir : str, optional + Directory to write file to, by default uses the 'outputDir' option + baseName : str, optional + Case name, by default uses self.name + number : int, optional + A number to append to the filename, by default uses the call-count of the problem + + Returns + ------- + str + Full path to output file (excluding any extension) + """ # Check input if outputDir is None: outputDir = self.getOption("outputDir") @@ -2069,7 +2085,7 @@ def getOutputFileName(self, outputDir=None, baseName=None, number=None): # number solutions, use internal counter if self.getOption("numberSolutions"): baseName = baseName + "_%3.3d" % self.callCounter - return baseName + return os.path.join(outputDir, baseName) def writeSolution(self, outputDir=None, baseName=None, number=None): """ @@ -2099,10 +2115,9 @@ def writeSolution(self, outputDir=None, baseName=None, number=None): # Unless the writeSolution option is off write actual file: if self.getOption("writeSolution"): - base = os.path.join(outputDir, baseName) + ".f5" - self.outputViewer.writeToFile(base) + self.outputViewer.writeToFile(baseName + ".f5") - def writeSolverHistory(self, outputDir=None, baseName=None, number=None): + def writeSolutionHistory(self, outputDir=None, baseName=None, number=None): # Figure out the output file base name baseName = self.getOutputFileName(outputDir, baseName, number) if self.history is not None: From 47e515b80a7c68ac11fde64438c8a7122e3ec9b9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Feb 2023 15:22:47 -0500 Subject: [PATCH 029/174] Fix compiler warning --- src/elements/TACSElementVerification.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index 184be5244..3b92f3824 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -38,6 +38,7 @@ inline auto TacsGetMatrixTypeName(ElementMatrixType matType){ return "Stiffness Product Derivative"; break; } + return "Unknown Matrix Type"; } /* From c162ec1bbcd88eefd3105f398c62287980438e9e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Feb 2023 15:24:36 -0500 Subject: [PATCH 030/174] Implemented adaptive linear solver convergence using Eisenstat-Walker method --- tacs/problems/static.py | 143 +++++++++++++++++++++++++++++----------- 1 file changed, 104 insertions(+), 39 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index de8b777ff..8c5d854c0 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -144,11 +144,10 @@ class StaticProblem(TACSProblem): [ "linSolverIters", "linSolverRes", - "loadScale", "lineSearchStep", "lineSearchIters", ], - "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep' and 'lineSearchIters'.", + "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", ], "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], "newtonSolverAbsTol": [ @@ -176,6 +175,27 @@ class StaticProblem(TACSProblem): 1e10, "Residual norm at which the nonlinear solver is jugded to have diverged", ], + "newtonSolverMaxLinIters": [ + int, + 0, + "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", + ], + "newtonSolverUseEW": [ + bool, + False, + "Flag for enabling use of variable linear solver convergence using the Eisenstat-Walker method.", + ], + "newtonSolverEWMaxTol": [ + float, + 0.01, + "Eisenstat-Walker max allowable linear solver tolerance.", + ], + "newtonSolverEWGamma": [float, 1.0, "Eisenstat-Walker gamma parameter."], + "newtonSolverEWAlpha": [ + float, + 0.5 * (1.0 + np.sqrt(5)), + "Eisenstat-Walker alpha parameter.", + ], # Line search options "useLineSearch": [ bool, @@ -295,14 +315,15 @@ def _createSolverHistory(self): history = SolverHistory() # Define the variables to be stored in the history - # Continuation increment number - history.addVariable("Increment", int, printVar=True) # Load scale history.addVariable( "Load scale", float, printVar="loadscale" in monitorVars ) # Newton solve iteration number history.addVariable("SubIter", int, printVar=True) + # Einstat walker linear solver tolerance + if self.getOption("newtonSolverUseEW"): + history.addVariable("EW Tol", float, printVar="ewtol" in monitorVars) # Number of linear solver iterations history.addVariable( "Lin iters", int, printVar="linsolveriters" in monitorVars @@ -330,6 +351,8 @@ def _createSolverHistory(self): printVar="linesearchiters" in monitorVars and self.getOption("useLineSearch"), ) + # Flags + history.addVariable("Flags", str, printVar=True) self.history = history @@ -1038,6 +1061,11 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): MAX_STEP_FACTOR = self.getOption("continuationMaxStepFactor") STEP_RETRACT_FACTOR = self.getOption("continuationRetractionFactor") + ABS_TOL = self.getOption("newtonSolverAbsTol") + REL_TOL = self.getOption("newtonSolverRelTol") + COARSE_ABS_TOL = self.getOption("newtonSolverCoarseAbsTol") + COARSE_REL_TOL = self.getOption("newtonSolverCoarseRelTol") + USE_PREDICTOR = self.getOption("usePredictor") NUM_PREDICTOR_STATES = self.getOption("predictorNumStates") PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") @@ -1103,15 +1131,24 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): self.history.addMetadata("Name", self.name) for increment in range(MAX_INCREMENTS): - + self._info( + f"Continuation Increment {increment + 1}, Load Scale: {self.loadScale:.3f}", + box=True, + maxLen=100, + ) # Save displacement at start of this increment, this is what # we'll reset to if the increment diverges self.u_inc_start.copyValues(self.u) # --- Compute predictor step --- # TODO: Add predictor computation here - - success, numIters = self.newtonSolve(Fext=Fext) + if self.loadScale == maxLoadScale: + rtol = REL_TOL + atol = ABS_TOL + else: + rtol = COARSE_REL_TOL + atol = COARSE_ABS_TOL + success, numIters = self.newtonSolve(Fext=Fext, rtol=rtol, atol=atol) # --- Check convergence --- if not success: @@ -1143,11 +1180,27 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): # End of nonlinear solution # ============================================================================== - def newtonSolve(self, Fext=None): + def newtonSolve(self, Fext=None, atol=None, rtol=None): USE_LINESEARCH = self.getOption("useLineSearch") LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") MAX_ITERS = self.getOption("newtonSolverMaxIter") + MAX_RES = self.getOption("newtonSolverDivergenceTol") + MAX_LIN_ITERS = self.getOption("newtonSolverMaxLinIters") + + # Linear solver convergence options + USE_EW = self.getOption("newtonSolverUseEW") + LIN_SOLVE_TOL_MAX = self.getOption("newtonSolverEWMaxTol") + LIN_SOLVE_TOL_MIN = self.getOption("L2ConvergenceRel") + EW_ALPHA = self.getOption("newtonSolverEWAlpha") + EW_GAMMA = self.getOption("newtonSolverEWGamma") + linCovergenceRel = LIN_SOLVE_TOL_MAX if USE_EW else LIN_SOLVE_TOL_MIN + + if atol is None: + atol = self.getOption("newtonSolverAbsTol") + if rtol is None: + rtol = self.getOption("newtonSolverRelTol") + flags = "" for iteration in range(MAX_ITERS): # TODO: Write output file here based on option @@ -1155,42 +1208,69 @@ def newtonSolve(self, Fext=None): # Compute residual self.getResidual(self.res, Fext=Fext) + if iteration > 0: + prevResNorm = resNorm resNorm = self.res.norm() uNorm = self.u.norm() + prevLinCovergenceRel = linCovergenceRel + if USE_EW: + # Compute linear solver convergence tolerance using Einstat-Walker method b) + if iteration > 0: + zeta = EW_GAMMA * np.real(resNorm / prevResNorm) ** EW_ALPHA + threshold = EW_GAMMA * prevLinCovergenceRel**EW_ALPHA + if threshold <= 0.1: + linCovergenceRel = zeta + else: + linCovergenceRel = max(zeta, threshold) + linCovergenceRel = np.clip( + linCovergenceRel, LIN_SOLVE_TOL_MIN, LIN_SOLVE_TOL_MAX + ) + # Write data to history histData = { - "Increment":0, "SubIter": iteration, "Load scale": self.loadScale, "Res norm": resNorm, - "Rel res norm":resNorm/self.initNorm, - "U norm":uNorm, + "Rel res norm": resNorm / self.initNorm, + "U norm": uNorm, + "Flags": flags, } if iteration > 0: histData["Lin iters"] = linearSolveIterations - histData["Lin res"] = linearSolveResNorm + histData["Lin res"] = np.abs(linearSolveResNorm) histData["LS step"] = alpha histData["LS iters"] = lineSearchIters + if USE_EW: + histData["EW Tol"] = prevLinCovergenceRel if self.rank == 0: self.history.write(histData) if iteration % 50 == 0: self.history.printHeader() self.history.printData() + flags = "" # Test convergence (exit if converged/diverged) - hasConverged = self.checkConvergence(resNorm) - hasDiverged = self.checkDivergence(resNorm) + hasConverged = ( + np.real(resNorm) / np.real(self.initNorm) < rtol + or np.real(resNorm) < atol + ) + hasDiverged = np.real(resNorm) >= MAX_RES if hasConverged or hasDiverged: break # Update Jacobian self.updateJacobian() + if iteration > 0 and linearSolveIterations <= MAX_LIN_ITERS: + self._factorOnNext = False + else: + flags += "P" self.updatePreconditioner() # Compute Newton step - self.solveJacLinear(self.res, self.update) + self.setOption("L2ConvergenceRel", float(linCovergenceRel)) + linSolveConverged = self.solveJacLinear(self.res, self.update) self.update.scale(-1.0) # Check data from linear solve @@ -1199,7 +1279,9 @@ def newtonSolve(self, Fext=None): if USE_LINESEARCH and iteration >= LINESEARCH_SKIP_ITERS: # Do linesearch - alpha, lineSearchIters = self.energyLineSearch(self.u, self.update, Fext=Fext) + alpha, lineSearchIters = self.energyLineSearch( + self.u, self.update, Fext=Fext + ) else: alpha = 1.0 lineSearchIters = 1 @@ -1209,13 +1291,15 @@ def newtonSolve(self, Fext=None): return hasConverged, iteration - def energyLineSearch(self, u, stepDir, Fext=None): + def energyLineSearch(self, u, stepDir, Fext=None, slope=None): MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") LINESEARCH_ALPHA_MAX = self.getOption("lineSearchMaxStep") LINESEARCH_MAX_STEP_CHANGE = self.getOption("lineSearchMaxStepChange") PRINT_LINESEARCH_ITERS = self.getOption("lineSearchMonitor") + if slope is None: + slope = 1.0 # Compute residual and merit function at u0 self.assembler.setVariables(u) @@ -1252,7 +1336,7 @@ def energyLineSearch(self, u, stepDir, Fext=None): ) u.axpy(-alpha, stepDir) fReduction = np.abs(fNew / f0) - if fReduction <= 1 - LINESEARCH_MU * min(alpha, 1.0): + if fReduction <= 1 - LINESEARCH_MU * min(alpha, 1.0) * slope: break else: # 8. Update $\alpha$ (based on search method) @@ -1276,10 +1360,11 @@ def energyLineSearch(self, u, stepDir, Fext=None): alpha = alphaNew fOld = fNew # 9. return to step 4 - return alpha, iteration + return alpha, iteration + 1 def solveJacLinear(self, res, sol): success = self.KSM.solve(res, sol) + success = success == 1 if not success: self._TACSWarning( @@ -1312,26 +1397,6 @@ def updatePreconditioner(self): self.K.axpy(-1.0, self.rbeArtificialStiffness) self._factorOnNext = False - def checkConvergence(self, resNorm): - """Check whether the residual is sufficiently converged - - Returns - ------- - _type_ - _description_ - """ - return resNorm / self.initNorm < 1e-8 - - def checkDivergence(self, resNorm): - """Check whether the residual has diverged - - Returns - ------- - _type_ - _description_ - """ - return resNorm > 1e10 or np.isnan(resNorm) - ####### Function eval/sensitivity methods ######## def evalFunctions(self, funcs, evalFuncs=None, ignoreMissing=False): From c12974e02be5120f195a94f536cd114aa8a7a7f2 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Feb 2023 10:23:53 -0500 Subject: [PATCH 031/174] Add __init__ method to BaseUI --- tacs/utilities.py | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/tacs/utilities.py b/tacs/utilities.py index 29d914cbb..9114b96ea 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -6,6 +6,8 @@ import pickle import warnings +from mpi4py import MPI + import tacs.TACS @@ -15,9 +17,42 @@ class BaseUI: Contains common methods useful for many classes. """ + defaultOptions = {} + # Set common data type for all pyTACS classes to inherit (real or complex) dtype = tacs.TACS.dtype + def __init__(self, options=None, comm=None) -> None: + """Setup the communicator and options for a pyTACS object + + Parameters + ---------- + options : dict, optional + Object-specific option parameters (case-insensitive), by default None + comm : _type_, optional + The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + """ + # Set the communicator and rank + if comm is None: + comm = MPI.COMM_WORLD + self.comm = comm + self.rank = comm.rank + + # Process the default options which are added to self.options + # under the 'defaults' key. Make sure the key are lower case + self.options = {} + def_keys = self.defaultOptions.keys() + self.options["defaults"] = {} + for key in def_keys: + self.options["defaults"][key.lower()] = self.defaultOptions[key] + self.options[key.lower()] = self.defaultOptions[key] + + # Process the user-supplied options + userOptions = options if options is not None else {} + optKeys = userOptions.keys() + for key in optKeys: + self.setOption(key, userOptions[key]) + def setOption(self, name, value): """ Set a solver option value. The name is not case sensitive. From 8037df35e539fb6248517b670cd28916869284bd Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Feb 2023 10:24:56 -0500 Subject: [PATCH 032/174] Examples options tweaks --- examples/nonlinear_cantilever/analysis.py | 9 +++++++-- examples/nonlinear_hemisphere/analysis.py | 22 ++++++++++++++++++---- 2 files changed, 25 insertions(+), 6 deletions(-) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index b5a05e771..d24d7ac11 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -83,8 +83,13 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) -probOptions = {"printTiming": True, - "skipFirstNLineSearch":1} +probOptions = { + "printTiming": True, + "skipFirstNLineSearch": 0, + "newtonSolverCoarseRelTol": 1e-3, + "lineSearchMinStep": 0.1, + "continuationInitialStep": 1.0, +} forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) momentProblem = FEAAssembler.createStaticProblem("TipMoment", options=probOptions) problems = [forceProblem, momentProblem] diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py index ba7034801..47a8643c8 100644 --- a/examples/nonlinear_hemisphere/analysis.py +++ b/examples/nonlinear_hemisphere/analysis.py @@ -85,10 +85,23 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) -probOptions = {"printTiming": True, - "skipFirstNLineSearch":0, - "continuationInitialStep":1.0, - "newtonSolverMaxIter":100} +probOptions = { + "printTiming": True, + "skipFirstNLineSearch": 0, + "continuationInitialStep": 1.0, + "newtonSolverMaxIter": 100, + "newtonSolverUseEW": True, + "nRestarts": 3, + "subSpaceSize": 20, + "newtonSolverMonitorVars": [ + "linsolveriters", + "linsolverres", + "EWTol", + "linesearchstep", + "linesearchiters", + ], + "newtonSolverMaxLinIters": 10, +} problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) @@ -145,6 +158,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg problem.evalFunctions(funcs) problem.evalFunctionsSens(funcsSens) problem.writeSolution(outputDir=os.path.dirname(__file__)) +problem.writeSolutionHistory(outputDir=os.path.dirname(__file__)) if COMM.rank == 0: pprint(funcs) From 6ad31d0b22d5b6960eaa84cee516bf570d20b6d9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Feb 2023 10:25:12 -0500 Subject: [PATCH 033/174] More example options tweaks --- examples/nonlinear_skin_buckle/analysis.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index 53e117e55..3e6a7ad12 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -89,8 +89,10 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "printTiming": True, "continuationInitialStep": 1.0, - "skipFirstNLineSearch": 0, + "skipFirstNLineSearch": 1, "newtonSolverMaxIter": 100, + "nRestarts": 3, + "subSpaceSize": 20, } problem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) From 88873459ef9ee0af4431cc8f677a82c3507296c9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Feb 2023 10:23:53 -0500 Subject: [PATCH 034/174] Add __init__ method to BaseUI --- tacs/utilities.py | 34 ++++++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/tacs/utilities.py b/tacs/utilities.py index 5cc5e1547..467f83d27 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -1,3 +1,4 @@ +from mpi4py import MPI import tacs.TACS @@ -7,9 +8,42 @@ class BaseUI: Contains common methods useful for many classes. """ + defaultOptions = {} + # Set common data type for all pyTACS classes to inherit (real or complex) dtype = tacs.TACS.dtype + def __init__(self, options=None, comm=None) -> None: + """Setup the communicator and options for a pyTACS object + + Parameters + ---------- + options : dict, optional + Object-specific option parameters (case-insensitive), by default None + comm : _type_, optional + The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + """ + # Set the communicator and rank + if comm is None: + comm = MPI.COMM_WORLD + self.comm = comm + self.rank = comm.rank + + # Process the default options which are added to self.options + # under the 'defaults' key. Make sure the key are lower case + self.options = {} + def_keys = self.defaultOptions.keys() + self.options["defaults"] = {} + for key in def_keys: + self.options["defaults"][key.lower()] = self.defaultOptions[key] + self.options[key.lower()] = self.defaultOptions[key] + + # Process the user-supplied options + userOptions = options if options is not None else {} + optKeys = userOptions.keys() + for key in optKeys: + self.setOption(key, userOptions[key]) + def setOption(self, name, value): """ Set a solver option value. The name is not case sensitive. From fed66bee1dfabaf22f1b00eea34f8bee0f29f12b Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Feb 2023 12:05:53 -0500 Subject: [PATCH 035/174] Modify problem classes to use __init__ from BaseUI --- tacs/problems/base.py | 10 +++++----- tacs/problems/modal.py | 16 ++-------------- tacs/problems/static.py | 18 +++--------------- tacs/problems/transient.py | 18 +++--------------- 4 files changed, 13 insertions(+), 49 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index 2eb22f457..0e3ae87b6 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -19,7 +19,9 @@ class TACSProblem(BaseUI): Base class for TACS problem types. Contains methods common to all TACS problems. """ - def __init__(self, assembler, comm, outputViewer=None, meshLoader=None): + def __init__( + self, assembler, comm=None, options=None, outputViewer=None, meshLoader=None + ): # TACS assembler object self.assembler = assembler # TACS F5 output writer @@ -29,8 +31,6 @@ def __init__(self, assembler, comm, outputViewer=None, meshLoader=None): # pyNastran BDF object if self.meshLoader: self.bdfInfo = self.meshLoader.getBDFInfo() - # MPI communicator object - self.comm = comm # Create Design variable vector self.x = self.assembler.createDesignVec() @@ -43,8 +43,8 @@ def __init__(self, assembler, comm, outputViewer=None, meshLoader=None): # List of functions self.functionList = OrderedDict() - # Empty options dict, should be filled out by child class - self.options = {} + # Setup comm and options + super().__init__(options=options, comm=comm) return diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index 2fdb65a08..a84e3af3d 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -122,9 +122,6 @@ def __init__( # Problem name self.name = name - # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader) - # Set time eigenvalue parameters self.sigma = sigma self.numEigs = numEigs @@ -133,17 +130,8 @@ def __init__( self.valName = "eigsm" self._initializeFunctionList() - # Process the default options which are added to self.options - # under the 'defaults' key. Make sure the key are lower case - def_keys = self.defaultOptions.keys() - self.options["defaults"] = {} - for key in def_keys: - self.options["defaults"][key.lower()] = self.defaultOptions[key] - self.options[key.lower()] = self.defaultOptions[key] - - # Set user-defined options - for key in options: - TACSProblem.setOption(self, key, options[key]) + # Default setup for common problem class objects, sets up comm and options + super().__init__(assembler, comm, options, outputViewer, meshLoader) # Create problem-specific variables self._createVariables() diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 2c3048606..f69246a06 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -109,7 +109,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, - options={}, + options=None, ): """ NOTE: This class should not be initialized directly by the user. @@ -140,20 +140,8 @@ def __init__( # Problem name self.name = name - # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader) - - # Process the default options which are added to self.options - # under the 'defaults' key. Make sure the key are lower case - def_keys = self.defaultOptions.keys() - self.options["defaults"] = {} - for key in def_keys: - self.options["defaults"][key.lower()] = self.defaultOptions[key] - self.options[key.lower()] = self.defaultOptions[key] - - # Set user-defined options - for key in options: - TACSProblem.setOption(self, key, options[key]) + # Default setup for common problem class objects, sets up comm and options + super().__init__(assembler, comm, options, outputViewer, meshLoader) # Create problem-specific variables self._createVariables() diff --git a/tacs/problems/transient.py b/tacs/problems/transient.py index f15d8d447..4c665ea74 100644 --- a/tacs/problems/transient.py +++ b/tacs/problems/transient.py @@ -91,7 +91,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, - options={}, + options=None, ): """ NOTE: This class should not be initialized directly by the user. @@ -130,26 +130,14 @@ def __init__( # Problem name self.name = name - # Default setup for common problem class objects - TACSProblem.__init__(self, assembler, comm, outputViewer, meshLoader) - # Set time interval parameters self.tInit = tInit self.tFinal = tFinal self.numSteps = numSteps self.numStages = None - # Process the default options which are added to self.options - # under the 'defaults' key. Make sure the key are lower case - def_keys = self.defaultOptions.keys() - self.options["defaults"] = {} - for key in def_keys: - self.options["defaults"][key.lower()] = self.defaultOptions[key] - self.options[key.lower()] = self.defaultOptions[key] - - # Set user-defined options - for key in options: - TACSProblem.setOption(self, key, options[key]) + # Default setup for common problem class objects, sets up comm and options + super().__init__(assembler, comm, options, outputViewer, meshLoader) # Create problem-specific variables self._createVariables() From cc6414edffdf7aafbea346efb765a6cc3d0aef71 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Feb 2023 12:05:53 -0500 Subject: [PATCH 036/174] Modify problem classes to use __init__ from BaseUI --- tacs/problems/base.py | 9 +++------ tacs/problems/modal.py | 20 +++----------------- tacs/problems/static.py | 20 +++----------------- tacs/problems/transient.py | 21 +++------------------ 4 files changed, 12 insertions(+), 58 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index cbb554417..7f196369a 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -20,7 +20,7 @@ class TACSProblem(BaseUI): """ def __init__( - self, assembler, comm, outputViewer=None, meshLoader=None, isNonlinear=False + self, assembler, comm=None, options=None, outputViewer=None, meshLoader=None, isNonlinear=False ): # TACS assembler object self.assembler = assembler @@ -31,9 +31,6 @@ def __init__( # pyNastran BDF object if self.meshLoader: self.bdfInfo = self.meshLoader.getBDFInfo() - # MPI communicator object - self.comm = comm - self.rank = comm.rank # Create Design variable vector self.x = self.assembler.createDesignVec() @@ -46,8 +43,8 @@ def __init__( # List of functions self.functionList = OrderedDict() - # Empty options dict, should be filled out by child class - self.options = {} + # Setup comm and options + super().__init__(options=options, comm=comm) self._isNonlinear = isNonlinear diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index be3de7bfe..116f25bbe 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -87,7 +87,7 @@ def __init__( outputViewer=None, meshLoader=None, isNonlinear=False, - options={}, + options=None, ): """ NOTE: This class should not be initialized directly by the user. @@ -123,11 +123,6 @@ def __init__( # Problem name self.name = name - # Default setup for common problem class objects - TACSProblem.__init__( - self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear - ) - # Set time eigenvalue parameters self.sigma = sigma self.numEigs = numEigs @@ -136,17 +131,8 @@ def __init__( self.valName = "eigsm" self._initializeFunctionList() - # Process the default options which are added to self.options - # under the 'defaults' key. Make sure the key are lower case - def_keys = self.defaultOptions.keys() - self.options["defaults"] = {} - for key in def_keys: - self.options["defaults"][key.lower()] = self.defaultOptions[key] - self.options[key.lower()] = self.defaultOptions[key] - - # Set user-defined options - for key in options: - TACSProblem.setOption(self, key, options[key]) + # Default setup for common problem class objects, sets up comm and options + super().__init__(assembler, comm, options, outputViewer, meshLoader, isNonlinear) # Create problem-specific variables self._createVariables() diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 8c5d854c0..2efe5532d 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -248,7 +248,7 @@ def __init__( outputViewer=None, meshLoader=None, isNonlinear=False, - options={}, + options=None, ): """ NOTE: This class should not be initialized directly by the user. @@ -279,22 +279,8 @@ def __init__( # Problem name self.name = name - # Default setup for common problem class objects - TACSProblem.__init__( - self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear - ) - - # Process the default options which are added to self.options - # under the 'defaults' key. Make sure the key are lower case - def_keys = self.defaultOptions.keys() - self.options["defaults"] = {} - for key in def_keys: - self.options["defaults"][key.lower()] = self.defaultOptions[key] - self.options[key.lower()] = self.defaultOptions[key] - - # Set user-defined options - for key in options: - TACSProblem.setOption(self, key, options[key]) + # Default setup for common problem class objects, sets up comm and options + super().__init__(assembler, comm, options, outputViewer, meshLoader, isNonlinear) # Setup solver history object for nonlinear problems self.history = None diff --git a/tacs/problems/transient.py b/tacs/problems/transient.py index c8f85ad55..4c665ea74 100644 --- a/tacs/problems/transient.py +++ b/tacs/problems/transient.py @@ -91,8 +91,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, - isNonlinear=False, - options={}, + options=None, ): """ NOTE: This class should not be initialized directly by the user. @@ -131,28 +130,14 @@ def __init__( # Problem name self.name = name - # Default setup for common problem class objects - TACSProblem.__init__( - self, assembler, comm, outputViewer, meshLoader, isNonlinear=isNonlinear - ) - # Set time interval parameters self.tInit = tInit self.tFinal = tFinal self.numSteps = numSteps self.numStages = None - # Process the default options which are added to self.options - # under the 'defaults' key. Make sure the key are lower case - def_keys = self.defaultOptions.keys() - self.options["defaults"] = {} - for key in def_keys: - self.options["defaults"][key.lower()] = self.defaultOptions[key] - self.options[key.lower()] = self.defaultOptions[key] - - # Set user-defined options - for key in options: - TACSProblem.setOption(self, key, options[key]) + # Default setup for common problem class objects, sets up comm and options + super().__init__(assembler, comm, options, outputViewer, meshLoader) # Create problem-specific variables self._createVariables() From ed15c753a2eb1ff2739ade497ceca08fbb9bfa99 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Feb 2023 14:34:59 -0500 Subject: [PATCH 037/174] add back isNonlinear to transient problem --- tacs/problems/transient.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tacs/problems/transient.py b/tacs/problems/transient.py index 4c665ea74..f9a724cdc 100644 --- a/tacs/problems/transient.py +++ b/tacs/problems/transient.py @@ -91,6 +91,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, + isNonlinear=False, options=None, ): """ @@ -137,7 +138,9 @@ def __init__( self.numStages = None # Default setup for common problem class objects, sets up comm and options - super().__init__(assembler, comm, options, outputViewer, meshLoader) + super().__init__( + assembler, comm, options, outputViewer, meshLoader, isNonlinear + ) # Create problem-specific variables self._createVariables() From 4c890d457d1319cfc733a09e38c9e4f82d99ba1c Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 09:57:58 -0500 Subject: [PATCH 038/174] black formatting --- tacs/problems/base.py | 10 ++++++++-- tacs/problems/modal.py | 4 +++- tacs/problems/static.py | 3 +++ tacs/problems/transient.py | 4 +++- 4 files changed, 17 insertions(+), 4 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index 726379161..41ef5e21d 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -11,7 +11,7 @@ from mpi4py import MPI import tacs.TACS -from ..utilities import BaseUI +from tacs.utilities import BaseUI class TACSProblem(BaseUI): @@ -20,7 +20,13 @@ class TACSProblem(BaseUI): """ def __init__( - self, assembler, comm=None, options=None, outputViewer=None, meshLoader=None, isNonlinear=False + self, + assembler, + comm=None, + options=None, + outputViewer=None, + meshLoader=None, + isNonlinear=False, ): # TACS assembler object self.assembler = assembler diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index 1b3b89800..40d4a1d3d 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -124,7 +124,9 @@ def __init__( self.name = name # Default setup for common problem class objects, sets up comm and options - TACSProblem.__init__(self, assembler, comm, options, outputViewer, meshLoader, isNonlinear) + TACSProblem.__init__( + self, assembler, comm, options, outputViewer, meshLoader, isNonlinear + ) # Set time eigenvalue parameters self.sigma = sigma diff --git a/tacs/problems/static.py b/tacs/problems/static.py index c23da5847..554314e4c 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -279,6 +279,9 @@ def __init__( # Problem name self.name = name + # Set linear solver to None, until we set it up later + self.KSM = None + # Default setup for common problem class objects, sets up comm and options TACSProblem.__init__( self, assembler, comm, options, outputViewer, meshLoader, isNonlinear diff --git a/tacs/problems/transient.py b/tacs/problems/transient.py index 95b5698bc..f3949c6e3 100644 --- a/tacs/problems/transient.py +++ b/tacs/problems/transient.py @@ -141,7 +141,9 @@ def __init__( self.integrator = None # Default setup for common problem class objects, sets up comm and options - TACSProblem.__init__(self, assembler, comm, options, outputViewer, meshLoader, isNonlinear) + TACSProblem.__init__( + self, assembler, comm, options, outputViewer, meshLoader, isNonlinear + ) # Create problem-specific variables self._createVariables() From a9508c6c106bf4cd64dab5ef823a907ac281009e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 09:59:10 -0500 Subject: [PATCH 039/174] Fixing some imports --- tacs/pymeshloader.py | 2 +- tacs/pytacs.py | 4 +--- tacs/utilities.py | 8 ++++++++ 3 files changed, 10 insertions(+), 4 deletions(-) diff --git a/tacs/pymeshloader.py b/tacs/pymeshloader.py index 10834a06a..f60a61f52 100644 --- a/tacs/pymeshloader.py +++ b/tacs/pymeshloader.py @@ -18,7 +18,7 @@ import tacs.TACS import tacs.constitutive import tacs.elements -from .utilities import BaseUI +from tacs.utilities import BaseUI class pyMeshLoader(BaseUI): diff --git a/tacs/pytacs.py b/tacs/pytacs.py index a918f5894..de62099d6 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -30,15 +30,13 @@ from functools import wraps import numpy as np -from mpi4py import MPI import tacs.TACS import tacs.constitutive import tacs.elements import tacs.functions -import tacs.problems.static from tacs.pymeshloader import pyMeshLoader -from .utilities import BaseUI +from tacs.utilities import BaseUI warnings.simplefilter("default") diff --git a/tacs/utilities.py b/tacs/utilities.py index 92f203a6c..cdcd5bb7e 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -1,3 +1,11 @@ +from collections import OrderedDict +import copy +import os +import time +from typing import Any, Dict, List, Optional, Type, Iterable, Union +import pickle +import warnings + from mpi4py import MPI import tacs.TACS From 3d632dd73f0928e45b8f285fbc1095795247ecbc Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 09:59:32 -0500 Subject: [PATCH 040/174] Adding new standalone solver classes --- tacs/solvers/BaseSolver.py | 122 ++++++++++++ tacs/solvers/NewtonSolver.py | 364 +++++++++++++++++++++++++++++++++++ 2 files changed, 486 insertions(+) create mode 100644 tacs/solvers/BaseSolver.py create mode 100644 tacs/solvers/NewtonSolver.py diff --git a/tacs/solvers/BaseSolver.py b/tacs/solvers/BaseSolver.py new file mode 100644 index 000000000..059bf5b3f --- /dev/null +++ b/tacs/solvers/BaseSolver.py @@ -0,0 +1,122 @@ +""" +============================================================================== +TACS: Base Solver Class +============================================================================== +@Description : Base class for pyTACS nonlinear solvers +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +import abc +from typing import Optional, Callable + +# ============================================================================== +# External Python modules +# ============================================================================== +import mpi4py + +# ============================================================================== +# Extension modules +# ============================================================================== +import tacs.TACS +from tacs.utilities import BaseUI + + +class BaseSolver(BaseUI): + def __init__( + self, + assembler: tacs.TACS.Assembler, + setStateFunc: Callable, + resFunc: Callable, + stateVec: Optional[tacs.TACS.Vec] = None, + resVec: Optional[tacs.TACS.Vec] = None, + options: Optional[dict] = None, + comm: Optional[mpi4py.MPI.Comm] = None, + ) -> None: + """Create a solver instance + + Parameters + ---------- + assembler : tacs.TACS.Assembler + TACS assembler object related to the problem being solved, required in order for the solver to create it's own vectors + setStateFunc : function + Function to set the state vector, with signature setStateFunc(stateVec: tacs.TACS.Vec) -> None + resFunc : function + Function to evaluate the residual at the current state, with signature resFunc(resVec: tacs.TACS.Vec) -> None + stateVec : tacs.TACS.Vec, optional + Vector to store the state in, by default the solver will create it's own but these can be passed to save additional allocations + resVec : tacs.TACS.Vec, optional + Vector to store the residual in, by default the solver will create it's own but these can be passed to save additional allocations + options : dict, optional + Dictionary holding solver-specific option parameters (case-insensitive)., by default None + comm : _type_, optional + The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + """ + BaseUI.__init__(self, options, comm) + self.assembler = assembler + self.setStateFunc = setStateFunc + self.resFunc = resFunc + self.u = stateVec if stateVec is not None else self.assembler.createVec() + self.res = resVec if resVec is not None else self.assembler.createVec() + self.refNorm = 1.0 + + self._hasConverged = False + self._iterationCount = 0 + self.callback = None + + @property + def hasConverged(self) -> bool: + """Whether the solver has converged, set as a property rather than an attribute so that it is read-only""" + return self._hasConverged + + @property + def hasFailed(self) -> bool: + """Whether the solver has failed, set as a property rather than an attribute so that it is read-only""" + return not self._hasConverged + + @property + def iterationCount(self) -> int: + """Number of iterations performed, set as a property rather than an attribute so that it is read-only""" + return self._iterationCount + + @abc.abstractmethod + def solve( + self, u0: Optional[tacs.TACS.Vec] = None, result: Optional[tacs.TACS.Vec] = None + ) -> None: + """Solve the residual equations r(u) = 0 + + Parameters + ---------- + u0 : TACS vector, optional + Initial guess, by default uses the current state + result : TACS vector, optional + Vector in which to store the solution, by default None. + The problem's state is updated with the solution whether or not this is provided. + """ + + def setRefNorm(self, norm: float) -> None: + """Set the reference norm used to compute relative convergence measures + + Parameters + ---------- + norm : float + Reference norm + """ + self.refNorm = norm + + def setCallback(self, callback: Callable) -> None: + """Set a callback function to be called at each iteration + + Parameters + ---------- + callback : callable, optional + Callback function, should have the following signature: + callback(solver: tacs.solver, u: tacs.TACS.Vec, res: tacs.TACS.Vec, monitorVars: dict) -> None + Where: + - ``solver`` is the solver object + - ``u`` is the current state vector + - ``res`` is the current residual vector + - ``monitorVars`` is a dictionary of variables to monitor, which can be specified through the ``"newtonSolverMonitorVars"`` option + """ + self.callback = callback diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/NewtonSolver.py new file mode 100644 index 000000000..b186045c7 --- /dev/null +++ b/tacs/solvers/NewtonSolver.py @@ -0,0 +1,364 @@ +""" +============================================================================== +TACS Newton Solver +============================================================================== +@Description : A Newton solver for pyTACS +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +from typing import Optional, Callable + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +import mpi4py + +# ============================================================================== +# Extension modules +# ============================================================================== +import tacs.TACS +from tacs.solvers import BaseSolver + + +class NewtonSolver(BaseSolver): + defaultOptions = { + "newtonSolverMonitorVars": [ + list, + [ + "linSolverIters", + "linSolverRes", + "lineSearchStep", + "lineSearchIters", + ], + "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", + ], + "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], + "newtonSolverAbsTol": [ + float, + 1e-8, + "Convergence criteria for the nonlinear residual norm.", + ], + "newtonSolverRelTol": [ + float, + 1e-8, + "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", + ], + "newtonSolverCoarseAbsTol": [ + float, + 1e-4, + "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", + ], + "newtonSolverCoarseRelTol": [ + float, + 1e-4, + "Relative residual norm criteria for intermediate load increments.", + ], + "newtonSolverDivergenceTol": [ + float, + 1e10, + "Residual norm at which the nonlinear solver is jugded to have diverged", + ], + "newtonSolverAbsLinResTol": [float, 1e-12, "Linear solver residual tolerance."], + "newtonSolverRelLinResTol": [ + float, + 1e-12, + "Linear solver relative residual tolerance.", + ], + "newtonSolverMaxLinIters": [ + int, + 0, + "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", + ], + "newtonSolverUseEW": [ + bool, + False, + "Flag for enabling use of variable linear solver convergence using the Eisenstat-Walker method.", + ], + "newtonSolverEWMaxTol": [ + float, + 0.01, + "Eisenstat-Walker max allowable linear solver tolerance.", + ], + "newtonSolverEWGamma": [float, 1.0, "Eisenstat-Walker gamma parameter."], + "newtonSolverEWAlpha": [ + float, + 0.5 * (1.0 + np.sqrt(5)), + "Eisenstat-Walker alpha parameter.", + ], + # Line search options + "useLineSearch": [ + bool, + True, + "Flag for using line search in the nonlinear solver.", + ], + "lineSearchMonitor": [ + bool, + False, + "Flag for printing out line search information.", + ], + "skipFirstNLineSearch": [ + int, + 0, + "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", + ], + "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], + "lineSearchExpectedDecrease": [ + float, + 1e-4, + "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", + ], + "lineSearchMaxStep": [ + float, + 2.0, + "Maximum step size for the linesearch, as a fraction of the Newton step", + ], + "lineSearchMinStep": [ + float, + 1e-2, + "Minimum step size for the linesearch, as a fraction of the Newton step", + ], + "lineSearchMaxStepChange": [ + float, + 0.5, + "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", + ], + "lineSearchFallbackStepLimit": [ + float, + 0.9, + "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", + ], + } + + def __init__( + self, + assembler: tacs.TACS.Assembler, + stateVec: tacs.TACS.Vec, + resVec: tacs.TACS.Vec, + setStateFunc: Callable, + resFunc: Callable, + jacFunc: Callable, + pcUpdateFunc: Callable, + linearSolver: tacs.TACS.KSM, + options: Optional[dict] = None, + comm: Optional[mpi4py.MPI.Comm] = None, + ) -> None: + """Create a Newton solver instance + + Parameters + ---------- + assembler : tacs.TACS.Assembler + TACS assembler object related to the problem being solved, required in order for the solver to create it's own vectors + stateVec : tacs.TACS.Vec + Vector to store the state in + resVec : tacs.TACS.Vec + Vector to store the residual in + setStateFunc : function + Function to set the state vector, with signature setStateFunc(stateVec: tacs.TACS.Vec) + resFunc : function + Function to evaluate the residual at the current state, with signature resFunc(resVec: tacs.TACS.Vec) + jacFunc : function + Function to update the residual Jacobian at the current state, with signature jacFunc() + pcUpdateFunc : function + Function to update the residual Jacobian preconditioner at the current state, with signature pcUpdateFunc() + linearSolver : tacs.TACS.KSM + TACS linear solver object to use for the Newton solve, the linear solver owns the matrix and preconditioner + options : dict, optional + Dictionary holding solver-specific option parameters (case-insensitive)., by default None + comm : _type_, optional + The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + """ + BaseSolver.__init__( + self, assembler, setStateFunc, resFunc, stateVec, resVec, options, comm + ) + self.jacFunc = jacFunc + self.pcUpdateFunc = pcUpdateFunc + self.linearSolver = linearSolver + + # Create additional vectors + self.update = self.assembler.createVec() + + # self.lineSe + + def solve( + self, u0: Optional[tacs.TACS.Vec] = None, result: Optional[tacs.TACS.Vec] = None + ) -> None: + """Solve the residual equations r(u) = 0 + + Parameters + ---------- + u0 : TACS vector, optional + Initial guess, by default uses the current state + result : TACS vector, optional + Vector in which to store the solution, by default None. + The problem's state is updated with the solution whether or not this is provided. + """ + USE_LINESEARCH = self.getOption("useLineSearch") + LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") + MAX_ITERS = self.getOption("newtonSolverMaxIter") + MAX_RES = self.getOption("newtonSolverDivergenceTol") + MAX_LIN_ITERS = self.getOption("newtonSolverMaxLinIters") + + # Linear solver convergence options + USE_EW = self.getOption("newtonSolverUseEW") + LIN_SOLVE_TOL_MAX = self.getOption("newtonSolverEWMaxTol") + LIN_SOLVE_TOL_MIN = self.getOption("L2ConvergenceRel") + EW_ALPHA = self.getOption("newtonSolverEWAlpha") + EW_GAMMA = self.getOption("newtonSolverEWGamma") + linCovergenceRel = LIN_SOLVE_TOL_MAX if USE_EW else LIN_SOLVE_TOL_MIN + + ABS_TOL = self.getOption("newtonSolverAbsTol") + REL_TOL = self.getOption("newtonSolverRelTol") + + flags = "" + self._hasConverged = False + + if u0 is not None: + self.u.copyValues(u0) + + for iteration in range(MAX_ITERS): + self._iterationCount = iteration + + # Compute residual + self.resFunc(self.res) + if iteration > 0: + prevResNorm = resNorm + resNorm = self.res.norm() + uNorm = self.u.norm() + + prevLinCovergenceRel = linCovergenceRel + if USE_EW: + # Compute linear solver convergence tolerance using Einstat-Walker method b) + if iteration > 0: + zeta = EW_GAMMA * np.real(resNorm / prevResNorm) ** EW_ALPHA + threshold = EW_GAMMA * prevLinCovergenceRel**EW_ALPHA + if threshold <= 0.1: + linCovergenceRel = zeta + else: + linCovergenceRel = max(zeta, threshold) + linCovergenceRel = np.clip( + linCovergenceRel, LIN_SOLVE_TOL_MIN, LIN_SOLVE_TOL_MAX + ) + + # Write data to history + if self.callback is not None: + self.callback(self, self.u, self.res, flags) + + flags = "" + + # Test convergence (exit if converged/diverged) + self._hasConverged = ( + np.real(resNorm) / np.real(self.refNorm) < REL_TOL + or np.real(resNorm) < ABS_TOL + ) + hasDiverged = np.real(resNorm) >= MAX_RES + if self._hasConverged or hasDiverged: + break + + # Update Jacobian + self.jacFunc() + + # Update preconditioner, or skip if linear solve converged in few enough iterations + if iteration > 0 and linearSolveIterations <= MAX_LIN_ITERS: + pass + else: + flags += "P" + self.pcUpdateFunc() + + # Compute Newton step + self.setOption("newtonSolverRelLinResTol", float(linCovergenceRel)) + self.linearSolver.setTolerances( + self.getOption("newtonSolverAbsLinResTol"), float(linCovergenceRel) + ) + linSolveConverged = self.linearSolver.solve(self.res, self.update) + linSolveConverged = linSolveConverged == 1 + self.update.scale(-1.0) + + # Check data from linear solve + linearSolveIterations = self.linearSolver.getIterCount() + linearSolveResNorm = self.linearSolver.getResidualNorm() + + if USE_LINESEARCH and iteration >= LINESEARCH_SKIP_ITERS: + # Do linesearch + alpha, lineSearchIters = self.energyLineSearch(self.u, self.update) + else: + alpha = 1.0 + lineSearchIters = 1 + self.u.axpy(alpha, self.update) + self.setStateFunc(self.u) + + if result is not None: + result.copyValues(self.u) + + def energyLineSearch(self, u, stepDir, Fext=None, slope=None): + MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") + LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") + LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") + LINESEARCH_ALPHA_MAX = self.getOption("lineSearchMaxStep") + LINESEARCH_MAX_STEP_CHANGE = self.getOption("lineSearchMaxStepChange") + PRINT_LINESEARCH_ITERS = self.getOption("lineSearchMonitor") + if slope is None: + slope = 1.0 + + # Compute residual and merit function at u0 + self.setStateFunc(u) + self.resFunc(self.res) + f0 = np.real(self.res.dot(stepDir)) + fOld = f0 + alphaOld = 0.0 + uNorm = u.norm() + if self.rank == 0 and PRINT_LINESEARCH_ITERS: + print( + f"Line search iter 0: alpha = {0: 11e}, f0 = {(f0): 11e}, uNorm = {uNorm: 11e}" + ) + + # 3. Set $\alpha = 1$ + alpha = 1.0 + alphaNew = alpha + for iteration in range(MAX_LINESEARCH_ITERS): + # 4. Increment state, $u = u + \alpha \Delta u$ + u.axpy(alpha, stepDir) + self.setStateFunc(u) + + # 5. Compute residual, $r = r(u)$ + self.resFunc(self.res) + + # 6. Compute merit function, $f(\alpha)=f(u, r, \Delta u)$ + fNew = np.real(self.res.dot(stepDir)) + + # 7. if $abs(f(\alpha)) \leq \mu f_0 + \alpha f'_0$: + # 1. exit + uNorm = u.norm() + if self.rank == 0 and PRINT_LINESEARCH_ITERS: + print( + f"Line search iter {(iteration+1):2d}: alpha = {alpha: 11e}, f/f0 = {(fNew/f0): 11e}, uNorm = {uNorm: 11e}" + ) + u.axpy(-alpha, stepDir) + fReduction = np.abs(fNew / f0) + if fReduction <= 1 - LINESEARCH_MU * min(alpha, 1.0) * slope: + break + else: + # 8. Update $\alpha$ (based on search method) + if iteration == 0: + alphaMin = 0.9 + else: + alphaMin = LINESEARCH_ALPHA_MIN + if fNew == fOld: + alphaNew = alpha + LINESEARCH_ALPHA_MIN + else: + alphaNew = np.clip( + alpha - fNew * (alpha - alphaOld) / (fNew - fOld), + alphaMin, + LINESEARCH_ALPHA_MAX, + ) + if iteration > 0 and abs(alphaNew - alpha) > LINESEARCH_MAX_STEP_CHANGE: + alphaNew = ( + alpha + np.sign(alphaNew - alpha) * LINESEARCH_MAX_STEP_CHANGE + ) + alphaOld = alpha + alpha = alphaNew + fOld = fNew + # 9. return to step 4 + return alpha, iteration + 1 From ea06c70dca6bd451629c734bad9b7faaae695435 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 09:59:44 -0500 Subject: [PATCH 041/174] Add solvers docs pages --- docs/source/pytacs/NewtonSolver.rst | 19 +++++++++++++++++++ docs/source/pytacs/pytacs.rst | 3 ++- docs/source/pytacs/solvers.rst | 7 +++++++ 3 files changed, 28 insertions(+), 1 deletion(-) create mode 100644 docs/source/pytacs/NewtonSolver.rst create mode 100644 docs/source/pytacs/solvers.rst diff --git a/docs/source/pytacs/NewtonSolver.rst b/docs/source/pytacs/NewtonSolver.rst new file mode 100644 index 000000000..a7808e1e6 --- /dev/null +++ b/docs/source/pytacs/NewtonSolver.rst @@ -0,0 +1,19 @@ +NewtonSolver +------------- +.. automodule:: tacs.solvers.NewtonSolver + +Options +^^^^^^^ +Options can be set for :class:`~tacs.solvers.NewtonSolver` at time of creation for the class in the +:meth:`pyTACS.createStaticProblem ` method or using the +:meth:`NewtonSolver.setOption ` method. Current option values for a class +instance can be printed out using the :meth:`NewtonSolver.printOption ` method. +The following options, their default values and descriptions are listed below: + +.. program-output:: python -c "from tacs.solvers import NewtonSolver; NewtonSolver.printDefaultOptions()" + +API Reference +^^^^^^^^^^^^^ +.. autoclass:: tacs.solvers.NewtonSolver + :members: + :inherited-members: diff --git a/docs/source/pytacs/pytacs.rst b/docs/source/pytacs/pytacs.rst index 2f23f8998..c8da1bf06 100644 --- a/docs/source/pytacs/pytacs.rst +++ b/docs/source/pytacs/pytacs.rst @@ -31,4 +31,5 @@ repeated until the optimization criteria are satisfied. :maxdepth: 1 pytacs_module - problems \ No newline at end of file + problems + solvers diff --git a/docs/source/pytacs/solvers.rst b/docs/source/pytacs/solvers.rst new file mode 100644 index 000000000..0d542b490 --- /dev/null +++ b/docs/source/pytacs/solvers.rst @@ -0,0 +1,7 @@ +Solver classes +=============== + +.. toctree:: + :maxdepth: 1 + + NewtonSolver From dcf5630ca9b4a19fab0fed2474af0948275ac751 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 10:00:01 -0500 Subject: [PATCH 042/174] Solvers __init__ --- tacs/solvers/__init__.py | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 tacs/solvers/__init__.py diff --git a/tacs/solvers/__init__.py b/tacs/solvers/__init__.py new file mode 100644 index 000000000..5e1ec0366 --- /dev/null +++ b/tacs/solvers/__init__.py @@ -0,0 +1,10 @@ +from .BaseSolver import BaseSolver + +from .NewtonSolver import NewtonSolver + +# from .ContinuationSolver import ContinuationSolver + +__all__ = [ + "NewtonSolver", + # "ContinuationSolver" +] From 4eb71529dcfdadc6274deaa871310da358ebb330 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 10:00:48 -0500 Subject: [PATCH 043/174] Starting to incorporate NewtonSolver insto Static problem, not working yet --- tacs/problems/static.py | 82 +++++++++++++++++++++++++++++++---------- 1 file changed, 63 insertions(+), 19 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 554314e4c..7cff8785b 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -20,6 +20,7 @@ import tacs.TACS import tacs.elements +import tacs.solvers from .base import TACSProblem from tacs.utilities import SolverHistory @@ -281,19 +282,38 @@ def __init__( # Set linear solver to None, until we set it up later self.KSM = None + self.history = None + self.nonlinearSolver = None # Default setup for common problem class objects, sets up comm and options TACSProblem.__init__( self, assembler, comm, options, outputViewer, meshLoader, isNonlinear ) + # Create problem-specific variables + self._createVariables() + # Setup solver history object for nonlinear problems - self.history = None if self.isNonlinear: self._createSolverHistory() - # Create problem-specific variables - self._createVariables() + solverOptions = {} + for key in self.options: + if key in tacs.solvers.NewtonSolver.defaultOptions: + solverOptions[key] = self.getOption(key) + self.nonlinearSolver = tacs.solvers.NewtonSolver( + assembler=self.assembler, + stateVec=self.u, + resVec=self.res, + setStateFunc=self.setVariables, + resFunc=self.getResidual, + jacFunc=self.updateJacobian, + pcUpdateFunc=self.updatePreconditioner, + linearSolver=self.KSM, + options=solverOptions, + comm=self.comm, + ) + self.nonlinearSolver.setCallback(self._nonlinearCallback) def _createSolverHistory(self): """Setup the solver history object based on the current options @@ -510,24 +530,22 @@ def setOption(self, name, value): self.getOption("L2Convergence"), ) # No need to reset solver for output options - elif ( - name.lower() - in [ - "writesolution", - "printtiming", - "numbersolutions", - "outputdir", - "usePredictor", - "predictorUseDerivative", - ] - or "linesearch" in name.lower() - or "newtonsolver" in name.lower() - ): + elif name.lower() in [ + "writesolution", + "printtiming", + "numbersolutions", + "outputdir", + ]: pass # Reset solver for all other option changes else: self._createVariables() + # Pass option to nonlinear solver if it is a nonlinear solver option + if self.nonlinearSolver is not None: + if name.lower() in self.nonlinearSolver.defaultOptions: + self.nonlinearSolver.setOption(name, value) + # We need to create a new solver history object if the monitor variables have updated if name.lower() == "newtonsolvermonitorvars": self._createSolverHistory() @@ -1070,6 +1088,14 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): ) self.initNorm = np.real(self.externalForce.norm()) + # We need to update the residual function handle used by the nonlinear solver based on the current external force vector + def resFunc(res): + self.getResidual(res, Fext=Fext) + + self.nonlinearSolver.resFunc = resFunc + self.nonlinearSolver.setRefNorm(self.initNorm) + self.nonlinearSolver.solve() + # ============================================================================== # Compute the initial load scale # ============================================================================== @@ -1168,9 +1194,27 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): stepSize = np.clip(stepSize, MIN_STEP, maxStep) self.setLoadScale(self.loadScale + loadStepDirection * stepSize) - # ============================================================================== - # End of nonlinear solution - # ============================================================================== + def _nonlinearCallback(self, solver, u, res, monitorVars): + """Callback function to be called by the nonlinear solver at each iteration + + Parameters + ---------- + solver : pyTACS solver object + The solver + u : tacs.TACS.Vec + Current state vector + res : tacs.TACS.Vec + Current residual vector + monitorVars : dict + Dictionary of variables to monitor, the values the solver should include can be + specified through the ``"newtonSolverMonitorVars"`` option. + """ + iteration = solver.iterationCount + if self.rank == 0: + self.history.write(monitorVars) + if iteration % 50 == 0: + self.history.printHeader() + self.history.printData() def newtonSolve(self, Fext=None, atol=None, rtol=None): USE_LINESEARCH = self.getOption("useLineSearch") From 520c8d7753e6cdfcf376d7fafbccfb2027e7a730 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 10:38:07 -0500 Subject: [PATCH 044/174] Address Graeme's comments --- src/bpmat/KSM.cpp | 31 +++++++++++++++---------------- 1 file changed, 15 insertions(+), 16 deletions(-) diff --git a/src/bpmat/KSM.cpp b/src/bpmat/KSM.cpp index e2aa1421f..fc23280eb 100644 --- a/src/bpmat/KSM.cpp +++ b/src/bpmat/KSM.cpp @@ -818,6 +818,7 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { if (count == 0) { rhs_norm = res[0]; // The initial residual + resNorm = rhs_norm; } int niters = 0; // Keep track of the size of the Hessenberg matrix @@ -886,14 +887,14 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { res[i] = h1 * Qcos[i]; res[i + 1] = -h1 * Qsin[i]; + niters++; + resNorm = fabs(TacsRealPart(res[i + 1])); + if (monitor) { - monitor->printResidual(i + 1, fabs(TacsRealPart(res[i + 1]))); + monitor->printResidual(i + 1, resNorm); } - niters++; - - if (fabs(TacsRealPart(res[i + 1])) < atol || - fabs(TacsRealPart(res[i + 1])) < rtol * TacsRealPart(rhs_norm)) { + if (resNorm < atol || resNorm < rtol * TacsRealPart(rhs_norm)) { // Set the solve flag solve_flag = 1; @@ -901,6 +902,8 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { } } + iterCount += niters; + // Now, compute the solution - the linear combination of the // Arnoldi vectors. H is upper triangular @@ -932,9 +935,6 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { x->axpy(1.0, W[0]); } - iterCount += niters; - resNorm = res[niters]; - if (solve_flag) { break; } @@ -1294,20 +1294,21 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { res[i] = h1 * Qcos[i]; res[i + 1] = -h1 * Qsin[i]; - if (monitor) { - monitor->printResidual(mat_iters, fabs(TacsRealPart(res[i + 1]))); - } - niters++; - if (fabs(TacsRealPart(res[i + 1])) < atol || - fabs(TacsRealPart(res[i + 1])) < rtol * TacsRealPart(rhs_norm)) { + resNorm = fabs(TacsRealPart(res[i + 1])); + + if (monitor) { + monitor->printResidual(mat_iters, resNorm); + } + if (resNorm < atol || resNorm < rtol * TacsRealPart(rhs_norm)) { // Set the solve flag solve_flag = 1; break; } } + iterCount += niters; // Now, compute the solution - the linear combination of the // Arnoldi vectors @@ -1404,8 +1405,6 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { // mat->mult( x, R ); // R = A*x // R->axpy( -1.0, b ); // R = A*x - b // R->scale( -1.0 ); - iterCount += niters; - resNorm = R->norm(); if (solve_flag) { break; From 9c0a3a4a5ff6ce587a7a078074ef89788bc07dcd Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 11:29:13 -0500 Subject: [PATCH 045/174] Treat resNorm consistently in all solvers --- src/bpmat/KSM.cpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/src/bpmat/KSM.cpp b/src/bpmat/KSM.cpp index fc23280eb..fc10c832a 100644 --- a/src/bpmat/KSM.cpp +++ b/src/bpmat/KSM.cpp @@ -888,13 +888,14 @@ int GMRES::solve(TACSVec *b, TACSVec *x, int zero_guess) { res[i + 1] = -h1 * Qsin[i]; niters++; - resNorm = fabs(TacsRealPart(res[i + 1])); + resNorm = fabs(res[i + 1]); if (monitor) { monitor->printResidual(i + 1, resNorm); } - if (resNorm < atol || resNorm < rtol * TacsRealPart(rhs_norm)) { + if (TacsRealPart(resNorm) < atol || + TacsRealPart(resNorm) < rtol * TacsRealPart(rhs_norm)) { // Set the solve flag solve_flag = 1; @@ -1212,10 +1213,10 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { } rhs_norm = R->norm(); // The initial residual + resNorm = rhs_norm; if (TacsRealPart(rhs_norm) < atol) { solve_flag = 1; - resNorm = rhs_norm; return solve_flag; } @@ -1229,7 +1230,7 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { W[0]->scale(1.0 / res[0]); // W[0] = b/|| b || if (monitor) { - monitor->printResidual(mat_iters, fabs(TacsRealPart(res[0]))); + monitor->printResidual(mat_iters, resNorm); } // The inner F/GMRES loop @@ -1296,12 +1297,13 @@ int GCROT::solve(TACSVec *b, TACSVec *x, int zero_guess) { niters++; - resNorm = fabs(TacsRealPart(res[i + 1])); + resNorm = fabs(res[i + 1]); if (monitor) { monitor->printResidual(mat_iters, resNorm); } - if (resNorm < atol || resNorm < rtol * TacsRealPart(rhs_norm)) { + if (TacsRealPart(resNorm) < atol || + TacsRealPart(resNorm) < rtol * TacsRealPart(rhs_norm)) { // Set the solve flag solve_flag = 1; From 70e59038ff206d0ac249b5e6980444c5363e7be7 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 11:34:30 -0500 Subject: [PATCH 046/174] typo --- tests/integration_tests/static_analysis_base_test.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tests/integration_tests/static_analysis_base_test.py b/tests/integration_tests/static_analysis_base_test.py index 25ed0e918..f21a409d5 100644 --- a/tests/integration_tests/static_analysis_base_test.py +++ b/tests/integration_tests/static_analysis_base_test.py @@ -91,9 +91,9 @@ def setUp(self): restarts = 2 self.linSolveIterLimit = subspace * restarts self.linSolveAtol = 1e-30 - self.linSolveRrtol = 1e-12 + self.linSolveRtol = 1e-12 self.gmres = TACS.KSM(self.mat, self.pc, subspace, restarts) - self.gmres.setTolerances(self.linSolveRrtol, self.linSolveAtol) + self.gmres.setTolerances(self.linSolveRtol, self.linSolveAtol) # Create the function list self.func_list, self.func_ref = self.setup_funcs(self.assembler) @@ -154,7 +154,7 @@ def test_solve(self): linSolveRes = np.abs(np.real(self.gmres.getResidualNorm())) converged = ( linSolveRes < self.linSolveAtol - or linSolveRes < self.linSolveRrtol * np.real(self.res0.norm()) + or linSolveRes < self.linSolveRtol * np.real(self.res0.norm()) ) self.assertTrue(converged, "Linear solver did not converge") From 31475ea65cbb9261fd334bda5c6af26e17318742 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 11:35:18 -0500 Subject: [PATCH 047/174] Remove unnecessary abs --- tests/integration_tests/static_analysis_base_test.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/integration_tests/static_analysis_base_test.py b/tests/integration_tests/static_analysis_base_test.py index f21a409d5..516307bc0 100644 --- a/tests/integration_tests/static_analysis_base_test.py +++ b/tests/integration_tests/static_analysis_base_test.py @@ -151,7 +151,7 @@ def test_solve(self): func_vals = self.run_solve() # Test that linear solver residual is sufficiently small - linSolveRes = np.abs(np.real(self.gmres.getResidualNorm())) + linSolveRes = np.real(self.gmres.getResidualNorm()) converged = ( linSolveRes < self.linSolveAtol or linSolveRes < self.linSolveRtol * np.real(self.res0.norm()) From baec601f12fc749068de0fc4d15fbcfcb16647c4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 11:50:02 -0500 Subject: [PATCH 048/174] Make resNorm and iterCount getters virtual --- src/bpmat/KSM.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/bpmat/KSM.h b/src/bpmat/KSM.h index 010113701..905511d4c 100644 --- a/src/bpmat/KSM.h +++ b/src/bpmat/KSM.h @@ -268,8 +268,8 @@ class TACSKsm : public TACSObject { virtual int solve(TACSVec *b, TACSVec *x, int zero_guess = 1) = 0; virtual void setTolerances(double _rtol, double _atol) = 0; virtual void setMonitor(KSMPrint *_monitor) = 0; - inline int getIterCount() { return iterCount; } - inline TacsScalar getResidualNorm() { return resNorm; } + virtual int getIterCount() { return iterCount; } + virtual TacsScalar getResidualNorm() { return resNorm; } const char *getObjectName(); private: From 83e95132c4a51967d319f46bc0190c123b158990 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 19:49:30 -0500 Subject: [PATCH 049/174] Fix bug in nonlinear solver option passing --- tacs/problems/static.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 7cff8785b..dea7e9a0a 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -298,8 +298,11 @@ def __init__( self._createSolverHistory() solverOptions = {} + solverOptionNames = [ + name.lower() for name in tacs.solvers.NewtonSolver.defaultOptions + ] for key in self.options: - if key in tacs.solvers.NewtonSolver.defaultOptions: + if key.lower() in solverOptionNames: solverOptions[key] = self.getOption(key) self.nonlinearSolver = tacs.solvers.NewtonSolver( assembler=self.assembler, @@ -545,6 +548,8 @@ def setOption(self, name, value): if self.nonlinearSolver is not None: if name.lower() in self.nonlinearSolver.defaultOptions: self.nonlinearSolver.setOption(name, value) + elif name.lower() == "l2convergencerel": + self.nonlinearSolver.setOption("newtonSolverRelLinTol", value) # We need to create a new solver history object if the monitor variables have updated if name.lower() == "newtonsolvermonitorvars": From e72437719f4a08be58d5097a020acb7ad4af8f75 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 2 Mar 2023 19:53:08 -0500 Subject: [PATCH 050/174] Fix bugs in `NewtonSolver`, now produces same result as StaticProblem solver --- tacs/solvers/NewtonSolver.py | 33 +++++++++++++++++++++++---------- 1 file changed, 23 insertions(+), 10 deletions(-) diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/NewtonSolver.py index b186045c7..3a29f63c4 100644 --- a/tacs/solvers/NewtonSolver.py +++ b/tacs/solvers/NewtonSolver.py @@ -61,15 +61,15 @@ class NewtonSolver(BaseSolver): 1e10, "Residual norm at which the nonlinear solver is jugded to have diverged", ], - "newtonSolverAbsLinResTol": [float, 1e-12, "Linear solver residual tolerance."], - "newtonSolverRelLinResTol": [ + "newtonSolverAbsLinTol": [float, 1e-12, "Linear solver residual tolerance."], + "newtonSolverRelLinTol": [ float, 1e-12, "Linear solver relative residual tolerance.", ], "newtonSolverMaxLinIters": [ int, - 0, + 10, "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", ], "newtonSolverUseEW": [ @@ -204,7 +204,7 @@ def solve( # Linear solver convergence options USE_EW = self.getOption("newtonSolverUseEW") LIN_SOLVE_TOL_MAX = self.getOption("newtonSolverEWMaxTol") - LIN_SOLVE_TOL_MIN = self.getOption("L2ConvergenceRel") + LIN_SOLVE_TOL_MIN = self.getOption("newtonSolverRelLinTol") EW_ALPHA = self.getOption("newtonSolverEWAlpha") EW_GAMMA = self.getOption("newtonSolverEWGamma") linCovergenceRel = LIN_SOLVE_TOL_MAX if USE_EW else LIN_SOLVE_TOL_MIN @@ -221,7 +221,7 @@ def solve( for iteration in range(MAX_ITERS): self._iterationCount = iteration - # Compute residual + # Compute residual and norms self.resFunc(self.res) if iteration > 0: prevResNorm = resNorm @@ -241,10 +241,27 @@ def solve( linCovergenceRel = np.clip( linCovergenceRel, LIN_SOLVE_TOL_MIN, LIN_SOLVE_TOL_MAX ) + self.linearSolver.setTolerances( + float(linCovergenceRel), self.getOption("newtonSolverAbsLinTol") + ) # Write data to history + monitorVars = { + "SubIter": iteration, + "Res norm": resNorm, + "Rel res norm": resNorm / self.refNorm, + "U norm": uNorm, + "Flags": flags, + } + if iteration > 0: + monitorVars["Lin iters"] = linearSolveIterations + monitorVars["Lin res"] = np.abs(linearSolveResNorm) + monitorVars["LS step"] = alpha + monitorVars["LS iters"] = lineSearchIters + if USE_EW: + monitorVars["EW Tol"] = prevLinCovergenceRel if self.callback is not None: - self.callback(self, self.u, self.res, flags) + self.callback(self, self.u, self.res, monitorVars) flags = "" @@ -268,10 +285,6 @@ def solve( self.pcUpdateFunc() # Compute Newton step - self.setOption("newtonSolverRelLinResTol", float(linCovergenceRel)) - self.linearSolver.setTolerances( - self.getOption("newtonSolverAbsLinResTol"), float(linCovergenceRel) - ) linSolveConverged = self.linearSolver.solve(self.res, self.update) linSolveConverged = linSolveConverged == 1 self.update.scale(-1.0) From cbaf61c73c595f59feb9e84b9960b40a709c0efb Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sun, 19 Mar 2023 19:49:47 -0400 Subject: [PATCH 051/174] Static problem working with continuatiuon and newton solver classes --- tacs/problems/static.py | 612 +++++++++++------------------ tacs/solvers/BaseSolver.py | 47 ++- tacs/solvers/ContinuationSolver.py | 363 +++++++++++++++++ tacs/solvers/NewtonSolver.py | 155 ++++---- tacs/solvers/__init__.py | 7 +- 5 files changed, 729 insertions(+), 455 deletions(-) create mode 100644 tacs/solvers/ContinuationSolver.py diff --git a/tacs/problems/static.py b/tacs/problems/static.py index dea7e9a0a..3af8b3d75 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -92,6 +92,11 @@ class StaticProblem(TACSProblem): True, "Flag for suppressing all f5 file writing.", ], + "writeNLIterSolutions": [ + bool, + False, + "Flag to save a solution file at every nonlinear solver iterations.", + ], "numberSolutions": [ bool, True, @@ -103,143 +108,145 @@ class StaticProblem(TACSProblem): "Flag for printing out timing information for class procedures.", ], # Nonlinear continuation options - "continuationTargetIter": [ - int, - 8, - "Target number of Newton iterations for each continuation increment.", - ], - "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], - "continuationInitialStep": [float, 0.2, "Initial continuation step size."], - "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], - "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], - "continuationMinStepFactor": [ - float, - 0.5, - "The minimum factor by which the continuation step size can decrease in a single step.", - ], - "continuationMaxStepFactor": [ - float, - 2.0, - "The maximum factor by which the continuation step size can increase in a single step.", - ], - "continuationRetractionFactor": [ - float, - 0.5, - "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", - ], - # Predictor step options - "usePredictor": [bool, True, "Flag for using predictor step in continuation."], - "predictorNumStates": [ - int, - 2, - "Number of previous equilibrium states to use in computing the predictor step.", - ], - "predictorUseDerivative": [ - bool, - False, - "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", - ], - # Newton solver options - "newtonSolverMonitorVars": [ - list, - [ - "linSolverIters", - "linSolverRes", - "lineSearchStep", - "lineSearchIters", - ], - "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", - ], - "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], - "newtonSolverAbsTol": [ - float, - 1e-8, - "Convergence criteria for the nonlinear residual norm.", - ], - "newtonSolverRelTol": [ - float, - 1e-8, - "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", - ], - "newtonSolverCoarseAbsTol": [ - float, - 1e-4, - "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", - ], - "newtonSolverCoarseRelTol": [ - float, - 1e-4, - "Relative residual norm criteria for intermediate load increments.", - ], - "newtonSolverDivergenceTol": [ - float, - 1e10, - "Residual norm at which the nonlinear solver is jugded to have diverged", - ], - "newtonSolverMaxLinIters": [ - int, - 0, - "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", - ], - "newtonSolverUseEW": [ - bool, - False, - "Flag for enabling use of variable linear solver convergence using the Eisenstat-Walker method.", - ], - "newtonSolverEWMaxTol": [ - float, - 0.01, - "Eisenstat-Walker max allowable linear solver tolerance.", - ], - "newtonSolverEWGamma": [float, 1.0, "Eisenstat-Walker gamma parameter."], - "newtonSolverEWAlpha": [ - float, - 0.5 * (1.0 + np.sqrt(5)), - "Eisenstat-Walker alpha parameter.", - ], - # Line search options - "useLineSearch": [ - bool, - True, - "Flag for using line search in the nonlinear solver.", - ], - "lineSearchMonitor": [ - bool, - False, - "Flag for printing out line search information.", - ], - "skipFirstNLineSearch": [ - int, - 0, - "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", - ], - "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], - "lineSearchExpectedDecrease": [ - float, - 1e-4, - "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", - ], - "lineSearchMaxStep": [ - float, - 2.0, - "Maximum step size for the linesearch, as a fraction of the Newton step", - ], - "lineSearchMinStep": [ - float, - 1e-2, - "Minimum step size for the linesearch, as a fraction of the Newton step", - ], - "lineSearchMaxStepChange": [ - float, - 0.5, - "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", - ], - "lineSearchFallbackStepLimit": [ - float, - 0.9, - "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", - ], + # "continuationTargetIter": [ + # int, + # 8, + # "Target number of Newton iterations for each continuation increment.", + # ], + # "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], + # "continuationInitialStep": [float, 0.2, "Initial continuation step size."], + # "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], + # "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], + # "continuationMinStepFactor": [ + # float, + # 0.5, + # "The minimum factor by which the continuation step size can decrease in a single step.", + # ], + # "continuationMaxStepFactor": [ + # float, + # 2.0, + # "The maximum factor by which the continuation step size can increase in a single step.", + # ], + # "continuationRetractionFactor": [ + # float, + # 0.5, + # "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", + # ], + # # Predictor step options + # "usePredictor": [bool, True, "Flag for using predictor step in continuation."], + # "predictorNumStates": [ + # int, + # 2, + # "Number of previous equilibrium states to use in computing the predictor step.", + # ], + # "predictorUseDerivative": [ + # bool, + # False, + # "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", + # ], + # # Newton solver options + # "newtonSolverMonitorVars": [ + # list, + # [ + # "linSolverIters", + # "linSolverRes", + # "lineSearchStep", + # "lineSearchIters", + # ], + # "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", + # ], + # "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], + # "newtonSolverAbsTol": [ + # float, + # 1e-8, + # "Convergence criteria for the nonlinear residual norm.", + # ], + # "newtonSolverRelTol": [ + # float, + # 1e-8, + # "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", + # ], + # "newtonSolverCoarseAbsTol": [ + # float, + # 1e-4, + # "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", + # ], + # "newtonSolverCoarseRelTol": [ + # float, + # 1e-4, + # "Relative residual norm criteria for intermediate load increments.", + # ], + # "newtonSolverDivergenceTol": [ + # float, + # 1e10, + # "Residual norm at which the nonlinear solver is jugded to have diverged", + # ], + # "newtonSolverMaxLinIters": [ + # int, + # 0, + # "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", + # ], + # "newtonSolverUseEW": [ + # bool, + # False, + # "Flag for enabling use of variable linear solver convergence using the Eisenstat-Walker method.", + # ], + # "newtonSolverEWMaxTol": [ + # float, + # 0.01, + # "Eisenstat-Walker max allowable linear solver tolerance.", + # ], + # "newtonSolverEWGamma": [float, 1.0, "Eisenstat-Walker gamma parameter."], + # "newtonSolverEWAlpha": [ + # float, + # 0.5 * (1.0 + np.sqrt(5)), + # "Eisenstat-Walker alpha parameter.", + # ], + # # Line search options + # "useLineSearch": [ + # bool, + # True, + # "Flag for using line search in the nonlinear solver.", + # ], + # "lineSearchMonitor": [ + # bool, + # False, + # "Flag for printing out line search information.", + # ], + # "skipFirstNLineSearch": [ + # int, + # 0, + # "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", + # ], + # "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], + # "lineSearchExpectedDecrease": [ + # float, + # 1e-4, + # "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", + # ], + # "lineSearchMaxStep": [ + # float, + # 2.0, + # "Maximum step size for the linesearch, as a fraction of the Newton step", + # ], + # "lineSearchMinStep": [ + # float, + # 1e-2, + # "Minimum step size for the linesearch, as a fraction of the Newton step", + # ], + # "lineSearchMaxStepChange": [ + # float, + # 0.5, + # "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", + # ], + # "lineSearchFallbackStepLimit": [ + # float, + # 0.9, + # "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", + # ], } + defaultOptions.update(tacs.solvers.NewtonSolver.defaultOptions) + defaultOptions.update(tacs.solvers.ContinuationSolver.defaultOptions) def __init__( self, @@ -293,10 +300,11 @@ def __init__( # Create problem-specific variables self._createVariables() - # Setup solver history object for nonlinear problems + # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: self._createSolverHistory() + # Create Newton solver, the inner solver for the continuation solver solverOptions = {} solverOptionNames = [ name.lower() for name in tacs.solvers.NewtonSolver.defaultOptions @@ -304,15 +312,39 @@ def __init__( for key in self.options: if key.lower() in solverOptionNames: solverOptions[key] = self.getOption(key) - self.nonlinearSolver = tacs.solvers.NewtonSolver( + + self.newtonSolver = tacs.solvers.NewtonSolver( assembler=self.assembler, - stateVec=self.u, - resVec=self.res, setStateFunc=self.setVariables, resFunc=self.getResidual, jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, linearSolver=self.KSM, + stateVec=self.u, + resVec=self.res, + options=solverOptions, + comm=self.comm, + ) + + # And now create the continuation solver + solverOptions = {} + solverOptionNames = [ + name.lower() for name in tacs.solvers.ContinuationSolver.defaultOptions + ] + for key in self.options: + if key.lower() in solverOptionNames: + solverOptions[key] = self.getOption(key) + + def getLoadScale(): + return self.loadScale + + self.nonlinearSolver = tacs.solvers.ContinuationSolver( + jacFunc=self.updateJacobian, + pcUpdateFunc=self.updatePreconditioner, + linearSolver=self.KSM, + setLambdaFunc=self.setLoadScale, + getLambdaFunc=getLoadScale, + innerSolver=self.newtonSolver, options=solverOptions, comm=self.comm, ) @@ -329,10 +361,10 @@ def _createSolverHistory(self): history = SolverHistory() # Define the variables to be stored in the history + # Continuation increment + history.addVariable("Increment", int, printVar=True) # Load scale - history.addVariable( - "Load scale", float, printVar="loadscale" in monitorVars - ) + history.addVariable("Lambda", float, printVar=True) # Newton solve iteration number history.addVariable("SubIter", int, printVar=True) # Einstat walker linear solver tolerance @@ -401,14 +433,6 @@ def _createVariables(self): self.externalForce = self.assembler.createVec() self.internalForce = self.assembler.createVec() - # Vectors used to compute extrapolate the equilibrium path during nonlinear solutions - self.equilibriumPathStates = [] - self.equilibriumPathLoadScales = [] - if self.isNonlinear and opt("usePredictor"): - for _ in range(opt("predictorNumStates")): - self.equilibriumPathStates.append(self.assembler.createVec()) - self.equilibriumPathLoadScales.append(None) - if self.isNonlinear: self.u_inc_start = self.assembler.createVec() @@ -1067,24 +1091,6 @@ def solve(self, Fext=None): return def solveNonlinear(self, Fext=None, maxLoadScale=1.0): - TARGET_ITERS = self.getOption("continuationTargetIter") - INIT_STEP = self.getOption("continuationInitialStep") - MIN_STEP = self.getOption("continuationMinStep") - MAX_STEP = self.getOption("continuationMaxStep") - MAX_INCREMENTS = self.getOption("continuationMaxIter") - MIN_STEP_FACTOR = self.getOption("continuationMinStepFactor") - MAX_STEP_FACTOR = self.getOption("continuationMaxStepFactor") - STEP_RETRACT_FACTOR = self.getOption("continuationRetractionFactor") - - ABS_TOL = self.getOption("newtonSolverAbsTol") - REL_TOL = self.getOption("newtonSolverRelTol") - COARSE_ABS_TOL = self.getOption("newtonSolverCoarseAbsTol") - COARSE_REL_TOL = self.getOption("newtonSolverCoarseRelTol") - - USE_PREDICTOR = self.getOption("usePredictor") - NUM_PREDICTOR_STATES = self.getOption("predictorNumStates") - PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") - # Compute the internal and external force components of the residual at the current point self.getForces( externalForceVec=self.externalForce, @@ -1093,111 +1099,65 @@ def solveNonlinear(self, Fext=None, maxLoadScale=1.0): ) self.initNorm = np.real(self.externalForce.norm()) - # We need to update the residual function handle used by the nonlinear solver based on the current external force vector - def resFunc(res): - self.getResidual(res, Fext=Fext) - - self.nonlinearSolver.resFunc = resFunc - self.nonlinearSolver.setRefNorm(self.initNorm) - self.nonlinearSolver.solve() - - # ============================================================================== - # Compute the initial load scale - # ============================================================================== - self.setLoadScale(min(maxLoadScale, INIT_STEP)) - loadStepDirection = 1 - - # If we're restarting from a previous solution we should compute the optimum load scale - # to restart from. This is done by computing the load scale that minimizes the work - # done by the resulting Newton step: - # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) - # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe - if np.real(self.u.norm()) > 0: - if self._stiffnessUpdateRequired: - self.updateJacobian() - if self._factorOnNext: - self.updatePreconditioner() - du_i = self.u - du_e = self.update - self.solveJacLinear(self.externalForce, du_e) - self.solveJacLinear(self.internalForce, du_i) - FeUe = self.externalForce.dot(du_e) - FeUi = self.externalForce.dot(du_i) - FiUe = self.internalForce.dot(du_e) - optLoadScale = (FeUi + FiUe) / (-2 * FeUe) - - if optLoadScale > 2 * maxLoadScale or optLoadScale < 0.0: - # If the optimum load scale is more than double the max load scale we're aiming for, or if it's - # negative then the loading/structure has changed so much that we'll be closer to the final - # solution if we just reset the displacements to zero and start the solver from there - self.zeroVariables() - optLoadScale = self.loadScale - elif np.abs(optLoadScale - self.loadScale) < 1e-2: - # If the optimum load scale is close to the max load scale then we'll just use the max load scale - optLoadScale = maxLoadScale - else: - # Otherwise choose the maximum of the ideal load scale and the default initial load scale - optLoadScale = max(optLoadScale, self.loadScale) - # If the optimum load scale is greater than the max we want to get to then we need to reverse the - # direction of load incrementation - if optLoadScale > maxLoadScale: - loadStepDirection = -1 - - self.setLoadScale(optLoadScale) - - stepSize = INIT_STEP - # Reset the solver history if self.rank == 0: self.history.reset(clearMetadata=True) self.history.addMetadata("Options", self.options) self.history.addMetadata("Name", self.name) - for increment in range(MAX_INCREMENTS): - self._info( - f"Continuation Increment {increment + 1}, Load Scale: {self.loadScale:.3f}", - box=True, - maxLen=100, - ) - # Save displacement at start of this increment, this is what - # we'll reset to if the increment diverges - self.u_inc_start.copyValues(self.u) - - # --- Compute predictor step --- - # TODO: Add predictor computation here - if self.loadScale == maxLoadScale: - rtol = REL_TOL - atol = ABS_TOL - else: - rtol = COARSE_REL_TOL - atol = COARSE_ABS_TOL - success, numIters = self.newtonSolve(Fext=Fext, rtol=rtol, atol=atol) - - # --- Check convergence --- - if not success: - # If the Newton solve failed then we'll reduce the step size and try again - self.setVariables(self.u_inc_start) - self.setLoadScale(self.loadScale - stepSize * loadStepDirection) - stepSize *= STEP_RETRACT_FACTOR - else: - if self.loadScale == maxLoadScale: - break - else: - stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) - stepSize *= np.clip( - stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR - ) - if USE_PREDICTOR: - stateToOverwrite = self.equilibriumPathStates.pop(0) - stateToOverwrite.copyValues(self.u) - self.equilibriumPathStates.append(stateToOverwrite) + # We need to update the residual function handle used by the nonlinear solver based on the current external force vector + def resFunc(res): + self.getResidual(res, Fext=Fext) - self.equilibriumPathLoadScales.pop(0) - self.equilibriumPathLoadScales.append(self.loadScale) + self.nonlinearSolver.resFunc = resFunc + self.nonlinearSolver.setRefNorm(self.initNorm) + self.nonlinearSolver.solve() - maxStep = min(np.abs(maxLoadScale - self.loadScale), MAX_STEP) - stepSize = np.clip(stepSize, MIN_STEP, maxStep) - self.setLoadScale(self.loadScale + loadStepDirection * stepSize) + # for increment in range(MAX_INCREMENTS): + # self._info( + # f"Continuation Increment {increment + 1}, Load Scale: {self.loadScale:.3f}", + # box=True, + # maxLen=100, + # ) + # # Save displacement at start of this increment, this is what + # # we'll reset to if the increment diverges + # self.u_inc_start.copyValues(self.u) + + # # --- Compute predictor step --- + # # TODO: Add predictor computation here + # if self.loadScale == maxLoadScale: + # rtol = REL_TOL + # atol = ABS_TOL + # else: + # rtol = COARSE_REL_TOL + # atol = COARSE_ABS_TOL + # success, numIters = self.newtonSolve(Fext=Fext, rtol=rtol, atol=atol) + + # # --- Check convergence --- + # if not success: + # # If the Newton solve failed then we'll reduce the step size and try again + # self.setVariables(self.u_inc_start) + # self.setLoadScale(self.loadScale - stepSize * loadStepDirection) + # stepSize *= STEP_RETRACT_FACTOR + # else: + # if self.loadScale == maxLoadScale: + # break + # else: + # stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) + # stepSize *= np.clip( + # stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR + # ) + # if USE_PREDICTOR: + # stateToOverwrite = self.equilibriumPathStates.pop(0) + # stateToOverwrite.copyValues(self.u) + # self.equilibriumPathStates.append(stateToOverwrite) + + # self.equilibriumPathLoadScales.pop(0) + # self.equilibriumPathLoadScales.append(self.loadScale) + + # maxStep = min(np.abs(maxLoadScale - self.loadScale), MAX_STEP) + # stepSize = np.clip(stepSize, MIN_STEP, maxStep) + # self.setLoadScale(self.loadScale + loadStepDirection * stepSize) def _nonlinearCallback(self, solver, u, res, monitorVars): """Callback function to be called by the nonlinear solver at each iteration @@ -1214,123 +1174,18 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): Dictionary of variables to monitor, the values the solver should include can be specified through the ``"newtonSolverMonitorVars"`` option. """ - iteration = solver.iterationCount + iteration = 0 if self.rank == 0: - self.history.write(monitorVars) + # Figure out the increment and subiteration number + iteration = self.history.getIter() + self.comm.bcast(iteration, root=self.rank) if iteration % 50 == 0: self.history.printHeader() + self.history.write(monitorVars) self.history.printData() - def newtonSolve(self, Fext=None, atol=None, rtol=None): - USE_LINESEARCH = self.getOption("useLineSearch") - LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") - MAX_ITERS = self.getOption("newtonSolverMaxIter") - MAX_RES = self.getOption("newtonSolverDivergenceTol") - MAX_LIN_ITERS = self.getOption("newtonSolverMaxLinIters") - - # Linear solver convergence options - USE_EW = self.getOption("newtonSolverUseEW") - LIN_SOLVE_TOL_MAX = self.getOption("newtonSolverEWMaxTol") - LIN_SOLVE_TOL_MIN = self.getOption("L2ConvergenceRel") - EW_ALPHA = self.getOption("newtonSolverEWAlpha") - EW_GAMMA = self.getOption("newtonSolverEWGamma") - linCovergenceRel = LIN_SOLVE_TOL_MAX if USE_EW else LIN_SOLVE_TOL_MIN - - if atol is None: - atol = self.getOption("newtonSolverAbsTol") - if rtol is None: - rtol = self.getOption("newtonSolverRelTol") - - flags = "" - - for iteration in range(MAX_ITERS): - # TODO: Write output file here based on option - # self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) - - # Compute residual - self.getResidual(self.res, Fext=Fext) - if iteration > 0: - prevResNorm = resNorm - resNorm = self.res.norm() - uNorm = self.u.norm() - - prevLinCovergenceRel = linCovergenceRel - if USE_EW: - # Compute linear solver convergence tolerance using Einstat-Walker method b) - if iteration > 0: - zeta = EW_GAMMA * np.real(resNorm / prevResNorm) ** EW_ALPHA - threshold = EW_GAMMA * prevLinCovergenceRel**EW_ALPHA - if threshold <= 0.1: - linCovergenceRel = zeta - else: - linCovergenceRel = max(zeta, threshold) - linCovergenceRel = np.clip( - linCovergenceRel, LIN_SOLVE_TOL_MIN, LIN_SOLVE_TOL_MAX - ) - - # Write data to history - histData = { - "SubIter": iteration, - "Load scale": self.loadScale, - "Res norm": resNorm, - "Rel res norm": resNorm / self.initNorm, - "U norm": uNorm, - "Flags": flags, - } - if iteration > 0: - histData["Lin iters"] = linearSolveIterations - histData["Lin res"] = np.abs(linearSolveResNorm) - histData["LS step"] = alpha - histData["LS iters"] = lineSearchIters - if USE_EW: - histData["EW Tol"] = prevLinCovergenceRel - if self.rank == 0: - self.history.write(histData) - if iteration % 50 == 0: - self.history.printHeader() - self.history.printData() - - flags = "" - - # Test convergence (exit if converged/diverged) - hasConverged = ( - np.real(resNorm) / np.real(self.initNorm) < rtol - or np.real(resNorm) < atol - ) - hasDiverged = np.real(resNorm) >= MAX_RES - if hasConverged or hasDiverged: - break - - # Update Jacobian - self.updateJacobian() - if iteration > 0 and linearSolveIterations <= MAX_LIN_ITERS: - self._factorOnNext = False - else: - flags += "P" - self.updatePreconditioner() - - # Compute Newton step - self.setOption("L2ConvergenceRel", float(linCovergenceRel)) - linSolveConverged = self.solveJacLinear(self.res, self.update) - self.update.scale(-1.0) - - # Check data from linear solve - linearSolveIterations = self.KSM.getIterCount() - linearSolveResNorm = self.KSM.getResidualNorm() - - if USE_LINESEARCH and iteration >= LINESEARCH_SKIP_ITERS: - # Do linesearch - alpha, lineSearchIters = self.energyLineSearch( - self.u, self.update, Fext=Fext - ) - else: - alpha = 1.0 - lineSearchIters = 1 - self.u.axpy(alpha, self.update) - self.assembler.setVariables(self.u) - self._stiffnessUpdateRequired = True - - return hasConverged, iteration + if self.getOption("writeNLIterSolutions"): + self.writeSolution(baseName=f"{self.name}-nlIter", number=iteration) def energyLineSearch(self, u, stepDir, Fext=None, slope=None): MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") @@ -1970,6 +1825,7 @@ def getForces(self, externalForceVec, internalForceVec, Fext=None): self.getResidual(internalForceVec, Fext) self.setLoadScale(1.0) self.getResidual(externalForceVec, Fext) + self.setLoadScale(loadScale) # Compute internal forces if isinstance(internalForceVec, tacs.TACS.Vec): diff --git a/tacs/solvers/BaseSolver.py b/tacs/solvers/BaseSolver.py index 059bf5b3f..2c3cc6e3a 100644 --- a/tacs/solvers/BaseSolver.py +++ b/tacs/solvers/BaseSolver.py @@ -50,18 +50,19 @@ def __init__( Vector to store the residual in, by default the solver will create it's own but these can be passed to save additional allocations options : dict, optional Dictionary holding solver-specific option parameters (case-insensitive)., by default None - comm : _type_, optional + comm : mpi4py.MPI.Intracomm, optional The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD """ BaseUI.__init__(self, options, comm) self.assembler = assembler self.setStateFunc = setStateFunc self.resFunc = resFunc - self.u = stateVec if stateVec is not None else self.assembler.createVec() - self.res = resVec if resVec is not None else self.assembler.createVec() + self.stateVec = stateVec if stateVec is not None else self.assembler.createVec() + self.resVec = resVec if resVec is not None else self.assembler.createVec() self.refNorm = 1.0 self._hasConverged = False + self._fatalFailure = False self._iterationCount = 0 self.callback = None @@ -71,9 +72,12 @@ def hasConverged(self) -> bool: return self._hasConverged @property - def hasFailed(self) -> bool: - """Whether the solver has failed, set as a property rather than an attribute so that it is read-only""" - return not self._hasConverged + def fatalFailure(self) -> bool: + """Whether the solver has failed, set as a property rather than an attribute so that it is read-only + + Note that a fatalFailure is not the same as not converging, this flag is meant to reflect that there has been a fatal failure in the solver which requires a full reset + """ + return self._fatalFailure @property def iterationCount(self) -> int: @@ -95,6 +99,37 @@ def solve( The problem's state is updated with the solution whether or not this is provided. """ + @abc.abstractmethod + def setConvergenceTolerance( + self, absTol: Optional[float] = None, relTol: Optional[float] = None + ) -> None: + """Set the convergence tolerance of the solver + + Parameters + ---------- + absTol : float, optional + Absolute tolerance, not changed if no value is provided + relTol : float, optional + Relative tolerance, not changed if no value is provided + """ + + def initializeSolve(self) -> None: + """Perform any initialization required before the solve + + In the base solver class, this simply involves resetting the iteration counter and convergence flags + """ + self._iterationCount = 0 + self._hasConverged = False + self._fatalFailure = False + + def reset(self) -> None: + """Reset the solver + + Currently this just zeros out the state vector, but more functionality may be added in future + """ + self.stateVec.zeroEntries() + self.setStateFunc(self.stateVec) + def setRefNorm(self, norm: float) -> None: """Set the reference norm used to compute relative convergence measures diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py new file mode 100644 index 000000000..34690f7e4 --- /dev/null +++ b/tacs/solvers/ContinuationSolver.py @@ -0,0 +1,363 @@ +""" +============================================================================== +TACS Nonlinear Continuation Solver +============================================================================== +@Author : Alasdair Christison Gray +@Description : A predictor-corrector force continuation solver for nonlinear TACS problems +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +from typing import Optional, Callable + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +import mpi4py + +# ============================================================================== +# Extension modules +# ============================================================================== +import tacs.TACS +from tacs.solvers import BaseSolver + + +class ContinuationSolver(BaseSolver): + defaultOptions = { + "continuationMaxLambda": [ + float, + 1.0, + "Final continuation parameter value to aim for.", + ], + "continuationAbsTol": [ + float, + 1e-8, + "Convergence criteria for the nonlinear residual norm.", + ], + "continuationRelTol": [ + float, + 1e-8, + "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", + ], + "continuationCoarseAbsTol": [ + float, + 1e-4, + "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", + ], + "continuationCoarseRelTol": [ + float, + 1e-4, + "Relative residual norm criteria for intermediate load increments.", + ], + "continuationTargetIter": [ + int, + 8, + "Target number of Newton iterations for each continuation increment.", + ], + "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], + "continuationInitialStep": [float, 0.2, "Initial continuation step size."], + "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], + "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], + "continuationMinStepFactor": [ + float, + 0.5, + "The minimum factor by which the continuation step size can decrease in a single step.", + ], + "continuationMaxStepFactor": [ + float, + 2.0, + "The maximum factor by which the continuation step size can increase in a single step.", + ], + "continuationRetractionFactor": [ + float, + 0.5, + "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", + ], + # Predictor step options + "continuationUsePredictor": [ + bool, + False, + "Flag for using predictor step in continuation.", + ], + "continuationNumPredictorSates": [ + int, + 2, + "Number of previous equilibrium states to use in computing the predictor step.", + ], + "predictorUseDerivative": [ + bool, + False, + "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", + ], + } + + def __init__( + self, + jacFunc: Callable, + pcUpdateFunc: Callable, + linearSolver: tacs.TACS.KSM, + setLambdaFunc: Callable, + getLambdaFunc: Callable, + innerSolver: BaseSolver, + options: Optional[dict] = None, + comm: Optional[mpi4py.MPI.Comm] = None, + ) -> None: + """Create a continuation solver instance + + Parameters + ---------- + jacFunc : function + Function to update the residual Jacobian at the current state, with signature jacFunc() + pcUpdateFunc : function + Function to update the residual Jacobian preconditioner at the current state, with signature pcUpdateFunc() + linearSolver : tacs.TACS.KSM + TACS linear solver object to use for the Newton solve, the linear solver owns the matrix and preconditioner + setLambdaFunc : function + Function to set the continuation parameter, with signature setLambdaFunc(lambda:float) -> None + setLambdaFunc : function + Function to get the current continuation parameter, with signature getLambdaFunc() -> float + innerSolver : TACS Nonlinear Solver + A Solver object to use for the corrector solve in each increment (e.g a NewtonSolver object) + options : dict, optional + Dictionary holding solver-specific option parameters (case-insensitive)., by default None + comm : mpi4py.MPI.Intracomm, optional + The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + """ + + self.jacFunc = jacFunc + self.pcUpdateFunc = pcUpdateFunc + self.linearSolver = linearSolver + self.setLambdaFunc = setLambdaFunc + self.getLambdaFunc = getLambdaFunc + self.innerSolver = innerSolver + + self.equilibriumPathStates = None + self.equilibriumPathLoadScales = None + + BaseSolver.__init__( + self, + assembler=self.innerSolver.assembler, + setStateFunc=self.innerSolver.setStateFunc, + resFunc=self.innerSolver.resFunc, + stateVec=self.innerSolver.stateVec, + resVec=self.innerSolver.resVec, + options=options, + comm=comm, + ) + + # Create additional vectors + self.fInt = self.assembler.createVec() + self.fExt = self.assembler.createVec() + self.predictorStep = self.assembler.createVec() + self.incStartState = self.assembler.createVec() + + def _setupPredictorVectors(self) -> None: + """Setup the structures containing the data for computing the predictor steps""" + self.equilibriumPathStates = [] + self.equilibriumPathLoadScales = [] + if self.getOption("continuationUsePredictor"): + for _ in range(self.getOption("continuationNumPredictorSates")): + self.equilibriumPathStates.append(self.assembler.createVec()) + self.equilibriumPathLoadScales.append(None) + + def setOption(self, name, value) -> None: + BaseSolver.setOption(self, name, value) + + # Pass option to inner solver if it is a inner solver option + if name.lower() in self.innerSolver.defaultOptions: + self.innerSolver.setOption(name, value) + + # Update the predictor computation data structures if the relevant options are changed + if name in ["continuationUsePredictor", "continuationNumPredictorSates"]: + self._setupPredictorVectors() + + def setConvergenceTolerance( + self, absTol: Optional[float] = None, relTol: Optional[float] = None + ) -> None: + """Set the convergence tolerance of the solver + + Parameters + ---------- + absTol : float, optional + Absolute tolerance, not changed if no value is provided + relTol : float, optional + Relative tolerance, not changed if no value is provided + """ + if absTol is not None: + self.setOption("continuationAbsTol", absTol) + if relTol is not None: + self.setOption("continuationRelTol", relTol) + + return + + def solve( + self, u0: Optional[tacs.TACS.Vec] = None, result: Optional[tacs.TACS.Vec] = None + ) -> None: + MAX_LAMBDA = self.getOption("continuationMaxLambda") + TARGET_ITERS = self.getOption("continuationTargetIter") + INIT_STEP = self.getOption("continuationInitialStep") + MIN_STEP = self.getOption("continuationMinStep") + MAX_STEP = self.getOption("continuationMaxStep") + MAX_INCREMENTS = self.getOption("continuationMaxIter") + MIN_STEP_FACTOR = self.getOption("continuationMinStepFactor") + MAX_STEP_FACTOR = self.getOption("continuationMaxStepFactor") + STEP_RETRACT_FACTOR = self.getOption("continuationRetractionFactor") + + ABS_TOL = self.getOption("continuationAbsTol") + REL_TOL = self.getOption("continuationRelTol") + COARSE_ABS_TOL = self.getOption("continuationCoarseAbsTol") + COARSE_REL_TOL = self.getOption("continuationCoarseRelTol") + + USE_PREDICTOR = self.getOption("continuationUsePredictor") + # NUM_PREDICTOR_STATES = self.getOption("continuationNumPredictorSates") + # PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") + + self.initializeSolve() + + if u0 is not None: + self.stateVec.copyValues(u0) + + # Compute the internal and external forcing vectors at the current point + self.computeForceVectors() + self.setRefNorm(np.real(self.fExt.norm())) + + # ============================================================================== + # Compute the initial load scale + # ============================================================================== + self.setLambdaFunc(INIT_STEP) + loadStepDirection = 1 + + # If we're restarting from a previous solution we should compute the optimum load scale + # to restart from. This is done by computing the load scale that minimizes the work + # done by the resulting Newton step: + # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) + # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe + if np.real(self.stateVec.norm()) > 0: + self.jacFunc() + self.pcUpdateFunc() + du_i = self.stateVec + du_e = self.predictorStep + self.linearSolver.solve(self.fExt, du_e) + self.linearSolver.solve(self.fInt, du_i) + FeUe = self.fExt.dot(du_e) + FeUi = self.fExt.dot(du_i) + FiUe = self.fInt.dot(du_e) + optLoadScale = (FeUi + FiUe) / (-2 * FeUe) + + if optLoadScale > 2 * MAX_LAMBDA or optLoadScale < 0.0: + # If the optimum load scale is more than double the max load scale we're aiming for, or if it's + # negative then the loading/structure has changed so much that we'll be closer to the final + # solution if we just reset the displacements to zero and start the solver from there + self.stateVec.zeroEntries() + self.setStateFunc(self.stateVec) + optLoadScale = self.getLambdaFunc() + elif np.abs(optLoadScale - MAX_LAMBDA) < 1e-2: + # If the optimum load scale is close to the max load scale then we'll just use the max load scale + optLoadScale = MAX_LAMBDA + else: + # Otherwise choose the maximum of the ideal load scale and the default initial load scale + optLoadScale = max(optLoadScale, INIT_STEP) + # If the optimum load scale is greater than the max we want to get to then we need to reverse the + # direction of load incrementation + if optLoadScale > MAX_LAMBDA: + loadStepDirection = -1 + + self.setLambdaFunc(optLoadScale) + + stepSize = INIT_STEP + currentLambda = self.getLambdaFunc() + + for increment in range(MAX_INCREMENTS): + # Save displacement at start of this increment, this is what + # we'll reset to if the increment diverges + self.incStartState.copyValues(self.stateVec) + + # --- Compute predictor step --- + # TODO: Add predictor computation here + + # --- Call inner solver for corrector step --- + if currentLambda == MAX_LAMBDA: + rtol = REL_TOL + atol = ABS_TOL + else: + rtol = COARSE_REL_TOL + atol = COARSE_ABS_TOL + self.innerSolver.setConvergenceTolerance(absTol=atol, relTol=rtol) + + # Before calling the inner solver we need to create a wrapper around the user's callback function so that we can add some continuation information to the monitor variables + if self.callback is not None: + + def continuationcallBack(solver, u, res, monitorVars): + monitorVars["SubIter"] = solver.iterationCount + monitorVars["Increment"] = increment + monitorVars["Lambda"] = currentLambda + self.callback(solver, u, res, monitorVars) + + self.innerSolver.setCallback(continuationcallBack) + + self.innerSolver.setRefNorm(self.refNorm * currentLambda) + self.innerSolver.solve() + success = self.innerSolver.hasConverged + numIters = self.innerSolver.iterationCount + self._iterationCount += numIters + + # --- Check convergence --- + isLastIncrement = increment == MAX_INCREMENTS - 1 + if not success: + # If the inner solve failed then we'll reduce the step size and try again, unless we've hit the increment limit + if not isLastIncrement: + self.setStateFunc(self.incStartState) + currentLambda -= stepSize * loadStepDirection + self.setLambdaFunc(currentLambda) + stepSize *= STEP_RETRACT_FACTOR + else: + self._fatalFailure = self.innerSolver.fatalFailure + else: + # If inner solver converged and we're at the max load scale then we're done + if currentLambda == MAX_LAMBDA: + self._hasConverged = True + break + else: + stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) + stepSize *= np.clip( + stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR + ) + if USE_PREDICTOR: + stateToOverwrite = self.equilibriumPathStates.pop(0) + stateToOverwrite.copyValues(self.stateVec) + self.equilibriumPathStates.append(stateToOverwrite) + + self.equilibriumPathLoadScales.pop(0) + self.equilibriumPathLoadScales.append(currentLambda) + + maxStep = min(np.abs(MAX_LAMBDA - currentLambda), MAX_STEP) + stepSize = np.clip(stepSize, MIN_STEP, maxStep) + currentLambda += loadStepDirection * stepSize + self.setLambdaFunc(currentLambda) + + if result is not None: + result.copyValues(self.stateVec) + + return + + def computeForceVectors(self) -> None: + """Compute the current forcing vector + + The continuation solver is based on the assumption that the residual takes the following form: + + r(u, lambda) = F_int(u) + lambda * F_ext(u, lambda) + + This function computes fInt and fExt using two residual evaluations at lambda=0 and lambda=1: + f_int = r(u, 0) + f_ext = r(u, 1) - f_int + """ + currentLambda = self.getLambdaFunc() + self.setLambdaFunc(0.0) + self.resFunc(self.fInt) + self.setLambdaFunc(1.0) + self.resFunc(self.fExt) + self.fExt.axpy(-1.0, self.fInt) + self.setLambdaFunc(currentLambda) + return diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/NewtonSolver.py index 3a29f63c4..ec8ab5810 100644 --- a/tacs/solvers/NewtonSolver.py +++ b/tacs/solvers/NewtonSolver.py @@ -1,8 +1,9 @@ """ ============================================================================== -TACS Newton Solver +TACS Nonlinear Newton Solver ============================================================================== -@Description : A Newton solver for pyTACS +@Author : Alasdair Christison Gray +@Description : A Newton solver for nonlinear TACS problems """ # ============================================================================== @@ -46,16 +47,6 @@ class NewtonSolver(BaseSolver): 1e-8, "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", ], - "newtonSolverCoarseAbsTol": [ - float, - 1e-4, - "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", - ], - "newtonSolverCoarseRelTol": [ - float, - 1e-4, - "Relative residual norm criteria for intermediate load increments.", - ], "newtonSolverDivergenceTol": [ float, 1e10, @@ -69,7 +60,7 @@ class NewtonSolver(BaseSolver): ], "newtonSolverMaxLinIters": [ int, - 10, + 0, "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", ], "newtonSolverUseEW": [ @@ -135,13 +126,13 @@ class NewtonSolver(BaseSolver): def __init__( self, assembler: tacs.TACS.Assembler, - stateVec: tacs.TACS.Vec, - resVec: tacs.TACS.Vec, setStateFunc: Callable, resFunc: Callable, jacFunc: Callable, pcUpdateFunc: Callable, linearSolver: tacs.TACS.KSM, + stateVec: Optional[tacs.TACS.Vec] = None, + resVec: Optional[tacs.TACS.Vec] = None, options: Optional[dict] = None, comm: Optional[mpi4py.MPI.Comm] = None, ) -> None: @@ -151,27 +142,34 @@ def __init__( ---------- assembler : tacs.TACS.Assembler TACS assembler object related to the problem being solved, required in order for the solver to create it's own vectors - stateVec : tacs.TACS.Vec - Vector to store the state in - resVec : tacs.TACS.Vec - Vector to store the residual in setStateFunc : function - Function to set the state vector, with signature setStateFunc(stateVec: tacs.TACS.Vec) + Function to set the state vector, with signature setStateFunc(stateVec: tacs.TACS.Vec) -> None resFunc : function - Function to evaluate the residual at the current state, with signature resFunc(resVec: tacs.TACS.Vec) + Function to evaluate the residual at the current state, with signature resFunc(resVec: tacs.TACS.Vec) -> None jacFunc : function - Function to update the residual Jacobian at the current state, with signature jacFunc() + Function to update the residual Jacobian at the current state, with signature jacFunc() -> None pcUpdateFunc : function - Function to update the residual Jacobian preconditioner at the current state, with signature pcUpdateFunc() + Function to update the residual Jacobian preconditioner at the current state, with signature pcUpdateFunc() -> None linearSolver : tacs.TACS.KSM TACS linear solver object to use for the Newton solve, the linear solver owns the matrix and preconditioner + stateVec : tacs.TACS.Vec, optional + Vector to store the state in, by default the solver will create it's own but these can be passed to save additional allocations + resVec : tacs.TACS.Vec, optional + Vector to store the residual in, by default the solver will create it's own but these can be passed to save additional allocations options : dict, optional Dictionary holding solver-specific option parameters (case-insensitive)., by default None - comm : _type_, optional + comm : mpi4py.MPI.Intracomm, optional The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD """ BaseSolver.__init__( - self, assembler, setStateFunc, resFunc, stateVec, resVec, options, comm + self, + assembler=assembler, + setStateFunc=setStateFunc, + resFunc=resFunc, + stateVec=stateVec, + resVec=resVec, + options=options, + comm=comm, ) self.jacFunc = jacFunc self.pcUpdateFunc = pcUpdateFunc @@ -180,7 +178,23 @@ def __init__( # Create additional vectors self.update = self.assembler.createVec() - # self.lineSe + def setConvergenceTolerance( + self, absTol: Optional[float] = None, relTol: Optional[float] = None + ) -> None: + """Set the convergence tolerance of the solver + + Parameters + ---------- + absTol : float, optional + Absolute tolerance, not changed if no value is provided + relTol : float, optional + Relative tolerance, not changed if no value is provided + """ + if absTol is not None: + self.setOption("newtonSolverAbsTol", absTol) + if relTol is not None: + self.setOption("newtonSolverRelTol", relTol) + return def solve( self, u0: Optional[tacs.TACS.Vec] = None, result: Optional[tacs.TACS.Vec] = None @@ -212,38 +226,34 @@ def solve( ABS_TOL = self.getOption("newtonSolverAbsTol") REL_TOL = self.getOption("newtonSolverRelTol") + self.initializeSolve() + flags = "" - self._hasConverged = False if u0 is not None: - self.u.copyValues(u0) + self.stateVec.copyValues(u0) for iteration in range(MAX_ITERS): self._iterationCount = iteration + prevLinCovergenceRel = linCovergenceRel # Compute residual and norms - self.resFunc(self.res) + self.resFunc(self.resVec) if iteration > 0: prevResNorm = resNorm - resNorm = self.res.norm() - uNorm = self.u.norm() + resNorm = self.resVec.norm() + uNorm = self.stateVec.norm() - prevLinCovergenceRel = linCovergenceRel - if USE_EW: - # Compute linear solver convergence tolerance using Einstat-Walker method b) - if iteration > 0: - zeta = EW_GAMMA * np.real(resNorm / prevResNorm) ** EW_ALPHA - threshold = EW_GAMMA * prevLinCovergenceRel**EW_ALPHA - if threshold <= 0.1: - linCovergenceRel = zeta - else: - linCovergenceRel = max(zeta, threshold) - linCovergenceRel = np.clip( - linCovergenceRel, LIN_SOLVE_TOL_MIN, LIN_SOLVE_TOL_MAX - ) - self.linearSolver.setTolerances( - float(linCovergenceRel), self.getOption("newtonSolverAbsLinTol") - ) + # Test convergence + self._hasConverged = ( + np.real(resNorm) / np.real(self.refNorm) < REL_TOL + or np.real(resNorm) < ABS_TOL + ) + self._hasFailed = np.real(resNorm) >= MAX_RES or np.isnan(resNorm) + if self._hasConverged: + flags += "C" + elif self.fatalFailure: + flags += "D" # Write data to history monitorVars = { @@ -261,31 +271,42 @@ def solve( if USE_EW: monitorVars["EW Tol"] = prevLinCovergenceRel if self.callback is not None: - self.callback(self, self.u, self.res, monitorVars) + self.callback(self, self.stateVec, self.resVec, monitorVars) flags = "" - # Test convergence (exit if converged/diverged) - self._hasConverged = ( - np.real(resNorm) / np.real(self.refNorm) < REL_TOL - or np.real(resNorm) < ABS_TOL - ) - hasDiverged = np.real(resNorm) >= MAX_RES - if self._hasConverged or hasDiverged: + # exit if converged/diverged + if self.hasConverged or self.fatalFailure: break # Update Jacobian self.jacFunc() - # Update preconditioner, or skip if linear solve converged in few enough iterations + # Update preconditioner, or skip if last linear solve converged in few enough iterations if iteration > 0 and linearSolveIterations <= MAX_LIN_ITERS: pass else: flags += "P" self.pcUpdateFunc() + # Update linear solver convergence tolerance using Einstat-Walker method b) + if USE_EW: + if iteration > 0: + zeta = EW_GAMMA * np.real(resNorm / prevResNorm) ** EW_ALPHA + threshold = EW_GAMMA * prevLinCovergenceRel**EW_ALPHA + if threshold <= 0.1: + linCovergenceRel = zeta + else: + linCovergenceRel = max(zeta, threshold) + linCovergenceRel = np.clip( + linCovergenceRel, LIN_SOLVE_TOL_MIN, LIN_SOLVE_TOL_MAX + ) + self.linearSolver.setTolerances( + float(linCovergenceRel), self.getOption("newtonSolverAbsLinTol") + ) + # Compute Newton step - linSolveConverged = self.linearSolver.solve(self.res, self.update) + linSolveConverged = self.linearSolver.solve(self.resVec, self.update) linSolveConverged = linSolveConverged == 1 self.update.scale(-1.0) @@ -295,15 +316,17 @@ def solve( if USE_LINESEARCH and iteration >= LINESEARCH_SKIP_ITERS: # Do linesearch - alpha, lineSearchIters = self.energyLineSearch(self.u, self.update) + alpha, lineSearchIters = self.energyLineSearch( + self.stateVec, self.update + ) else: alpha = 1.0 lineSearchIters = 1 - self.u.axpy(alpha, self.update) - self.setStateFunc(self.u) + self.stateVec.axpy(alpha, self.update) + self.setStateFunc(self.stateVec) if result is not None: - result.copyValues(self.u) + result.copyValues(self.stateVec) def energyLineSearch(self, u, stepDir, Fext=None, slope=None): MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") @@ -317,8 +340,8 @@ def energyLineSearch(self, u, stepDir, Fext=None, slope=None): # Compute residual and merit function at u0 self.setStateFunc(u) - self.resFunc(self.res) - f0 = np.real(self.res.dot(stepDir)) + self.resFunc(self.resVec) + f0 = np.real(self.resVec.dot(stepDir)) fOld = f0 alphaOld = 0.0 uNorm = u.norm() @@ -336,13 +359,13 @@ def energyLineSearch(self, u, stepDir, Fext=None, slope=None): self.setStateFunc(u) # 5. Compute residual, $r = r(u)$ - self.resFunc(self.res) + self.resFunc(self.resVec) # 6. Compute merit function, $f(\alpha)=f(u, r, \Delta u)$ - fNew = np.real(self.res.dot(stepDir)) + fNew = np.real(self.resVec.dot(stepDir)) # 7. if $abs(f(\alpha)) \leq \mu f_0 + \alpha f'_0$: - # 1. exit + # exit uNorm = u.norm() if self.rank == 0 and PRINT_LINESEARCH_ITERS: print( diff --git a/tacs/solvers/__init__.py b/tacs/solvers/__init__.py index 5e1ec0366..015efbd51 100644 --- a/tacs/solvers/__init__.py +++ b/tacs/solvers/__init__.py @@ -2,9 +2,6 @@ from .NewtonSolver import NewtonSolver -# from .ContinuationSolver import ContinuationSolver +from .ContinuationSolver import ContinuationSolver -__all__ = [ - "NewtonSolver", - # "ContinuationSolver" -] +__all__ = ["NewtonSolver", "ContinuationSolver"] From 184d32a4aedc6ab4bed73a62bbbb55dfa308023b Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 20 Mar 2023 17:55:13 -0400 Subject: [PATCH 052/174] Fix dumb issue in `_nonlinearCallback` --- tacs/problems/static.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 3af8b3d75..4751b2857 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1001,7 +1001,6 @@ def solve(self, Fext=None): startTime = time.time() self.callCounter += 1 - setupProblemTime = time.time() # Set problem vars to assembler @@ -1110,6 +1109,7 @@ def resFunc(res): self.getResidual(res, Fext=Fext) self.nonlinearSolver.resFunc = resFunc + self.newtonSolver.resFunc = resFunc self.nonlinearSolver.setRefNorm(self.initNorm) self.nonlinearSolver.solve() @@ -1176,16 +1176,17 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): """ iteration = 0 if self.rank == 0: - # Figure out the increment and subiteration number + # Figure out the iteration number iteration = self.history.getIter() - self.comm.bcast(iteration, root=self.rank) if iteration % 50 == 0: self.history.printHeader() self.history.write(monitorVars) self.history.printData() + self.comm.bcast(iteration, root=0) + if self.getOption("writeNLIterSolutions"): - self.writeSolution(baseName=f"{self.name}-nlIter", number=iteration) + self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) def energyLineSearch(self, u, stepDir, Fext=None, slope=None): MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") From 084b8fde50e6567235e9d99e505c017286608ffb Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:26:33 -0400 Subject: [PATCH 053/174] Add nonlinear shell regression test --- .../input_files/quarterHemisphere.bdf | 584 ++++++++++++++++++ .../test_shell_hemisphere_nonlinear.py | 192 ++++++ 2 files changed, 776 insertions(+) create mode 100644 tests/integration_tests/input_files/quarterHemisphere.bdf create mode 100644 tests/integration_tests/test_shell_hemisphere_nonlinear.py diff --git a/tests/integration_tests/input_files/quarterHemisphere.bdf b/tests/integration_tests/input_files/quarterHemisphere.bdf new file mode 100644 index 000000000..ba6de986d --- /dev/null +++ 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The problem +is taken from section 3.4 of "Popular benchmark problems for geometric +nonlinear analysis of shells" by Sze et al +(https://doi.org/10.1016/j.finel.2003.11.001). +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +import os + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +from mpi4py import MPI +from pprint import pprint + +# ============================================================================== +# Extension modules +# ============================================================================== +from tacs import pyTACS, constitutive, elements, functions +from pytacs_analysis_base_test import PyTACSTestCase + +base_dir = os.path.dirname(os.path.abspath(__file__)) +bdf_file = os.path.join(base_dir, "./input_files/quarterHemisphere.bdf") + + +class ProblemTest(PyTACSTestCase.PyTACSTest): + N_PROCS = 2 # this is how many MPI processes to use for this TestCase. + + FUNC_REFS = { + "RadialForces_Compliance": 121.37975434927841, + "RadialForces_KSFailure": 0.09375588756570011, + "RadialForces_MaxYDisp": 0.23012106687058378, + "RadialForces_MaxZDisp": 2.3202346529634763, + } + + def setup_tacs_problems(self, comm): + """ + Setup pytacs object for problems we will be testing. + """ + + # Overwrite default check values + if self.dtype == complex: + self.rtol = 1e-8 + self.atol = 1e-8 + self.dh = 1e-50 + else: + self.rtol = 2e-1 + self.atol = 1e-3 + self.dh = 1e-6 + + E = 6.825e7 # Young's modulus + NU = 0.3 # Poisson's ratio + RHO = 1.0 # density + YIELD_STRESS = 1.0 # yield stress + THICKNESS = 0.04 # Shell thickness + STRAIN_TYPE = "nonlinear" + ROTATION_TYPE = "quadratic" + + elementType = None + if STRAIN_TYPE == "linear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4Shell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4ShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4ShellQuaternion + elif STRAIN_TYPE == "nonlinear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4NonlinearShell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4NonlinearShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4NonlinearShellQuaternion + + if elementType is None: + raise RuntimeError( + "Invalid element type, check STRAIN_TYPE and ROTATION_TYPE." + ) + + # ============================================================================== + # Create pyTACS Assembler and problems + # ============================================================================== + structOptions = { + "printtiming": True, + "isNonlinear": STRAIN_TYPE != "linear" or ROTATION_TYPE != "linear", + } + FEAAssembler = pyTACS(bdf_file, options=structOptions, comm=comm) + + def elemCallBack( + dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs + ): + matProps = constitutive.MaterialProperties( + rho=RHO, E=E, nu=NU, YS=YIELD_STRESS + ) + con = constitutive.IsoShellConstitutive( + matProps, + t=THICKNESS, + tNum=dvNum, + tlb=1e-2 * THICKNESS, + tub=1e2 * THICKNESS, + ) + transform = None + element = elementType(transform, con) + tScale = [50.0] + return element, tScale + + FEAAssembler.initialize(elemCallBack) + + probOptions = { + "continuationInitialStep": 1.0, + "newtonSolverMaxIter": 50, + "newtonSolverUseEW": True, + "nRestarts": 3, + "subSpaceSize": 20, + "newtonSolverMonitorVars": [ + "lambda", + "linsolveriters", + "linsolverres", + "EWTol", + "linesearchstep", + "linesearchiters", + ], + "newtonSolverMaxLinIters": 10, + } + problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) + + # ============================================================================== + # Find tip force points + # ============================================================================== + bdfInfo = FEAAssembler.getBDFInfo() + # cross-reference bdf object to use some of pynastran's advanced features + bdfInfo.cross_reference() + nodeCoords = bdfInfo.get_xyz_in_coord() + nastranNodeNums = list(bdfInfo.node_ids) + loadPoints = np.array([[10.0, 0.0, 0.0], [0.0, 10.0, 0.0]]) + loadPointNodeIDs = [] + for ii in range(loadPoints.shape[0]): + # find the closest node to the load point + dists = np.linalg.norm(nodeCoords - loadPoints[ii, :], axis=1) + closestNode = np.argmin(dists) + loadPointNodeIDs.append(nastranNodeNums[closestNode]) + + # ============================================================================== + # Add tip loads + # ============================================================================== + PMax = 400.0 + nodalForces = np.array( + [[-PMax / 2, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, PMax / 2, 0.0, 0.0, 0.0, 0.0]] + ) + problem.addLoadToNodes(loadPointNodeIDs, nodalForces, nastranOrdering=True) + + # ============================================================================== + # Add functions + # ============================================================================== + + # KS approximation of the maximum failure value + problem.addFunction( + "KSFailure", functions.KSFailure, ksWeight=80.0, ftype="discrete" + ) + + # Maximum displacement in the y and z-directions (KS with a very large weight to get a true max) + problem.addFunction( + "MaxYDisp", + functions.KSDisplacement, + direction=np.array([0.0, 1.0, 0.0]), + ksWeight=1e20, + ftype="discrete", + ) + + problem.addFunction( + "MaxZDisp", + functions.KSDisplacement, + direction=np.array([0.0, 0.0, 1.0]), + ksWeight=1e20, + ftype="discrete", + ) + + # Compliance + problem.addFunction("Compliance", functions.Compliance) + + return [problem], FEAAssembler From ae23b22c930433f16bfb62a04d38ff5b65d21bc6 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:26:48 -0400 Subject: [PATCH 054/174] Fix bug in problem __init__ --- tacs/problems/base.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index 41ef5e21d..5397e3f99 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -28,6 +28,7 @@ def __init__( meshLoader=None, isNonlinear=False, ): + self._isNonlinear = isNonlinear # TACS assembler object self.assembler = assembler # TACS F5 output writer @@ -52,8 +53,6 @@ def __init__( # Setup comm and options BaseUI.__init__(self, options=options, comm=comm) - self._isNonlinear = isNonlinear - return @property From 77bd90c82ad39bb5abc0b45fc5342b1b800c0318 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:27:09 -0400 Subject: [PATCH 055/174] Only create solver history if static problem is nonlinear --- tacs/problems/static.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 4751b2857..de058c884 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -576,7 +576,7 @@ def setOption(self, name, value): self.nonlinearSolver.setOption("newtonSolverRelLinTol", value) # We need to create a new solver history object if the monitor variables have updated - if name.lower() == "newtonsolvermonitorvars": + if self.isNonlinear and name.lower() == "newtonsolvermonitorvars": self._createSolverHistory() @property From 5af3658efb6354bf691826d6efbf9549b2b6a5a0 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:27:27 -0400 Subject: [PATCH 056/174] Add test for solution history file writing --- tests/integration_tests/pytacs_analysis_base_test.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/tests/integration_tests/pytacs_analysis_base_test.py b/tests/integration_tests/pytacs_analysis_base_test.py index bf2beeb4a..a66aa74a9 100644 --- a/tests/integration_tests/pytacs_analysis_base_test.py +++ b/tests/integration_tests/pytacs_analysis_base_test.py @@ -213,6 +213,8 @@ def test_write_solution(self): prob.solve() # Write solution prob.writeSolution(outputDir=tmp_dir_name) + if prob.isNonlinear and isinstance(prob, problems.StaticProblem): + prob.writeSolutionHistory(outputDir=tmp_dir_name) if self.comm.rank == 0: # Loop through each problem and make sure solution file exists @@ -224,6 +226,12 @@ def test_write_solution(self): self.assertTrue( os.path.exists(f5_file), msg=f"{f5_file} exists" ) + if prob.isNonlinear: + history_file = f"{base_name}.pkl" + self.assertTrue( + os.path.exists(history_file), + msg=f"{history_file} exists", + ) else: if isinstance(prob, problems.TransientProblem): num_steps = prob.getNumTimeSteps() + 1 From befff13809a4693de89959dfd0aa7e4d42865945 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:28:57 -0400 Subject: [PATCH 057/174] Unignore bdf files used for regression tests --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index c4f4a4b44..6a3d14fa5 100644 --- a/.gitignore +++ b/.gitignore @@ -24,6 +24,7 @@ extern/ *.h5 *.f5 *.bdf +!tests/integration_tests/input_files/*.bdf *.su2 *.tar.gz *.png From f0bc030734daf39c8e4aa7a015d488e4a5257060 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:29:17 -0400 Subject: [PATCH 058/174] Add nonlinear annular shell example --- examples/nonlinear_annulus/analysis.py | 180 ++++++++++++++++++ .../nonlinear_annulus/generate_annulus.py | 139 ++++++++++++++ 2 files changed, 319 insertions(+) create mode 100644 examples/nonlinear_annulus/analysis.py create mode 100755 examples/nonlinear_annulus/generate_annulus.py diff --git a/examples/nonlinear_annulus/analysis.py b/examples/nonlinear_annulus/analysis.py new file mode 100644 index 000000000..3fc389eb2 --- /dev/null +++ b/examples/nonlinear_annulus/analysis.py @@ -0,0 +1,180 @@ +""" +============================================================================== +Large deformation annular shell +============================================================================== +@File : analysis.py +@Date : 2023/01/25 +@Author : Alasdair Christison Gray +@Description : This code runs a geometrically nonlinear analysis of a +annular shell subject to vertical forces at one end. The problem +is taken from section 3.3 of "Popular benchmark problems for geometric +nonlinear analysis of shells" by Sze et al +(https://doi.org/10.1016/j.finel.2003.11.001). +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +import os + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +from mpi4py import MPI +from pprint import pprint + +# ============================================================================== +# Extension modules +# ============================================================================== +from tacs import pyTACS, constitutive, elements, functions + + +# ============================================================================== +# Constants +# ============================================================================== +COMM = MPI.COMM_WORLD +BDF_FILE = os.path.join(os.path.dirname(__file__), "annulus.bdf") +E = 21e6 # Young's modulus +NU = 0.0 # Poisson's ratio +RHO = 1.0 # density +YIELD_STRESS = 1.0 # yield stress +THICKNESS = 0.03 # Shell thickness + +STRAIN_TYPE = "nonlinear" +ROTATION_TYPE = "quadratic" + +elementType = None +if STRAIN_TYPE == "linear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4Shell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4ShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4ShellQuaternion +elif STRAIN_TYPE == "nonlinear": + if ROTATION_TYPE == "linear": + elementType = elements.Quad4NonlinearShell + elif ROTATION_TYPE == "quadratic": + elementType = elements.Quad4NonlinearShellModRot + elif ROTATION_TYPE == "quaternion": + elementType = elements.Quad4NonlinearShellQuaternion + +if elementType is None: + raise RuntimeError("Invalid element type, check STRAIN_TYPE and ROTATION_TYPE.") + +# ============================================================================== +# Create pyTACS Assembler and problems +# ============================================================================== +structOptions = { + "printtiming": True, + "isNonlinear": STRAIN_TYPE != "linear" or ROTATION_TYPE != "linear", +} +FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) + + +def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + con = constitutive.IsoShellConstitutive( + matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS + ) + transform = None + element = elementType(transform, con) + tScale = [50.0] + return element, tScale + + +FEAAssembler.initialize(elemCallBack) + +probOptions = { + "continuationInitialStep": 0.1, + "newtonSolverMaxIter": 50, + "newtonSolverUseEW": True, + "nRestarts": 3, + "subSpaceSize": 20, + "newtonSolverMonitorVars": [ + "lambda", + "linsolveriters", + "linsolverres", + "EWTol", + "linesearchstep", + "linesearchiters", + ], + "newtonSolverMaxLinIters": 10, + "writeNLIterSolutions": True, + "skipFirstNLineSearch": 1, + "continuationTargetIter": 20, +} +problem = FEAAssembler.createStaticProblem("Annulus", options=probOptions) + + +# ============================================================================== +# Find tip force points +# ============================================================================== +bdfInfo = FEAAssembler.getBDFInfo() +# cross-reference bdf object to use some of pynastran's advanced features +bdfInfo.cross_reference() +nodeCoords = bdfInfo.get_xyz_in_coord() +nastranNodeNums = list(bdfInfo.node_ids) +SPCNodeIDs = bdfInfo.get_SPCx_node_ids(1) + +# The load points lie along the theta = 0 axis, however just searching for points along this axis will return +# both ends of the annulus as it covers a full 360 degrees. So we need to exclude any nodes that are subject to SPC's +nodeTheta = np.arctan2(nodeCoords[:, 1], nodeCoords[:, 0]) +loadPointNodeIDs = np.argwhere(nodeTheta == 0.0).flatten() + 1 +loadPointNodeIDs = [ii for ii in loadPointNodeIDs if ii not in SPCNodeIDs] + +# ============================================================================== +# Add tip loads +# ============================================================================== +PMax = 0.8 # force per length +# Now we need to compute the nodal forces due to the line load, the nodes at the inner and outer radius will be subject to half the load of the other nodes +nodeRadius = np.linalg.norm(nodeCoords, axis=1) +innerRadius = np.min(nodeRadius) +outerRadius = np.max(nodeRadius) +totalForce = PMax * (outerRadius - innerRadius) +loadPointFactors = [ + 1.0 + if nodeRadius[ii - 1] <= (innerRadius + 1e-4) + or nodeRadius[ii - 1] >= (outerRadius - 1e-4) + else 2.0 + for ii in loadPointNodeIDs +] +factorSum = np.sum(loadPointFactors) + +nodalForces = np.zeros((len(loadPointNodeIDs), 6)) +nodalForces[:, 2] = totalForce * np.array(loadPointFactors) / factorSum +problem.addLoadToNodes(loadPointNodeIDs, nodalForces, nastranOrdering=True) + +# ============================================================================== +# Add functions +# ============================================================================== + +# KS approximation of the maximum failure value +problem.addFunction("KSFailure", functions.KSFailure, ksWeight=80.0, ftype="discrete") + +# Maximum displacement in the z-direction (KS with a very large weight to get a true max) +problem.addFunction( + "MaxZDisp", + functions.KSDisplacement, + direction=np.array([0.0, 0.0, 1.0]), + ksWeight=1e20, + ftype="discrete", +) + +# Compliance +problem.addFunction("Compliance", functions.Compliance) + +# ============================================================================== +# Solve all problems and evaluate functions +# ============================================================================== +funcs = {} +funcsSens = {} +problem.solve() +problem.evalFunctions(funcs) +problem.evalFunctionsSens(funcsSens) +problem.writeSolution(outputDir=os.path.dirname(__file__)) +problem.writeSolutionHistory(outputDir=os.path.dirname(__file__)) + +if COMM.rank == 0: + pprint(funcs) diff --git a/examples/nonlinear_annulus/generate_annulus.py b/examples/nonlinear_annulus/generate_annulus.py new file mode 100755 index 000000000..6107c689b --- /dev/null +++ b/examples/nonlinear_annulus/generate_annulus.py @@ -0,0 +1,139 @@ +from __future__ import print_function +import numpy as np +import argparse + +parser = argparse.ArgumentParser() +parser.add_argument( + "--ne1", type=int, default=10, help="# elements in radial direction" +) +parser.add_argument( + "--ne2", type=int, default=80, help="# elements incircumferential direction" +) +args = parser.parse_args() + +# Overall dimensions +Ri = 6.0 +Ro = 10.0 + + +# Number of elements along each edge of a single panel +ne1 = args.ne1 +ne2 = args.ne2 + +np1 = 1 +np2 = 1 + +# Nodes +n1 = ne1 + 1 +n2 = ne2 + 1 +r = np.linspace(Ri, Ro, n1) +theta = np.linspace(0, 2 * np.pi, n2) +R, Theta = np.meshgrid(r, theta) +X = np.zeros_like(R) +Y = np.zeros_like(R) +Z = np.zeros_like(R) + +# Node numbering +nid = np.zeros((n2, n1), dtype="intc") +bcnodes = [] +count = 1 +for i in range(n2): + for j in range(n1): + nid[i, j] = count + # Compute node location on annulus + R = r[j] + t = theta[i] + X[i, j] = R * np.cos(t) + Y[i, j] = -R * np.sin(t) + Z[i, j] = 0.0 + if i == 0: + bcnodes.append({"nodenum": count, "fixedDOF": "123456"}) + count += 1 +nodes = np.stack((X, Y, Z), axis=2) +nmat = nodes.reshape((n1 * n2, 3)) + +# Connectivity +ne1 = n1 - 1 +ne2 = n2 - 1 +ne = ne1 * ne2 +ncomp = 1 +conn = {i + 1: [] for i in range(ncomp)} +ie = 1 +for i in range(ne2): + for j in range(ne1): + compID = i // ne2 * np1 + j // ne1 + 1 + conn[compID].append( + [ie, nid[i, j], nid[i + 1, j], nid[i + 1, j + 1], nid[i, j + 1]] + ) + ie += 1 + + +# Write BDF +output_file = "annulus.bdf" +fout = open(output_file, "w") + + +def write_80(line): + newline = "{:80s}\n".format(line.strip("\n")) + fout.write(newline) + + +write_80("SOL 103") +write_80("CEND") +write_80("BEGIN BULK") + +# Make component names +compNames = {} +compID = 1 +for i in range(np2): + for j in range(np1): + compNames[compID] = "PLATE.{:03d}/SEG.{:02d}".format(i, j) + compID += 1 + + +def write_bulk_line(key, items, format="small"): + if format == "small": + width = 8 + writekey = key + elif format == "large": + width = 16 + writekey = key + "*" + line = "{:8s}".format(writekey) + for item in items: + if type(item) in [int, np.int64, np.int32]: + line += "{:{width}d}".format(item, width=width)[:width] + elif type(item) in [float, np.float64]: + line += "{: {width}f}".format(item, width=width)[:width] + elif type(item) is str: + line += "{:{width}s}".format(item, width=width)[:width] + else: + print(type(item), item) + if len(line) == 72: + write_80(line) + line = " " * 8 + if len(line) > 8: + write_80(line) + + +# Write nodes +for i in range(n1 * n2): + write_bulk_line("GRID", [i + 1, 0, nmat[i, 0], nmat[i, 1], nmat[i, 2], 0, 0, 0]) + +# Write elements +compID = 1 +for key in conn: + famPrefix = "$ Shell element data for family " + famString = "{}{:39s}".format(famPrefix, compNames[compID]) + write_80(famString) + compID += 1 + for element in conn[key]: + element.insert(1, key) + write_bulk_line("CQUAD4", element) + +# Write boundary conditions +for node in bcnodes: + write_bulk_line("SPC", [1, node["nodenum"], node["fixedDOF"], 0.0]) + +write_80("ENDDATA") + +fout.close() From 3184c493ffa7bca8ae1abd8012c6ae66763bb45d Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:29:33 -0400 Subject: [PATCH 059/174] Fix bug in hemisphere mesh generation --- .../generate_hemisphere.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/examples/nonlinear_hemisphere/generate_hemisphere.py b/examples/nonlinear_hemisphere/generate_hemisphere.py index 125e1eb9b..eae852f12 100755 --- a/examples/nonlinear_hemisphere/generate_hemisphere.py +++ b/examples/nonlinear_hemisphere/generate_hemisphere.py @@ -6,8 +6,10 @@ from scipy.spatial.transform import Rotation parser = argparse.ArgumentParser() -parser.add_argument("--ne1", type=int, default=16, help="# elements along panel width") -parser.add_argument("--ne2", type=int, default=16, help="# elements along panel depth") +parser.add_argument("--ne1", type=int, default=16, help="# elements from top to bottom") +parser.add_argument( + "--ne2", type=int, default=16, help="# elements around circumference" +) args = parser.parse_args() # Overall dimensions @@ -31,19 +33,19 @@ Z = np.zeros_like(Theta1) # Node numbering -nid = np.zeros((n1, n2), dtype="intc") +nid = np.zeros((n2, n1), dtype="intc") bcnodes = [] count = 1 for i in range(n2): Rz = Rotation.from_euler("z", theta2[i]) for j in range(n1): - nid[j, i] = count + nid[i, j] = count # Compute node location on hemisphere r = R * np.array([np.cos(theta1[j]), 0.0, np.sin(theta1[j])]) r = Rz.apply(r) - X[j, i] = r[0] - Y[j, i] = r[1] - Z[j, i] = r[2] + X[i, j] = r[0] + Y[i, j] = r[1] + Z[i, j] = r[2] if j == 0: if i == 0: bcnodes.append({"nodenum": count, "fixedDOF": "2346"}) @@ -66,7 +68,7 @@ for j in range(ne1): compID = i // ne2 * np1 + j // ne1 + 1 conn[compID].append( - [ie, nid[j, i], nid[j + 1, i], nid[j + 1, i + 1], nid[j, i + 1]] + [ie, nid[i, j], nid[i + 1, j], nid[i + 1, j + 1], nid[i, j + 1]] ) ie += 1 From d68ac5b78655968b5ea61161e0fdea2b14dab6b9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:30:45 -0400 Subject: [PATCH 060/174] Add .pkl files to gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 6a3d14fa5..fad407478 100644 --- a/.gitignore +++ b/.gitignore @@ -46,6 +46,7 @@ reports/ *.pxi *.vtk *.cfg +*.pkl .vscode .DS_Store .pre-commit-config.yaml From 0d284a54683514148e19f4a517fd79f58a2501dd Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:40:57 -0400 Subject: [PATCH 061/174] Tune annular shell example solver settings --- examples/nonlinear_annulus/analysis.py | 9 ++-- .../benchmark/benchmark_analysis.py | 42 +++++++++++++++++++ 2 files changed, 46 insertions(+), 5 deletions(-) create mode 100644 examples/nonlinear_annulus/benchmark/benchmark_analysis.py diff --git a/examples/nonlinear_annulus/analysis.py b/examples/nonlinear_annulus/analysis.py index 3fc389eb2..3d6dc1eb7 100644 --- a/examples/nonlinear_annulus/analysis.py +++ b/examples/nonlinear_annulus/analysis.py @@ -87,9 +87,9 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) probOptions = { - "continuationInitialStep": 0.1, + "continuationInitialStep": 0.05, "newtonSolverMaxIter": 50, - "newtonSolverUseEW": True, + # "newtonSolverUseEW": True, "nRestarts": 3, "subSpaceSize": 20, "newtonSolverMonitorVars": [ @@ -100,10 +100,9 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "linesearchstep", "linesearchiters", ], - "newtonSolverMaxLinIters": 10, - "writeNLIterSolutions": True, + # "newtonSolverMaxLinIters": 10, "skipFirstNLineSearch": 1, - "continuationTargetIter": 20, + "continuationTargetIter": 25, } problem = FEAAssembler.createStaticProblem("Annulus", options=probOptions) diff --git a/examples/nonlinear_annulus/benchmark/benchmark_analysis.py b/examples/nonlinear_annulus/benchmark/benchmark_analysis.py new file mode 100644 index 000000000..d45439e1c --- /dev/null +++ b/examples/nonlinear_annulus/benchmark/benchmark_analysis.py @@ -0,0 +1,42 @@ +""" +This script is used to regression test the example against historical values. +""" + +import numpy as np +import unittest +import sys +import os + +# Set the path to the example script we're testing +example_path = os.path.join(os.path.dirname(__file__), "..") +sys.path.append(example_path) + +# Reference values for eval functions +FUNC_REF = { + "Annulus_Compliance": 19.00178466211241, + "Annulus_KSFailure": 0.10786534506897062, + "Annulus_MaxZDisp": 12.519062474962869, +} + + +class ExampleBenchmark(unittest.TestCase): + N_PROCS = 1 # this is how many MPI processes to use for this TestCase. + + def setUp(self): + # Import the example to automatically run the script + import analysis + + self.example = analysis + + def benchmark_funcs(self): + """ + Test the example eval functions against reference values + """ + func_dict = self.example.funcs + + # Test functions values against historical values + for func_name in func_dict: + with self.subTest(function=func_name): + np.testing.assert_allclose( + func_dict[func_name], FUNC_REF[func_name], rtol=1e-6, atol=1e-6 + ) From b8c3a862261a6587f6b6fee5e9a8da0ad182aa2a Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 16:41:32 -0400 Subject: [PATCH 062/174] Update nonlinear hemisphere benchmark reference values --- .../nonlinear_hemisphere/benchmark/benchmark_analysis.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py b/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py index c4ae34f3a..f20f606ee 100644 --- a/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py +++ b/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py @@ -12,10 +12,11 @@ sys.path.append(example_path) # Reference values for eval functions -FUNC_REF = { - "RadialForces_Compliance": 4801.185364445089, - "RadialForces_KSFailure": 0.09494317198332766, - "RadialForces_MaxYDisp": 14.372827555055666, +FUNC_REFS = { + "RadialForces_Compliance": 121.37975434927841, + "RadialForces_KSFailure": 0.09375588756570011, + "RadialForces_MaxYDisp": 0.23012106687058378, + "RadialForces_MaxZDisp": 2.3202346529634763, } From 0617061867bed917b010ba4856d353a3a7ff8b9a Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 17:23:42 -0400 Subject: [PATCH 063/174] Fix history file test --- .../pytacs_analysis_base_test.py | 21 ++++++++++++------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/tests/integration_tests/pytacs_analysis_base_test.py b/tests/integration_tests/pytacs_analysis_base_test.py index a66aa74a9..75ed9dc8b 100644 --- a/tests/integration_tests/pytacs_analysis_base_test.py +++ b/tests/integration_tests/pytacs_analysis_base_test.py @@ -213,25 +213,30 @@ def test_write_solution(self): prob.solve() # Write solution prob.writeSolution(outputDir=tmp_dir_name) - if prob.isNonlinear and isinstance(prob, problems.StaticProblem): + if isinstance(prob, problems.StaticProblem): prob.writeSolutionHistory(outputDir=tmp_dir_name) if self.comm.rank == 0: - # Loop through each problem and make sure solution file exists + # Loop through each problem and make sure solution file exists and history file exists if static nonlinear problem for prob in self.tacs_probs: with self.subTest(problem=prob.name): base_name = os.path.join(tmp_dir_name, f"{prob.name}_000") if isinstance(prob, problems.StaticProblem): f5_file = f"{base_name}.f5" self.assertTrue( - os.path.exists(f5_file), msg=f"{f5_file} exists" + os.path.exists(f5_file), msg=f"{f5_file} not found" ) + history_file = f"{base_name}.pkl" if prob.isNonlinear: - history_file = f"{base_name}.pkl" - self.assertTrue( - os.path.exists(history_file), - msg=f"{history_file} exists", - ) + self.assertTrue( + os.path.exists(history_file), + msg=f"{history_file} not found", + ) + else: + self.assertFalse( + os.path.exists(history_file), + msg=f"{history_file} found but should not have been", + ) else: if isinstance(prob, problems.TransientProblem): num_steps = prob.getNumTimeSteps() + 1 From 56ef9788314145969d9ab6f871b2d9627947a4df Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 17:25:47 -0400 Subject: [PATCH 064/174] Cleanup static problem code, ensure Jacobian is refactored before adjoint in nonlinear case --- tacs/problems/static.py | 63 +++++++++++------------------------------ 1 file changed, 17 insertions(+), 46 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index de058c884..9b60bb9b1 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1089,7 +1089,7 @@ def solve(self, Fext=None): return - def solveNonlinear(self, Fext=None, maxLoadScale=1.0): + def solveNonlinear(self, Fext=None): # Compute the internal and external force components of the residual at the current point self.getForces( externalForceVec=self.externalForce, @@ -1113,51 +1113,9 @@ def resFunc(res): self.nonlinearSolver.setRefNorm(self.initNorm) self.nonlinearSolver.solve() - # for increment in range(MAX_INCREMENTS): - # self._info( - # f"Continuation Increment {increment + 1}, Load Scale: {self.loadScale:.3f}", - # box=True, - # maxLen=100, - # ) - # # Save displacement at start of this increment, this is what - # # we'll reset to if the increment diverges - # self.u_inc_start.copyValues(self.u) - - # # --- Compute predictor step --- - # # TODO: Add predictor computation here - # if self.loadScale == maxLoadScale: - # rtol = REL_TOL - # atol = ABS_TOL - # else: - # rtol = COARSE_REL_TOL - # atol = COARSE_ABS_TOL - # success, numIters = self.newtonSolve(Fext=Fext, rtol=rtol, atol=atol) - - # # --- Check convergence --- - # if not success: - # # If the Newton solve failed then we'll reduce the step size and try again - # self.setVariables(self.u_inc_start) - # self.setLoadScale(self.loadScale - stepSize * loadStepDirection) - # stepSize *= STEP_RETRACT_FACTOR - # else: - # if self.loadScale == maxLoadScale: - # break - # else: - # stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) - # stepSize *= np.clip( - # stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR - # ) - # if USE_PREDICTOR: - # stateToOverwrite = self.equilibriumPathStates.pop(0) - # stateToOverwrite.copyValues(self.u) - # self.equilibriumPathStates.append(stateToOverwrite) - - # self.equilibriumPathLoadScales.pop(0) - # self.equilibriumPathLoadScales.append(self.loadScale) - - # maxStep = min(np.abs(maxLoadScale - self.loadScale), MAX_STEP) - # stepSize = np.clip(stepSize, MIN_STEP, maxStep) - # self.setLoadScale(self.loadScale + loadStepDirection * stepSize) + # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve + self._factorOnNext = True + self._stiffnessUpdateRequired = True def _nonlinearCallback(self, solver, u, res, monitorVars): """Callback function to be called by the nonlinear solver at each iteration @@ -2081,6 +2039,19 @@ def writeSolution(self, outputDir=None, baseName=None, number=None): self.outputViewer.writeToFile(baseName + ".f5") def writeSolutionHistory(self, outputDir=None, baseName=None, number=None): + """Write the nonlinear solver history to a file + + Parameters + ---------- + outputDir : str or None + Use the supplied output directory + baseName : str or None + Use this supplied string for the base filename. Typically + only used from an external solver. + number : int or None + Use the user supplied number to index solution. Again, only + typically used from an external solver + """ # Figure out the output file base name baseName = self.getOutputFileName(outputDir, baseName, number) if self.history is not None: From a9abb71ecda786b931be5923375b482c7813893d Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 17:38:41 -0400 Subject: [PATCH 065/174] Ensure `optLoadScale` is real --- tacs/solvers/ContinuationSolver.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py index 34690f7e4..aa6d22100 100644 --- a/tacs/solvers/ContinuationSolver.py +++ b/tacs/solvers/ContinuationSolver.py @@ -241,9 +241,9 @@ def solve( du_e = self.predictorStep self.linearSolver.solve(self.fExt, du_e) self.linearSolver.solve(self.fInt, du_i) - FeUe = self.fExt.dot(du_e) - FeUi = self.fExt.dot(du_i) - FiUe = self.fInt.dot(du_e) + FeUe = np.real(self.fExt.dot(du_e)) + FeUi = np.real(self.fExt.dot(du_i)) + FiUe = np.real(self.fInt.dot(du_e)) optLoadScale = (FeUi + FiUe) / (-2 * FeUe) if optLoadScale > 2 * MAX_LAMBDA or optLoadScale < 0.0: From 98ee72c93bbe121cbdbebd5bf5e8e149fccc5da5 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 18:41:48 -0400 Subject: [PATCH 066/174] Make shell element test failure messages more helpful --- .../shell_tests/test_shell_element.py | 72 ++++++++++++++++--- 1 file changed, 64 insertions(+), 8 deletions(-) diff --git a/tests/element_tests/shell_tests/test_shell_element.py b/tests/element_tests/shell_tests/test_shell_element.py index aaaaa42fd..0747a1c25 100644 --- a/tests/element_tests/shell_tests/test_shell_element.py +++ b/tests/element_tests/shell_tests/test_shell_element.py @@ -5,6 +5,19 @@ from tacs import TACS, constitutive, elements +def generateTestFailMessage(element, transform, matType=None): + message = f"Failed test with element {element.__class__.__name__}, transform {transform.__class__.__name__}" + if matType is not None: + if matType == TACS.STIFFNESS_MATRIX: + matName = "stiffness" + if matType == TACS.MASS_MATRIX: + matName = "mass" + if matType == TACS.GEOMETRIC_STIFFNESS_MATRIX: + matName = "geometric stiffness" + message += f", {matName} matrix" + return message + + class ElementTest(unittest.TestCase): def setUp(self): max_nodes = 64 @@ -22,7 +35,7 @@ def setUp(self): # Basically, only check relative tolerance self.atol = 1e99 - self.print_level = 0 + self.print_level = 2 # Set element index self.elem_index = 0 @@ -138,7 +151,12 @@ def test_element_residual(self): self.atol, rtol, ) - self.assertFalse(fail) + self.assertFalse( + fail, + msg=generateTestFailMessage( + element=element, transform=transform + ), + ) def test_element_jacobian(self): # Loop through every combination of transform type and shell element class and test Jacobian @@ -161,7 +179,12 @@ def test_element_jacobian(self): self.atol, self.rtol, ) - self.assertFalse(fail) + self.assertFalse( + fail, + msg=generateTestFailMessage( + element=element, transform=transform + ), + ) def test_adj_res_product(self): # Loop through every combination of transform type and shell element class and test adjoint residual-dvsens product @@ -185,7 +208,12 @@ def test_adj_res_product(self): self.atol, self.rtol, ) - self.assertFalse(fail) + self.assertFalse( + fail, + msg=generateTestFailMessage( + element=element, transform=transform + ), + ) def test_adj_res_xpt_product(self): # Loop through every combination of transform type and shell element class and test adjoint residual-xptsens product @@ -207,7 +235,12 @@ def test_adj_res_xpt_product(self): self.atol, self.rtol, ) - self.assertFalse(fail) + self.assertFalse( + fail, + msg=generateTestFailMessage( + element=element, transform=transform + ), + ) def test_element_mat_dv_sens(self): # Loop through every combination of transform type and shell element class and element matrix inner product sens @@ -232,7 +265,12 @@ def test_element_mat_dv_sens(self): self.atol, self.rtol, ) - self.assertFalse(fail) + self.assertFalse( + fail, + msg=generateTestFailMessage( + element=element, transform=transform + ), + ) def test_element_mat_xpt_sens(self): # Loop through every combination of transform type and shell element class and element matrix inner product sens @@ -256,7 +294,14 @@ def test_element_mat_xpt_sens(self): self.atol, self.rtol, ) - self.assertFalse(fail) + self.assertFalse( + fail, + msg=generateTestFailMessage( + element=element, + transform=transform, + matType=matrix_type, + ), + ) def test_element_mat_sv_sens(self): # Loop through every combination of model and basis class and test element matrix inner product sens @@ -280,4 +325,15 @@ def test_element_mat_sv_sens(self): self.atol, self.rtol, ) - self.assertFalse(fail) + self.assertFalse( + fail, + msg=generateTestFailMessage( + element=element, + transform=transform, + matType=matrix_type, + ), + ) + + +if __name__ == "__main__": + unittest.main() From 15c0775595bb921591c7183419e9c853860468bd Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 18:51:14 -0400 Subject: [PATCH 067/174] Turn off excessive printout --- tests/element_tests/shell_tests/test_shell_element.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/element_tests/shell_tests/test_shell_element.py b/tests/element_tests/shell_tests/test_shell_element.py index 0747a1c25..ae3f43ef2 100644 --- a/tests/element_tests/shell_tests/test_shell_element.py +++ b/tests/element_tests/shell_tests/test_shell_element.py @@ -35,7 +35,7 @@ def setUp(self): # Basically, only check relative tolerance self.atol = 1e99 - self.print_level = 2 + self.print_level = 0 # Set element index self.elem_index = 0 From 78990360033648007f45d43736c8c64562dc526e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 18:56:08 -0400 Subject: [PATCH 068/174] Update some example meshes --- examples/nonlinear_annulus/annulus.bdf | 1707 ++++++++++++++++++ examples/nonlinear_hemisphere/hemisphere.bdf | 1056 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228 1 242 259 260 243 +CQUAD4 229 1 243 260 261 244 +CQUAD4 230 1 244 261 262 245 +CQUAD4 231 1 245 262 263 246 +CQUAD4 232 1 246 263 264 247 +CQUAD4 233 1 247 264 265 248 +CQUAD4 234 1 248 265 266 249 +CQUAD4 235 1 249 266 267 250 +CQUAD4 236 1 250 267 268 251 +CQUAD4 237 1 251 268 269 252 +CQUAD4 238 1 252 269 270 253 +CQUAD4 239 1 253 270 271 254 +CQUAD4 240 1 254 271 272 255 +CQUAD4 241 1 256 273 274 257 +CQUAD4 242 1 257 274 275 258 +CQUAD4 243 1 258 275 276 259 +CQUAD4 244 1 259 276 277 260 +CQUAD4 245 1 260 277 278 261 +CQUAD4 246 1 261 278 279 262 +CQUAD4 247 1 262 279 280 263 +CQUAD4 248 1 263 280 281 264 +CQUAD4 249 1 264 281 282 265 +CQUAD4 250 1 265 282 283 266 +CQUAD4 251 1 266 283 284 267 +CQUAD4 252 1 267 284 285 268 +CQUAD4 253 1 268 285 286 269 +CQUAD4 254 1 269 286 287 270 +CQUAD4 255 1 270 287 288 271 +CQUAD4 256 1 271 288 289 272 SPC 1 12346 0.00000 SPC 1 17156 0.00000 SPC 1 18246 0.00000 From 4483b5554fff4e2f5b5be0d705036d40e39cc8ce Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 21 Mar 2023 18:56:50 -0400 Subject: [PATCH 069/174] Tuning example solver settings --- examples/nonlinear_cantilever/analysis.py | 3 +-- examples/nonlinear_hemisphere/analysis.py | 17 +++++++++++++---- examples/nonlinear_skin_buckle/analysis.py | 6 ++++-- 3 files changed, 18 insertions(+), 8 deletions(-) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index d24d7ac11..447da8196 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -87,8 +87,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "printTiming": True, "skipFirstNLineSearch": 0, "newtonSolverCoarseRelTol": 1e-3, - "lineSearchMinStep": 0.1, - "continuationInitialStep": 1.0, + "continuationInitialStep": 0.1, } forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) momentProblem = FEAAssembler.createStaticProblem("TipMoment", options=probOptions) diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py index 47a8643c8..1e9504019 100644 --- a/examples/nonlinear_hemisphere/analysis.py +++ b/examples/nonlinear_hemisphere/analysis.py @@ -86,14 +86,13 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) probOptions = { - "printTiming": True, - "skipFirstNLineSearch": 0, "continuationInitialStep": 1.0, - "newtonSolverMaxIter": 100, + "newtonSolverMaxIter": 50, "newtonSolverUseEW": True, "nRestarts": 3, "subSpaceSize": 20, "newtonSolverMonitorVars": [ + "lambda", "linsolveriters", "linsolverres", "EWTol", @@ -101,6 +100,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "linesearchiters", ], "newtonSolverMaxLinIters": 10, + "printTiming": True, } problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) @@ -137,7 +137,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg # KS approximation of the maximum failure value problem.addFunction("KSFailure", functions.KSFailure, ksWeight=80.0, ftype="discrete") -# Maximum displacement in the z-direction (KS with a very large weight to get a true max) +# Maximum displacement in the y and z-directions (KS with a very large weight to get a true max) problem.addFunction( "MaxYDisp", functions.KSDisplacement, @@ -146,6 +146,14 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg ftype="discrete", ) +problem.addFunction( + "MaxZDisp", + functions.KSDisplacement, + direction=np.array([0.0, 0.0, 1.0]), + ksWeight=1e20, + ftype="discrete", +) + # Compliance problem.addFunction("Compliance", functions.Compliance) @@ -162,3 +170,4 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg if COMM.rank == 0: pprint(funcs) + pprint(funcsSens) diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index 3e6a7ad12..d3fd516f9 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -88,11 +88,13 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "printTiming": True, - "continuationInitialStep": 1.0, - "skipFirstNLineSearch": 1, + "continuationInitialStep": 0.25, + "newtonSolverMaxLinIters": 0, + "skipFirstNLineSearch": 0, "newtonSolverMaxIter": 100, "nRestarts": 3, "subSpaceSize": 20, + "writeNLIterSolutions": True, } problem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) From ac115943753d372cb6edbd1ce20579a64bcc3a85 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Mar 2023 16:32:54 -0400 Subject: [PATCH 070/174] Fix some bugs related to restarting the continuation solver from a previous solution --- tacs/solvers/ContinuationSolver.py | 23 ++++++++++++----------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py index aa6d22100..b58eeec5e 100644 --- a/tacs/solvers/ContinuationSolver.py +++ b/tacs/solvers/ContinuationSolver.py @@ -150,6 +150,8 @@ def __init__( # Create additional vectors self.fInt = self.assembler.createVec() self.fExt = self.assembler.createVec() + self.du_e = self.assembler.createVec() + self.du_i = self.assembler.createVec() self.predictorStep = self.assembler.createVec() self.incStartState = self.assembler.createVec() @@ -237,13 +239,11 @@ def solve( if np.real(self.stateVec.norm()) > 0: self.jacFunc() self.pcUpdateFunc() - du_i = self.stateVec - du_e = self.predictorStep - self.linearSolver.solve(self.fExt, du_e) - self.linearSolver.solve(self.fInt, du_i) - FeUe = np.real(self.fExt.dot(du_e)) - FeUi = np.real(self.fExt.dot(du_i)) - FiUe = np.real(self.fInt.dot(du_e)) + self.linearSolver.solve(self.fExt, self.du_e) + self.linearSolver.solve(self.fInt, self.du_i) + FeUe = np.real(self.fExt.dot(self.du_e)) + FeUi = np.real(self.fExt.dot(self.du_i)) + FiUe = np.real(self.fInt.dot(self.du_e)) optLoadScale = (FeUi + FiUe) / (-2 * FeUe) if optLoadScale > 2 * MAX_LAMBDA or optLoadScale < 0.0: @@ -320,10 +320,11 @@ def continuationcallBack(solver, u, res, monitorVars): self._hasConverged = True break else: - stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) - stepSize *= np.clip( - stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR - ) + if numIters != 0: + stepChangeFactor = np.sqrt(TARGET_ITERS / numIters) + stepSize *= np.clip( + stepChangeFactor, MIN_STEP_FACTOR, MAX_STEP_FACTOR + ) if USE_PREDICTOR: stateToOverwrite = self.equilibriumPathStates.pop(0) stateToOverwrite.copyValues(self.stateVec) From ce88cebd772d81391ad0321c1946371cc60e0a9b Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Mar 2023 16:33:25 -0400 Subject: [PATCH 071/174] Add guard against failed linear solves to NewtonSolver --- tacs/solvers/NewtonSolver.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/NewtonSolver.py index ec8ab5810..e8ee69597 100644 --- a/tacs/solvers/NewtonSolver.py +++ b/tacs/solvers/NewtonSolver.py @@ -308,6 +308,13 @@ def solve( # Compute Newton step linSolveConverged = self.linearSolver.solve(self.resVec, self.update) linSolveConverged = linSolveConverged == 1 + + # If we didn't converge because the preconditioner isn't up to date, update preconditioner and try again + if not linSolveConverged and "P" not in flags: + self.pcUpdateFunc() + flags += "P" + self.linearSolver.solve(self.resVec, self.update) + self.update.scale(-1.0) # Check data from linear solve From 2893cff87194295479fe45280c6c4bf25cc04993 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 22 Mar 2023 16:33:38 -0400 Subject: [PATCH 072/174] Fix some NewtonSolverTypos --- tacs/solvers/NewtonSolver.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/NewtonSolver.py index e8ee69597..c4ba9ce1e 100644 --- a/tacs/solvers/NewtonSolver.py +++ b/tacs/solvers/NewtonSolver.py @@ -249,7 +249,7 @@ def solve( np.real(resNorm) / np.real(self.refNorm) < REL_TOL or np.real(resNorm) < ABS_TOL ) - self._hasFailed = np.real(resNorm) >= MAX_RES or np.isnan(resNorm) + self._fatalFailure = np.real(resNorm) >= MAX_RES or np.isnan(resNorm) if self._hasConverged: flags += "C" elif self.fatalFailure: @@ -335,7 +335,7 @@ def solve( if result is not None: result.copyValues(self.stateVec) - def energyLineSearch(self, u, stepDir, Fext=None, slope=None): + def energyLineSearch(self, u, stepDir, slope=None): MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") From 45c9dd64c5bf68ba96cdb0304fb39ad4cd0fa030 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 18:20:01 -0400 Subject: [PATCH 073/174] Remove solver options from static problem --- tacs/problems/static.py | 137 ---------------------------------------- 1 file changed, 137 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 9b60bb9b1..c66a200c6 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -107,143 +107,6 @@ class StaticProblem(TACSProblem): False, "Flag for printing out timing information for class procedures.", ], - # Nonlinear continuation options - # "continuationTargetIter": [ - # int, - # 8, - # "Target number of Newton iterations for each continuation increment.", - # ], - # "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], - # "continuationInitialStep": [float, 0.2, "Initial continuation step size."], - # "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], - # "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], - # "continuationMinStepFactor": [ - # float, - # 0.5, - # "The minimum factor by which the continuation step size can decrease in a single step.", - # ], - # "continuationMaxStepFactor": [ - # float, - # 2.0, - # "The maximum factor by which the continuation step size can increase in a single step.", - # ], - # "continuationRetractionFactor": [ - # float, - # 0.5, - # "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", - # ], - # # Predictor step options - # "usePredictor": [bool, True, "Flag for using predictor step in continuation."], - # "predictorNumStates": [ - # int, - # 2, - # "Number of previous equilibrium states to use in computing the predictor step.", - # ], - # "predictorUseDerivative": [ - # bool, - # False, - # "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", - # ], - # # Newton solver options - # "newtonSolverMonitorVars": [ - # list, - # [ - # "linSolverIters", - # "linSolverRes", - # "lineSearchStep", - # "lineSearchIters", - # ], - # "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", - # ], - # "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], - # "newtonSolverAbsTol": [ - # float, - # 1e-8, - # "Convergence criteria for the nonlinear residual norm.", - # ], - # "newtonSolverRelTol": [ - # float, - # 1e-8, - # "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", - # ], - # "newtonSolverCoarseAbsTol": [ - # float, - # 1e-4, - # "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", - # ], - # "newtonSolverCoarseRelTol": [ - # float, - # 1e-4, - # "Relative residual norm criteria for intermediate load increments.", - # ], - # "newtonSolverDivergenceTol": [ - # float, - # 1e10, - # "Residual norm at which the nonlinear solver is jugded to have diverged", - # ], - # "newtonSolverMaxLinIters": [ - # int, - # 0, - # "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", - # ], - # "newtonSolverUseEW": [ - # bool, - # False, - # "Flag for enabling use of variable linear solver convergence using the Eisenstat-Walker method.", - # ], - # "newtonSolverEWMaxTol": [ - # float, - # 0.01, - # "Eisenstat-Walker max allowable linear solver tolerance.", - # ], - # "newtonSolverEWGamma": [float, 1.0, "Eisenstat-Walker gamma parameter."], - # "newtonSolverEWAlpha": [ - # float, - # 0.5 * (1.0 + np.sqrt(5)), - # "Eisenstat-Walker alpha parameter.", - # ], - # # Line search options - # "useLineSearch": [ - # bool, - # True, - # "Flag for using line search in the nonlinear solver.", - # ], - # "lineSearchMonitor": [ - # bool, - # False, - # "Flag for printing out line search information.", - # ], - # "skipFirstNLineSearch": [ - # int, - # 0, - # "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", - # ], - # "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], - # "lineSearchExpectedDecrease": [ - # float, - # 1e-4, - # "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", - # ], - # "lineSearchMaxStep": [ - # float, - # 2.0, - # "Maximum step size for the linesearch, as a fraction of the Newton step", - # ], - # "lineSearchMinStep": [ - # float, - # 1e-2, - # "Minimum step size for the linesearch, as a fraction of the Newton step", - # ], - # "lineSearchMaxStepChange": [ - # float, - # 0.5, - # "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", - # ], - # "lineSearchFallbackStepLimit": [ - # float, - # 0.9, - # "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", - # ], } defaultOptions.update(tacs.solvers.NewtonSolver.defaultOptions) defaultOptions.update(tacs.solvers.ContinuationSolver.defaultOptions) From a34311febed70c1868e378c722e81b37a82478ab Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 18:20:26 -0400 Subject: [PATCH 074/174] Fix bug in basesolver __init__ --- tacs/solvers/BaseSolver.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tacs/solvers/BaseSolver.py b/tacs/solvers/BaseSolver.py index 2c3cc6e3a..89936c370 100644 --- a/tacs/solvers/BaseSolver.py +++ b/tacs/solvers/BaseSolver.py @@ -53,7 +53,6 @@ def __init__( comm : mpi4py.MPI.Intracomm, optional The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD """ - BaseUI.__init__(self, options, comm) self.assembler = assembler self.setStateFunc = setStateFunc self.resFunc = resFunc @@ -65,6 +64,7 @@ def __init__( self._fatalFailure = False self._iterationCount = 0 self.callback = None + BaseUI.__init__(self, options, comm) @property def hasConverged(self) -> bool: From 60418576977f897bee4cdebbad5e33cbef6e74d0 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 18:23:28 -0400 Subject: [PATCH 075/174] Add predictor step to continuation solver --- tacs/solvers/ContinuationSolver.py | 68 +++++++++++++++++++++++++++--- 1 file changed, 63 insertions(+), 5 deletions(-) diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py index b58eeec5e..94d95c150 100644 --- a/tacs/solvers/ContinuationSolver.py +++ b/tacs/solvers/ContinuationSolver.py @@ -24,6 +24,33 @@ from tacs.solvers import BaseSolver +def lagrangeInterp(xKnown, yKnown, xQuery, yQuery): + """Interpolate an array using lagrange polynomials + + _extended_summary_ + + Parameters + ---------- + xKnown : iterable of length n + scalar x values of known points + yKnown : iterable of n np.ndarrays + arrays at known points + xQuery : float + x value to interpolate at + yQuery : np.ndarray + array to store interpolated result in + """ + numPoints = len(xKnown) + yQuery[:] = 0.0 + yTemp = np.zeros_like(yQuery) + for jj in range(numPoints): + yTemp[:] = 1.0 + for mm in range(numPoints): + if mm != jj: + yTemp[:] = yTemp[:] * (xQuery - xKnown[mm]) / (xKnown[jj] - xKnown[mm]) + yQuery[:] = yQuery[:] + yKnown[jj] * yTemp + + class ContinuationSolver(BaseSolver): defaultOptions = { "continuationMaxLambda": [ @@ -81,7 +108,7 @@ class ContinuationSolver(BaseSolver): False, "Flag for using predictor step in continuation.", ], - "continuationNumPredictorSates": [ + "continuationNumPredictorStates": [ int, 2, "Number of previous equilibrium states to use in computing the predictor step.", @@ -160,7 +187,7 @@ def _setupPredictorVectors(self) -> None: self.equilibriumPathStates = [] self.equilibriumPathLoadScales = [] if self.getOption("continuationUsePredictor"): - for _ in range(self.getOption("continuationNumPredictorSates")): + for _ in range(self.getOption("continuationNumPredictorStates")): self.equilibriumPathStates.append(self.assembler.createVec()) self.equilibriumPathLoadScales.append(None) @@ -172,7 +199,10 @@ def setOption(self, name, value) -> None: self.innerSolver.setOption(name, value) # Update the predictor computation data structures if the relevant options are changed - if name in ["continuationUsePredictor", "continuationNumPredictorSates"]: + if name.lower() in [ + "continuationusepredictor", + "continuationnumpredictorstates", + ]: self._setupPredictorVectors() def setConvergenceTolerance( @@ -194,6 +224,14 @@ def setConvergenceTolerance( return + def initializeSolve(self) -> None: + """Perform any initialization required before the solve""" + BaseSolver.initializeSolve(self) + if self.getOption("continuationUsePredictor"): + for ii in range(self.getOption("continuationNumPredictorStates")): + self.equilibriumPathLoadScales[ii] = None + self.equilibriumPathStates[ii].zeroEntries() + def solve( self, u0: Optional[tacs.TACS.Vec] = None, result: Optional[tacs.TACS.Vec] = None ) -> None: @@ -213,7 +251,6 @@ def solve( COARSE_REL_TOL = self.getOption("continuationCoarseRelTol") USE_PREDICTOR = self.getOption("continuationUsePredictor") - # NUM_PREDICTOR_STATES = self.getOption("continuationNumPredictorSates") # PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") self.initializeSolve() @@ -266,6 +303,11 @@ def solve( self.setLambdaFunc(optLoadScale) + # If starting from zero, we can assume that u=0, lambda=0 is an equilibrium state + if USE_PREDICTOR and self.stateVec.norm() == 0: + self.equilibriumPathLoadScales[-1] = 0.0 + self.equilibriumPathStates[-1].copyValues(self.stateVec) + stepSize = INIT_STEP currentLambda = self.getLambdaFunc() @@ -275,7 +317,23 @@ def solve( self.incStartState.copyValues(self.stateVec) # --- Compute predictor step --- - # TODO: Add predictor computation here + # TODO: Adapt this to enable use of equilibrium path slope + # We only compute a predictor step if we have at least 3 equilibrium states so that we can do a nonlinear extrapolation + numValidPredictorStates = sum( + [1 for x in self.equilibriumPathLoadScales if x is not None] + ) + if numValidPredictorStates > 2: + stateArrays = [ + x.getArray() + for x in self.equilibriumPathStates[-numValidPredictorStates:] + ] + lagrangeInterp( + self.equilibriumPathLoadScales[-numValidPredictorStates:], + stateArrays, + currentLambda, + self.stateVec.getArray(), + ) + self.setStateFunc(self.stateVec) # --- Call inner solver for corrector step --- if currentLambda == MAX_LAMBDA: From c6006c7c3344da07b5930bae42f96a9d0277c64b Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 18:47:41 -0400 Subject: [PATCH 076/174] Remove some relative imports --- tacs/problems/modal.py | 2 +- tacs/problems/static.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tacs/problems/modal.py b/tacs/problems/modal.py index 40d4a1d3d..0cf9a849a 100644 --- a/tacs/problems/modal.py +++ b/tacs/problems/modal.py @@ -15,7 +15,7 @@ import numpy as np import tacs.TACS -from .base import TACSProblem +from tacs.problems.base import TACSProblem class ModalProblem(TACSProblem): diff --git a/tacs/problems/static.py b/tacs/problems/static.py index c66a200c6..f58b31643 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -21,7 +21,7 @@ import tacs.TACS import tacs.elements import tacs.solvers -from .base import TACSProblem +from tacs.problems.base import TACSProblem from tacs.utilities import SolverHistory From f79d3ccdb7552e5fc92a6cdd3323fdcc8d19c516 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 19:23:58 -0400 Subject: [PATCH 077/174] Move solverHistory reset to `_initializeSolve` --- tacs/problems/static.py | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index f58b31643..49a300b42 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -847,6 +847,13 @@ def _initializeSolve(self): self.updateJacobian() self.updatePreconditioner() + if self.isNonlinear: + # Reset the solver history + if self.rank == 0: + self.history.reset(clearMetadata=True) + self.history.addMetadata("Options", self.options) + self.history.addMetadata("Name", self.name) + def solve(self, Fext=None): """ Solution of the static problem for current load set. The @@ -961,12 +968,6 @@ def solveNonlinear(self, Fext=None): ) self.initNorm = np.real(self.externalForce.norm()) - # Reset the solver history - if self.rank == 0: - self.history.reset(clearMetadata=True) - self.history.addMetadata("Options", self.options) - self.history.addMetadata("Name", self.name) - # We need to update the residual function handle used by the nonlinear solver based on the current external force vector def resFunc(res): self.getResidual(res, Fext=Fext) @@ -1835,6 +1836,10 @@ def setVariables(self, states): # Set states to assembler self.assembler.setVariables(self.u) + # If this is a nonlinear problem then changing the state variables will change the jacobian + if self.isNonlinear: + self._stiffnessUpdateRequired = True + def getOutputFileName(self, outputDir=None, baseName=None, number=None): """Figure out a base path/name for output files From 09f6c463a5718e49f3702d815dc8136f367e695c Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 19:24:34 -0400 Subject: [PATCH 078/174] Add inner solver default options to continuation solver default options --- tacs/solvers/ContinuationSolver.py | 1 + 1 file changed, 1 insertion(+) diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py index 94d95c150..80930e8ed 100644 --- a/tacs/solvers/ContinuationSolver.py +++ b/tacs/solvers/ContinuationSolver.py @@ -159,6 +159,7 @@ def __init__( self.setLambdaFunc = setLambdaFunc self.getLambdaFunc = getLambdaFunc self.innerSolver = innerSolver + self.defaultOptions.update(innerSolver.defaultOptions) self.equilibriumPathStates = None self.equilibriumPathLoadScales = None From 76be2e64183b6d44674744bec3764e2803be3626 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 19:24:52 -0400 Subject: [PATCH 079/174] Add continuation solver docs page --- docs/source/pytacs/ContinuationSolver.rst | 19 +++++++++++++++++++ docs/source/pytacs/solvers.rst | 1 + 2 files changed, 20 insertions(+) create mode 100644 docs/source/pytacs/ContinuationSolver.rst diff --git a/docs/source/pytacs/ContinuationSolver.rst b/docs/source/pytacs/ContinuationSolver.rst new file mode 100644 index 000000000..6e15d23ca --- /dev/null +++ b/docs/source/pytacs/ContinuationSolver.rst @@ -0,0 +1,19 @@ +ContinuationSolver +------------- +.. automodule:: tacs.solvers.ContinuationSolver + +Options +^^^^^^^ +Options can be set for :class:`~tacs.solvers.ContinuationSolver` at time of creation for the class in the +:meth:`pyTACS.createStaticProblem ` method or using the +:meth:`ContinuationSolver.setOption ` method. Current option values for a class +instance can be printed out using the :meth:`ContinuationSolver.printOption ` method. +The following options, their default values and descriptions are listed below: + +.. program-output:: python -c "from tacs.solvers import ContinuationSolver; ContinuationSolver.printDefaultOptions()" + +API Reference +^^^^^^^^^^^^^ +.. autoclass:: tacs.solvers.ContinuationSolver + :members: + :inherited-members: diff --git a/docs/source/pytacs/solvers.rst b/docs/source/pytacs/solvers.rst index 0d542b490..223e7eaa1 100644 --- a/docs/source/pytacs/solvers.rst +++ b/docs/source/pytacs/solvers.rst @@ -5,3 +5,4 @@ Solver classes :maxdepth: 1 NewtonSolver + ContinuationSolver From 4deeadc636a76bf8e636db34ffad29eb06818d49 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 19:30:16 -0400 Subject: [PATCH 080/174] Change `_stiffnessUpdateRequired` to `_jacobianUpdateRequired` --- tacs/problems/static.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 49a300b42..32098592b 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -394,7 +394,7 @@ def _createVariables(self): ) # Linear solver factor flag - self._stiffnessUpdateRequired = True + self._jacobianUpdateRequired = True self._factorOnNext = True def setOption(self, name, value): @@ -482,7 +482,7 @@ def setLoadScale(self, value): Value to set the load scale to """ if value != self._loadScale: - self._stiffnessUpdateRequired = True + self._jacobianUpdateRequired = True self._loadScale = value def addFunction(self, funcName, funcHandle, compIDs=None, **kwargs): @@ -529,7 +529,7 @@ def setDesignVars(self, x): """ TACSProblem.setDesignVars(self, x) - self._stiffnessUpdateRequired = True + self._jacobianUpdateRequired = True def setNodes(self, coords): """ @@ -542,7 +542,7 @@ def setNodes(self, coords): the number of structural nodes on this processor. """ TACSProblem.setNodes(self, coords) - self._stiffnessUpdateRequired = True + self._jacobianUpdateRequired = True ####### Load adding methods ######## @@ -979,7 +979,7 @@ def resFunc(res): # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve self._factorOnNext = True - self._stiffnessUpdateRequired = True + self._jacobianUpdateRequired = True def _nonlinearCallback(self, solver, u, res, monitorVars): """Callback function to be called by the nonlinear solver at each iteration @@ -1094,7 +1094,7 @@ def solveJacLinear(self, res, sol): return success def updateJacobian(self, res=None): - if self._stiffnessUpdateRequired: + if self._jacobianUpdateRequired: # Assemble residual and stiffness matrix (w/o artificial terms) self.assembler.assembleJacobian( self.alpha, @@ -1836,9 +1836,9 @@ def setVariables(self, states): # Set states to assembler self.assembler.setVariables(self.u) - # If this is a nonlinear problem then changing the state variables will change the jacobian + # If this is a nonlinear problem then changing the state will change the jacobian if self.isNonlinear: - self._stiffnessUpdateRequired = True + self._jacobianUpdateRequired = True def getOutputFileName(self, outputDir=None, baseName=None, number=None): """Figure out a base path/name for output files From 13c8290629ff52ad172cd0d83e9c40f846ab2ee3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 19:47:05 -0400 Subject: [PATCH 081/174] Chane `_factorOnNext` to `_preconditionerUpdateRequired` --- tacs/problems/static.py | 83 +++-------------------------------------- 1 file changed, 6 insertions(+), 77 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 32098592b..89b602516 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -395,7 +395,7 @@ def _createVariables(self): # Linear solver factor flag self._jacobianUpdateRequired = True - self._factorOnNext = True + self._preconditionerUpdateRequired = True def setOption(self, name, value): """ @@ -978,7 +978,7 @@ def resFunc(res): self.nonlinearSolver.solve() # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve - self._factorOnNext = True + self._preconditionerUpdateRequired = True self._jacobianUpdateRequired = True def _nonlinearCallback(self, solver, u, res, monitorVars): @@ -1010,77 +1010,6 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): if self.getOption("writeNLIterSolutions"): self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) - def energyLineSearch(self, u, stepDir, Fext=None, slope=None): - MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") - LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") - LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") - LINESEARCH_ALPHA_MAX = self.getOption("lineSearchMaxStep") - LINESEARCH_MAX_STEP_CHANGE = self.getOption("lineSearchMaxStepChange") - PRINT_LINESEARCH_ITERS = self.getOption("lineSearchMonitor") - if slope is None: - slope = 1.0 - - # Compute residual and merit function at u0 - self.assembler.setVariables(u) - self.getResidual(self.res, Fext=Fext) - f0 = np.real(self.res.dot(stepDir)) - fOld = f0 - alphaOld = 0.0 - uNorm = u.norm() - if self.rank == 0 and PRINT_LINESEARCH_ITERS: - print( - f"Line search iter 0: alpha = {0: 11e}, f0 = {(f0): 11e}, uNorm = {uNorm: 11e}" - ) - - # 3. Set $\alpha = 1$ - alpha = 1.0 - alphaNew = alpha - for iteration in range(MAX_LINESEARCH_ITERS): - # 4. Increment state, $u = u + \alpha \Delta u$ - u.axpy(alpha, stepDir) - self.assembler.setVariables(u) - - # 5. Compute residual, $r = r(u)$ - self.getResidual(self.res, Fext=Fext) - - # 6. Compute merit function, $f(\alpha)=f(u, r, \Delta u)$ - fNew = np.real(self.res.dot(stepDir)) - - # 7. if $abs(f(\alpha)) \leq \mu f_0 + \alpha f'_0$: - # 1. exit - uNorm = u.norm() - if self.rank == 0 and PRINT_LINESEARCH_ITERS: - print( - f"Line search iter {(iteration+1):2d}: alpha = {alpha: 11e}, f/f0 = {(fNew/f0): 11e}, uNorm = {uNorm: 11e}" - ) - u.axpy(-alpha, stepDir) - fReduction = np.abs(fNew / f0) - if fReduction <= 1 - LINESEARCH_MU * min(alpha, 1.0) * slope: - break - else: - # 8. Update $\alpha$ (based on search method) - if iteration == 0: - alphaMin = 0.9 - else: - alphaMin = LINESEARCH_ALPHA_MIN - if fNew == fOld: - alphaNew = alpha + LINESEARCH_ALPHA_MIN - else: - alphaNew = np.clip( - alpha - fNew * (alpha - alphaOld) / (fNew - fOld), - alphaMin, - LINESEARCH_ALPHA_MAX, - ) - if iteration > 0 and abs(alphaNew - alpha) > LINESEARCH_MAX_STEP_CHANGE: - alphaNew = ( - alpha + np.sign(alphaNew - alpha) * LINESEARCH_MAX_STEP_CHANGE - ) - alphaOld = alpha - alpha = alphaNew - fOld = fNew - # 9. return to step 4 - return alpha, iteration + 1 - def solveJacLinear(self, res, sol): success = self.KSM.solve(res, sol) success = success == 1 @@ -1104,17 +1033,17 @@ def updateJacobian(self, res=None): self.K, loadScale=self._loadScale, ) - self._factorOnNext = True + self._preconditionerUpdateRequired = True def updatePreconditioner(self): - if self._factorOnNext: + if self._preconditionerUpdateRequired: # Stiffness matrix must include artificial terms before pc factor # to prevent factorization issues w/ zero-diagonals self.K.axpy(1.0, self.rbeArtificialStiffness) self.PC.factor() # Remove artificial stiffness terms to get true stiffness mat self.K.axpy(-1.0, self.rbeArtificialStiffness) - self._factorOnNext = False + self._preconditionerUpdateRequired = False ####### Function eval/sensitivity methods ######## @@ -1783,7 +1712,7 @@ def solveAdjoint(self, rhs, phi): bcTerms.axpy(-1.0, self.adjRHS) # Solve Linear System - self.KSM.solve(self.adjRHS, self.phi) + self.solveJacLinear(self.adjRHS, self.phi) self.assembler.applyBCs(self.phi) # Add bc terms back in self.phi.axpy(1.0, bcTerms) From 63e113f06637de08dd37dd04a89233aa408c27e1 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 19:48:29 -0400 Subject: [PATCH 082/174] print fix --- tacs/problems/static.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 89b602516..ff031138c 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1232,43 +1232,43 @@ def evalFunctionsSens(self, funcsSens, evalFuncs=None): totalSensitivityTime = time.time() - if self.getOption("printTiming") and self.rank == 0: + if self.getOption("printTiming"): self._pp("+--------------------------------------------------+") self._pp("|") self._pp("| TACS Adjoint Times:") - print("|") - print( + self._pp("|") + self._pp( "| %-30s: %10.3f sec" % ("TACS Sens Setup Problem Time", setupProblemTime - startTime) ) - print( + self._pp( "| %-30s: %10.3f sec" % ("TACS Adjoint RHS Time", adjointRHSTime - setupProblemTime) ) for f in evalFuncs: - print( + self._pp( "| %-30s: %10.3f sec" % ( "TACS Adjoint Solve Time - %s" % (f), adjointEndTime[f] - adjointStartTime[f], ) ) - print( + self._pp( "| %-30s: %10.3f sec" % ( "Total Sensitivity Time", totalSensitivityTime - adjointFinishedTime, ) ) - print("|") - print( + self._pp("|") + self._pp( "| %-30s: %10.3f sec" % ( "Complete Sensitivity Time", totalSensitivityTime - startTime, ) ) - print("+--------------------------------------------------+") + self._pp("+--------------------------------------------------+") def addSVSens(self, evalFuncs, svSensList): """ From 4c31e15c268b95c30e025c14bf10741b9968f90e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 20:11:15 -0400 Subject: [PATCH 083/174] clang-format --- src/TACSAssembler.h | 2 +- src/elements/TACSElementVerification.cpp | 46 ++++++++++++----------- src/elements/shell/TACSShellElementDefs.h | 9 +++-- src/io/TACSFH5.h | 2 +- 4 files changed, 33 insertions(+), 26 deletions(-) diff --git a/src/TACSAssembler.h b/src/TACSAssembler.h index b487c48ba..40ecb759e 100644 --- a/src/TACSAssembler.h +++ b/src/TACSAssembler.h @@ -496,7 +496,7 @@ class TACSAssembler : public TACSObject { // Information for adjoint-dR/dx products int numAdjoints; TACSBVec **adjoints; - } * tacsPInfo; + } *tacsPInfo; // The pthread data required to pthread tacs operations int numCompletedElements; // Keep track of how much work has been done diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index 3b92f3824..db419685f 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -20,23 +20,23 @@ /* Helper function to get the matrix type name from the ElementMatrixType enum */ -inline auto TacsGetMatrixTypeName(ElementMatrixType matType){ +inline auto TacsGetMatrixTypeName(ElementMatrixType matType) { switch (matType) { - case TACS_JACOBIAN_MATRIX: - return "Jacobian Matrix"; - break; - case TACS_MASS_MATRIX: - return "Mass Matrix"; - break; - case TACS_STIFFNESS_MATRIX: - return "Stiffness Matrix"; - break; - case TACS_GEOMETRIC_STIFFNESS_MATRIX: - return "Geometric Stiffness Matrix"; - break; - case TACS_STIFFNESS_PRODUCT_DERIVATIVE: - return "Stiffness Product Derivative"; - break; + case TACS_JACOBIAN_MATRIX: + return "Jacobian Matrix"; + break; + case TACS_MASS_MATRIX: + return "Mass Matrix"; + break; + case TACS_STIFFNESS_MATRIX: + return "Stiffness Matrix"; + break; + case TACS_GEOMETRIC_STIFFNESS_MATRIX: + return "Geometric Stiffness Matrix"; + break; + case TACS_STIFFNESS_PRODUCT_DERIVATIVE: + return "Stiffness Product Derivative"; + break; } return "Unknown Matrix Type"; } @@ -902,7 +902,7 @@ int TacsTestElementMatDVSens(TACSElement *element, ElementMatrixType matType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(matType),element->getObjectName()); + TacsGetMatrixTypeName(matType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -994,7 +994,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType),element->getObjectName()); + TacsGetMatrixTypeName(elemType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1003,7 +1003,9 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); + "The derivative of the inner product of the %s and two random " + "vectors w.r.t the state variables\n", + TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element Xpt product", &res, &fd, 1); } if (test_print_level) { @@ -1082,7 +1084,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType),element->getObjectName()); + TacsGetMatrixTypeName(elemType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1091,7 +1093,9 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); + "The derivative of the inner product of the %s and two random " + "vectors w.r.t the state variables\n", + TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element SV product", &res, &fd, 1); } if (test_print_level) { diff --git a/src/elements/shell/TACSShellElementDefs.h b/src/elements/shell/TACSShellElementDefs.h index 7abe3738f..1bbe78a23 100644 --- a/src/elements/shell/TACSShellElementDefs.h +++ b/src/elements/shell/TACSShellElementDefs.h @@ -112,7 +112,8 @@ typedef TACSShellElement, TACSQuadraticRotation, TACSShellNonlinearModel> @@ -169,7 +170,8 @@ typedef TACSShellElement, TACSLinearizedRotation, TACSBeamLinearModel> @@ -196,7 +198,8 @@ typedef TACSBeamElement, TACSBeam3Quaternion; /* - Beam elements with nonlinear strain and linear, quadratic and exact rotation parameterizations. + Beam elements with nonlinear strain and linear, quadratic and exact rotation + parameterizations. Not implemented yet. */ diff --git a/src/io/TACSFH5.h b/src/io/TACSFH5.h index e34c7b738..2789df750 100644 --- a/src/io/TACSFH5.h +++ b/src/io/TACSFH5.h @@ -84,7 +84,7 @@ class TACSFH5File : public TACSObject { int dim1, dim2; size_t data_offset; FH5FileInfo *next; - } * root, *tip, *current; + } *root, *tip, *current; // Scan the file and record the header information int scanFH5File(); From 8d9e0b9195231202a1816c98af44d8b95ec8edc1 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 20:15:47 -0400 Subject: [PATCH 084/174] Revert "clang-format" This reverts commit 4c31e15c268b95c30e025c14bf10741b9968f90e. --- src/TACSAssembler.h | 2 +- src/elements/TACSElementVerification.cpp | 46 +++++++++++------------ src/elements/shell/TACSShellElementDefs.h | 9 ++--- src/io/TACSFH5.h | 2 +- 4 files changed, 26 insertions(+), 33 deletions(-) diff --git a/src/TACSAssembler.h b/src/TACSAssembler.h index 40ecb759e..b487c48ba 100644 --- a/src/TACSAssembler.h +++ b/src/TACSAssembler.h @@ -496,7 +496,7 @@ class TACSAssembler : public TACSObject { // Information for adjoint-dR/dx products int numAdjoints; TACSBVec **adjoints; - } *tacsPInfo; + } * tacsPInfo; // The pthread data required to pthread tacs operations int numCompletedElements; // Keep track of how much work has been done diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index db419685f..3b92f3824 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -20,23 +20,23 @@ /* Helper function to get the matrix type name from the ElementMatrixType enum */ -inline auto TacsGetMatrixTypeName(ElementMatrixType matType) { +inline auto TacsGetMatrixTypeName(ElementMatrixType matType){ switch (matType) { - case TACS_JACOBIAN_MATRIX: - return "Jacobian Matrix"; - break; - case TACS_MASS_MATRIX: - return "Mass Matrix"; - break; - case TACS_STIFFNESS_MATRIX: - return "Stiffness Matrix"; - break; - case TACS_GEOMETRIC_STIFFNESS_MATRIX: - return "Geometric Stiffness Matrix"; - break; - case TACS_STIFFNESS_PRODUCT_DERIVATIVE: - return "Stiffness Product Derivative"; - break; + case TACS_JACOBIAN_MATRIX: + return "Jacobian Matrix"; + break; + case TACS_MASS_MATRIX: + return "Mass Matrix"; + break; + case TACS_STIFFNESS_MATRIX: + return "Stiffness Matrix"; + break; + case TACS_GEOMETRIC_STIFFNESS_MATRIX: + return "Geometric Stiffness Matrix"; + break; + case TACS_STIFFNESS_PRODUCT_DERIVATIVE: + return "Stiffness Product Derivative"; + break; } return "Unknown Matrix Type"; } @@ -902,7 +902,7 @@ int TacsTestElementMatDVSens(TACSElement *element, ElementMatrixType matType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(matType), element->getObjectName()); + TacsGetMatrixTypeName(matType),element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -994,7 +994,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType), element->getObjectName()); + TacsGetMatrixTypeName(elemType),element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1003,9 +1003,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The derivative of the inner product of the %s and two random " - "vectors w.r.t the state variables\n", - TacsGetMatrixTypeName(elemType)); + "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element Xpt product", &res, &fd, 1); } if (test_print_level) { @@ -1084,7 +1082,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType), element->getObjectName()); + TacsGetMatrixTypeName(elemType),element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1093,9 +1091,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The derivative of the inner product of the %s and two random " - "vectors w.r.t the state variables\n", - TacsGetMatrixTypeName(elemType)); + "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element SV product", &res, &fd, 1); } if (test_print_level) { diff --git a/src/elements/shell/TACSShellElementDefs.h b/src/elements/shell/TACSShellElementDefs.h index 1bbe78a23..7abe3738f 100644 --- a/src/elements/shell/TACSShellElementDefs.h +++ b/src/elements/shell/TACSShellElementDefs.h @@ -112,8 +112,7 @@ typedef TACSShellElement, TACSQuadraticRotation, TACSShellNonlinearModel> @@ -170,8 +169,7 @@ typedef TACSShellElement, TACSLinearizedRotation, TACSBeamLinearModel> @@ -198,8 +196,7 @@ typedef TACSBeamElement, TACSBeam3Quaternion; /* - Beam elements with nonlinear strain and linear, quadratic and exact rotation - parameterizations. + Beam elements with nonlinear strain and linear, quadratic and exact rotation parameterizations. Not implemented yet. */ diff --git a/src/io/TACSFH5.h b/src/io/TACSFH5.h index 2789df750..e34c7b738 100644 --- a/src/io/TACSFH5.h +++ b/src/io/TACSFH5.h @@ -84,7 +84,7 @@ class TACSFH5File : public TACSObject { int dim1, dim2; size_t data_offset; FH5FileInfo *next; - } *root, *tip, *current; + } * root, *tip, *current; // Scan the file and record the header information int scanFH5File(); From 3892d5c7ac32efef1a3f0e224bfa6f4e24b3e1a6 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 23 Mar 2023 20:16:48 -0400 Subject: [PATCH 085/174] clang-format the right way --- src/elements/TACSElementVerification.cpp | 46 ++++++++++++----------- src/elements/shell/TACSShellElementDefs.h | 9 +++-- 2 files changed, 31 insertions(+), 24 deletions(-) diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index 3b92f3824..db419685f 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -20,23 +20,23 @@ /* Helper function to get the matrix type name from the ElementMatrixType enum */ -inline auto TacsGetMatrixTypeName(ElementMatrixType matType){ +inline auto TacsGetMatrixTypeName(ElementMatrixType matType) { switch (matType) { - case TACS_JACOBIAN_MATRIX: - return "Jacobian Matrix"; - break; - case TACS_MASS_MATRIX: - return "Mass Matrix"; - break; - case TACS_STIFFNESS_MATRIX: - return "Stiffness Matrix"; - break; - case TACS_GEOMETRIC_STIFFNESS_MATRIX: - return "Geometric Stiffness Matrix"; - break; - case TACS_STIFFNESS_PRODUCT_DERIVATIVE: - return "Stiffness Product Derivative"; - break; + case TACS_JACOBIAN_MATRIX: + return "Jacobian Matrix"; + break; + case TACS_MASS_MATRIX: + return "Mass Matrix"; + break; + case TACS_STIFFNESS_MATRIX: + return "Stiffness Matrix"; + break; + case TACS_GEOMETRIC_STIFFNESS_MATRIX: + return "Geometric Stiffness Matrix"; + break; + case TACS_STIFFNESS_PRODUCT_DERIVATIVE: + return "Stiffness Product Derivative"; + break; } return "Unknown Matrix Type"; } @@ -902,7 +902,7 @@ int TacsTestElementMatDVSens(TACSElement *element, ElementMatrixType matType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(matType),element->getObjectName()); + TacsGetMatrixTypeName(matType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -994,7 +994,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType),element->getObjectName()); + TacsGetMatrixTypeName(elemType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1003,7 +1003,9 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); + "The derivative of the inner product of the %s and two random " + "vectors w.r.t the state variables\n", + TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element Xpt product", &res, &fd, 1); } if (test_print_level) { @@ -1082,7 +1084,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType),element->getObjectName()); + TacsGetMatrixTypeName(elemType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1091,7 +1093,9 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, // Print the error if required if (test_print_level > 1) { fprintf(stderr, - "The derivative of the inner product of the %s and two random vectors w.r.t the state variables\n", TacsGetMatrixTypeName(elemType)); + "The derivative of the inner product of the %s and two random " + "vectors w.r.t the state variables\n", + TacsGetMatrixTypeName(elemType)); TacsPrintErrorComponents(stderr, "Element SV product", &res, &fd, 1); } if (test_print_level) { diff --git a/src/elements/shell/TACSShellElementDefs.h b/src/elements/shell/TACSShellElementDefs.h index 7abe3738f..1bbe78a23 100644 --- a/src/elements/shell/TACSShellElementDefs.h +++ b/src/elements/shell/TACSShellElementDefs.h @@ -112,7 +112,8 @@ typedef TACSShellElement, TACSQuadraticRotation, TACSShellNonlinearModel> @@ -169,7 +170,8 @@ typedef TACSShellElement, TACSLinearizedRotation, TACSBeamLinearModel> @@ -196,7 +198,8 @@ typedef TACSBeamElement, TACSBeam3Quaternion; /* - Beam elements with nonlinear strain and linear, quadratic and exact rotation parameterizations. + Beam elements with nonlinear strain and linear, quadratic and exact rotation + parameterizations. Not implemented yet. */ From a2e319d400179bb01101391109da26fc3f0750e9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sat, 25 Mar 2023 19:12:05 -0400 Subject: [PATCH 086/174] Add option to force at least 1 Newton iteration (fixes complex test failure) --- tacs/solvers/NewtonSolver.py | 25 ++++++++++++------- .../test_shell_hemisphere_nonlinear.py | 1 + 2 files changed, 17 insertions(+), 9 deletions(-) diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/NewtonSolver.py index c4ba9ce1e..262d5b778 100644 --- a/tacs/solvers/NewtonSolver.py +++ b/tacs/solvers/NewtonSolver.py @@ -37,6 +37,11 @@ class NewtonSolver(BaseSolver): "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", ], "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], + "newtonSolverForceFirstIter": [ + bool, + False, + "Force the solver to perform the first Newton iteration, even if the convergence criteria are satisfied at the initial point.", + ], "newtonSolverAbsTol": [ float, 1e-8, @@ -214,6 +219,7 @@ def solve( MAX_ITERS = self.getOption("newtonSolverMaxIter") MAX_RES = self.getOption("newtonSolverDivergenceTol") MAX_LIN_ITERS = self.getOption("newtonSolverMaxLinIters") + FORCE_FIRST_ITER = self.getOption("newtonSolverForceFirstIter") # Linear solver convergence options USE_EW = self.getOption("newtonSolverUseEW") @@ -245,15 +251,16 @@ def solve( uNorm = self.stateVec.norm() # Test convergence - self._hasConverged = ( - np.real(resNorm) / np.real(self.refNorm) < REL_TOL - or np.real(resNorm) < ABS_TOL - ) - self._fatalFailure = np.real(resNorm) >= MAX_RES or np.isnan(resNorm) - if self._hasConverged: - flags += "C" - elif self.fatalFailure: - flags += "D" + if not FORCE_FIRST_ITER or iteration > 0: + self._hasConverged = ( + np.real(resNorm) / np.real(self.refNorm) < REL_TOL + or np.real(resNorm) < ABS_TOL + ) + self._fatalFailure = np.real(resNorm) >= MAX_RES or np.isnan(resNorm) + if self._hasConverged: + flags += "C" + elif self.fatalFailure: + flags += "D" # Write data to history monitorVars = { diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index bdf85acb9..313f406ef 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -121,6 +121,7 @@ def elemCallBack( "continuationInitialStep": 1.0, "newtonSolverMaxIter": 50, "newtonSolverUseEW": True, + "newtonSolverForceFirstIter": True, "nRestarts": 3, "subSpaceSize": 20, "newtonSolverMonitorVars": [ From fec8824b2eadfef16ba437058ef0beafc79cbdb7 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 28 Mar 2023 15:45:52 -0400 Subject: [PATCH 087/174] Rename `newtonSolverMonitorVars` option to `nonlinearSolverMonitorVars` and move to static problem --- tacs/problems/static.py | 18 ++++++++++++++---- tacs/solvers/BaseSolver.py | 2 +- tacs/solvers/NewtonSolver.py | 10 ---------- .../test_shell_hemisphere_nonlinear.py | 2 +- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index ff031138c..9d6544dc7 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -86,6 +86,16 @@ class StaticProblem(TACSProblem): 10, "Print frequency for sub iterations of linear solver.", ], + "nonlinearSolverMonitorVars": [ + list, + [ + "linSolverIters", + "linSolverRes", + "lineSearchStep", + "lineSearchIters", + ], + "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", + ], # Output Options "writeSolution": [ bool, @@ -218,7 +228,7 @@ def _createSolverHistory(self): The solver history is only created on the root processor. """ - monitorVars = [s.lower() for s in self.getOption("newtonSolverMonitorVars")] + monitorVars = [s.lower() for s in self.getOption("nonlinearSolverMonitorVars")] numType = float if self.dtype == np.float64 else complex if self.comm.rank == 0: history = SolverHistory() @@ -439,8 +449,8 @@ def setOption(self, name, value): self.nonlinearSolver.setOption("newtonSolverRelLinTol", value) # We need to create a new solver history object if the monitor variables have updated - if self.isNonlinear and name.lower() == "newtonsolvermonitorvars": - self._createSolverHistory() + elif name.lower() == "nonlinearSolverMonitorVars" and self.history is not None: + self._createSolverHistory() @property def loadScale(self): @@ -994,7 +1004,7 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): Current residual vector monitorVars : dict Dictionary of variables to monitor, the values the solver should include can be - specified through the ``"newtonSolverMonitorVars"`` option. + specified through the ``"nonlinearSolverMonitorVars"`` option. """ iteration = 0 if self.rank == 0: diff --git a/tacs/solvers/BaseSolver.py b/tacs/solvers/BaseSolver.py index 89936c370..7ad0ec375 100644 --- a/tacs/solvers/BaseSolver.py +++ b/tacs/solvers/BaseSolver.py @@ -152,6 +152,6 @@ def setCallback(self, callback: Callable) -> None: - ``solver`` is the solver object - ``u`` is the current state vector - ``res`` is the current residual vector - - ``monitorVars`` is a dictionary of variables to monitor, which can be specified through the ``"newtonSolverMonitorVars"`` option + - ``monitorVars`` is a dictionary of variables to monitor, which can be specified through the ``"nonlinearSolverMonitorVars"`` option """ self.callback = callback diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/NewtonSolver.py index 262d5b778..fa27ae4e3 100644 --- a/tacs/solvers/NewtonSolver.py +++ b/tacs/solvers/NewtonSolver.py @@ -26,16 +26,6 @@ class NewtonSolver(BaseSolver): defaultOptions = { - "newtonSolverMonitorVars": [ - list, - [ - "linSolverIters", - "linSolverRes", - "lineSearchStep", - "lineSearchIters", - ], - "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", - ], "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], "newtonSolverForceFirstIter": [ bool, diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index 313f406ef..bd14d5244 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -124,7 +124,7 @@ def elemCallBack( "newtonSolverForceFirstIter": True, "nRestarts": 3, "subSpaceSize": 20, - "newtonSolverMonitorVars": [ + "nonlinearSolverMonitorVars": [ "lambda", "linsolveriters", "linsolverres", From d060157b4d34698d9fc061b8830f53af2ab6a7fb Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 28 Mar 2023 15:46:21 -0400 Subject: [PATCH 088/174] Make continuation solver exit if minimum step size fails --- tacs/solvers/ContinuationSolver.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py index 80930e8ed..12e65d071 100644 --- a/tacs/solvers/ContinuationSolver.py +++ b/tacs/solvers/ContinuationSolver.py @@ -366,7 +366,7 @@ def continuationcallBack(solver, u, res, monitorVars): isLastIncrement = increment == MAX_INCREMENTS - 1 if not success: # If the inner solve failed then we'll reduce the step size and try again, unless we've hit the increment limit - if not isLastIncrement: + if not isLastIncrement and stepSize > MIN_STEP: self.setStateFunc(self.incStartState) currentLambda -= stepSize * loadStepDirection self.setLambdaFunc(currentLambda) From 0ad14c1d437eb809dac9af718c9d62f66be1bde9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 28 Mar 2023 15:48:00 -0400 Subject: [PATCH 089/174] Fix some bugs in static problem option setting --- tacs/problems/static.py | 21 ++++++++++----------- 1 file changed, 10 insertions(+), 11 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 9d6544dc7..3005ebaf1 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -429,29 +429,28 @@ def setOption(self, name, value): self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence"), ) + if self.nonlinearSolver is not None: + self.nonlinearSolver.setOption("newtonSolverRelLinTol", self.getOption("L2ConvergenceRel")) # No need to reset solver for output options elif name.lower() in [ "writesolution", + "writenlitersolutions", "printtiming", "numbersolutions", "outputdir", ]: pass + # Pass option to nonlinear solver if it is a nonlinear solver option + elif name.lower() in self.nonlinearSolver.defaultOptions: + if self.nonlinearSolver is not None: + self.nonlinearSolver.setOption(name, value) + # We need to create a new solver history object if the monitor variables have updated + elif name.lower() == "nonlinearSolverMonitorVars" and self.history is not None: + self._createSolverHistory() # Reset solver for all other option changes else: self._createVariables() - # Pass option to nonlinear solver if it is a nonlinear solver option - if self.nonlinearSolver is not None: - if name.lower() in self.nonlinearSolver.defaultOptions: - self.nonlinearSolver.setOption(name, value) - elif name.lower() == "l2convergencerel": - self.nonlinearSolver.setOption("newtonSolverRelLinTol", value) - - # We need to create a new solver history object if the monitor variables have updated - elif name.lower() == "nonlinearSolverMonitorVars" and self.history is not None: - self._createSolverHistory() - @property def loadScale(self): """This is a scaling factor applied to all forcing terms From 7daae9ce4ef79ef3adafbe045f528d66cd0aeff5 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 28 Mar 2023 15:48:31 -0400 Subject: [PATCH 090/174] Make sure nonlinear solver vecs and mats are updated after `_createVariables` is called --- tacs/problems/static.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 3005ebaf1..d761e3e6f 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -407,6 +407,13 @@ def _createVariables(self): self._jacobianUpdateRequired = True self._preconditionerUpdateRequired = True + # Give new vectors and linear solver to nonlinear solver + for solver in [self.newtonSolver, self.nonlinearSolver]: + if solver is not None: + solver.linearSolver = self.KSM + solver.stateVec = self.u + solver.resVec = self.res + def setOption(self, name, value): """ Set a solver option value. The name is not case sensitive. From 8777b456d9f934e9515df7b382fe5f4b2e127c6d Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Tue, 28 Mar 2023 16:00:17 -0400 Subject: [PATCH 091/174] `black .` --- tacs/problems/static.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index d761e3e6f..1ee9d5c15 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -163,6 +163,7 @@ def __init__( # Set linear solver to None, until we set it up later self.KSM = None self.history = None + self.newtonSolver = None self.nonlinearSolver = None # Default setup for common problem class objects, sets up comm and options @@ -437,7 +438,9 @@ def setOption(self, name, value): self.getOption("L2Convergence"), ) if self.nonlinearSolver is not None: - self.nonlinearSolver.setOption("newtonSolverRelLinTol", self.getOption("L2ConvergenceRel")) + self.nonlinearSolver.setOption( + "newtonSolverRelLinTol", self.getOption("L2ConvergenceRel") + ) # No need to reset solver for output options elif name.lower() in [ "writesolution", @@ -452,7 +455,10 @@ def setOption(self, name, value): if self.nonlinearSolver is not None: self.nonlinearSolver.setOption(name, value) # We need to create a new solver history object if the monitor variables have updated - elif name.lower() == "nonlinearSolverMonitorVars" and self.history is not None: + elif ( + name.lower() == "nonlinearSolverMonitorVars" + and self.history is not None + ): self._createSolverHistory() # Reset solver for all other option changes else: From 1f593616b055fb43d9089301a1016217ef2c5df3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 29 Mar 2023 10:04:27 -0400 Subject: [PATCH 092/174] Rename `solveJacLinear`, add some docstrings --- tacs/problems/static.py | 40 +++++++++++++++++++++++++++++++++++++--- 1 file changed, 37 insertions(+), 3 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 1ee9d5c15..61ba2033e 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -922,7 +922,7 @@ def solve(self, Fext=None): initNormTime = time.time() # Solve Linear System for the update - self.solveJacLinear(self.res, self.update) + self.solveLinear(self.res, self.update) self.update.scale(-1.0) @@ -1032,7 +1032,21 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): if self.getOption("writeNLIterSolutions"): self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) - def solveJacLinear(self, res, sol): + def solveLinear(self, res, sol): + """Solve the linear system J * sol = res using the current Jacobian matrix + + Parameters + ---------- + res : tacs.TACS.Vec + Right hand side of the linear system + sol : tacs.TACS.Vec + Vector to store the solution in + + Returns + ------- + bool + Whether the linear solve converged + """ success = self.KSM.solve(res, sol) success = success == 1 @@ -1045,6 +1059,16 @@ def solveJacLinear(self, res, sol): return success def updateJacobian(self, res=None): + """Update the Jacobian (a.k.a stiffness) matrix + + The Jacobian will only actually be updated if the + ``_jacobianUpdateRequired`` flag is set to True. + + Parameters + ---------- + res : tacs.TACS.Vec, optional + If provided, the residual is also computed and stored in this vector + """ if self._jacobianUpdateRequired: # Assemble residual and stiffness matrix (w/o artificial terms) self.assembler.assembleJacobian( @@ -1058,6 +1082,16 @@ def updateJacobian(self, res=None): self._preconditionerUpdateRequired = True def updatePreconditioner(self): + """Update the Jacobian (a.k.a stiffness) matrix preconditioner + + By default, the static problem uses a full LU factorization of the + Jacobian matrix as a preconditioner, which means that this step is + typically the most expensive operation in the solution process. + + The preconditioner will only actually be updated if the + ``_preconditionerUpdateRequired`` flag is set to True. This occurs + whenever the Jacobian is updated. + """ if self._preconditionerUpdateRequired: # Stiffness matrix must include artificial terms before pc factor # to prevent factorization issues w/ zero-diagonals @@ -1734,7 +1768,7 @@ def solveAdjoint(self, rhs, phi): bcTerms.axpy(-1.0, self.adjRHS) # Solve Linear System - self.solveJacLinear(self.adjRHS, self.phi) + self.solveLinear(self.adjRHS, self.phi) self.assembler.applyBCs(self.phi) # Add bc terms back in self.phi.axpy(1.0, bcTerms) From d8dd95a2f513abbc203374235d1554f86eaee060 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sun, 2 Apr 2023 22:09:59 -0400 Subject: [PATCH 093/174] Fix so that continuation solver correctly passes options to inner solver --- tacs/solvers/ContinuationSolver.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py index 12e65d071..02f2e17b9 100644 --- a/tacs/solvers/ContinuationSolver.py +++ b/tacs/solvers/ContinuationSolver.py @@ -196,7 +196,7 @@ def setOption(self, name, value) -> None: BaseSolver.setOption(self, name, value) # Pass option to inner solver if it is a inner solver option - if name.lower() in self.innerSolver.defaultOptions: + if name.lower() in [opt.lower() for opt in self.innerSolver.defaultOptions]: self.innerSolver.setOption(name, value) # Update the predictor computation data structures if the relevant options are changed From fa666bfdd0668c844b2a6671114710ef4638cd39 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sun, 2 Apr 2023 22:12:00 -0400 Subject: [PATCH 094/174] Make static problem solve method return a success flag --- tacs/problems/static.py | 54 ++++++++++++++++++++++++++++------------- 1 file changed, 37 insertions(+), 17 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 61ba2033e..621f172db 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -430,9 +430,12 @@ def setOption(self, name, value): # Default setOption for common problem class objects TACSProblem.setOption(self, name, value) + createVariables = True + if self.KSM is not None: # Update tolerances if "l2convergence" in name.lower(): + createVariables = False self.KSM.setTolerances( self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence"), @@ -441,27 +444,36 @@ def setOption(self, name, value): self.nonlinearSolver.setOption( "newtonSolverRelLinTol", self.getOption("L2ConvergenceRel") ) + # No need to reset solver for output options - elif name.lower() in [ + if name.lower() in [ "writesolution", "writenlitersolutions", "printtiming", "numbersolutions", "outputdir", ]: - pass - # Pass option to nonlinear solver if it is a nonlinear solver option - elif name.lower() in self.nonlinearSolver.defaultOptions: - if self.nonlinearSolver is not None: - self.nonlinearSolver.setOption(name, value) - # We need to create a new solver history object if the monitor variables have updated - elif ( - name.lower() == "nonlinearSolverMonitorVars" - and self.history is not None - ): - self._createSolverHistory() + createVariables = False + + if self.isNonlinear: + # Pass option to nonlinear solver if it is a nonlinear solver option + if name.lower() in [ + opt.lower() for opt in self.nonlinearSolver.defaultOptions + ]: + createVariables = False + if self.nonlinearSolver is not None: + self.nonlinearSolver.setOption(name, value) + + # We need to create a new solver history object if the monitor variables have updated + if ( + name.lower() in ["nonlinearsolvermonitorvars", "newtonsolveruseew"] + and self.history is not None + ): + createVariables = False + self._createSolverHistory() + # Reset solver for all other option changes - else: + if createVariables: self._createVariables() @property @@ -904,7 +916,7 @@ def solve(self, Fext=None): initSolveTime = time.time() if self.isNonlinear: - self.solveNonlinear(Fext) + hasConverged = self.solveNonlinear(Fext) else: # Get current residual self.getResidual(self.res, Fext=Fext) @@ -922,7 +934,7 @@ def solve(self, Fext=None): initNormTime = time.time() # Solve Linear System for the update - self.solveLinear(self.res, self.update) + hasConverged = self.solveLinear(self.res, self.update) self.update.scale(-1.0) @@ -979,7 +991,7 @@ def solve(self, Fext=None): ) self._pp("+--------------------------------------------------+") - return + return hasConverged def solveNonlinear(self, Fext=None): # Compute the internal and external force components of the residual at the current point @@ -1003,6 +1015,9 @@ def resFunc(res): self._preconditionerUpdateRequired = True self._jacobianUpdateRequired = True + # Finally return a bool indicating whether the solve was successful + return self.nonlinearSolver.hasConverged + def _nonlinearCallback(self, solver, u, res, monitorVars): """Callback function to be called by the nonlinear solver at each iteration @@ -1030,7 +1045,12 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): self.comm.bcast(iteration, root=0) if self.getOption("writeNLIterSolutions"): - self.writeSolution(baseName=f"{self.name}-NLIter", number=iteration) + # import pdb + + # pdb.set_trace() + self.writeSolution( + baseName=f"{self.name}-{self.callCounter:03d}-NLIter", number=iteration + ) def solveLinear(self, res, sol): """Solve the linear system J * sol = res using the current Jacobian matrix From 48b266a442ef213c2edf7d3788ea98e82aab73ad Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Sun, 2 Apr 2023 22:12:16 -0400 Subject: [PATCH 095/174] Add solve failure checking to mphys --- tacs/mphys/mphys_tacs.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/tacs/mphys/mphys_tacs.py b/tacs/mphys/mphys_tacs.py index f7f178a45..c49d70787 100644 --- a/tacs/mphys/mphys_tacs.py +++ b/tacs/mphys/mphys_tacs.py @@ -406,7 +406,11 @@ def solve_nonlinear(self, inputs, outputs): else: Fext = None - self.sp.solve(Fext=Fext) + hasConverged = self.sp.solve(Fext=Fext) + if not hasConverged: + # TODO: In future we could add something here to distinguish between fatal failures and those that could be recovered from + self.sp.zeroVariables() + raise om.AnalysisError("TACS solver did not converge") self.sp.getVariables(states=outputs[self.states_name]) def solve_linear(self, d_outputs, d_residuals, mode): From b19ec44b039669c174075b4c6457e5115bb705c1 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 7 Apr 2023 22:50:14 -0400 Subject: [PATCH 096/174] Starting to add a blade-stiffened shell constitutive model --- src/constitutive/Makefile | 1 + .../TACSBladeStiffenedShellConstitutive.cpp | 724 ++++++++++++++++++ .../TACSBladeStiffenedShellConstitutive.h | 378 +++++++++ src/constitutive/TACSShellConstitutive.h | 12 +- 4 files changed, 1113 insertions(+), 2 deletions(-) create mode 100644 src/constitutive/TACSBladeStiffenedShellConstitutive.cpp create mode 100644 src/constitutive/TACSBladeStiffenedShellConstitutive.h diff --git a/src/constitutive/Makefile b/src/constitutive/Makefile index c68b9f998..4d9a42ca7 100644 --- a/src/constitutive/Makefile +++ b/src/constitutive/Makefile @@ -15,6 +15,7 @@ CXX_OBJS = TACSMaterialProperties.o \ TACSShellConstitutive.o \ TACSIsoShellConstitutive.o \ TACSLamParamShellConstitutive.o \ + TACSBladeStiffenedShellConstitutive.o \ TACSGeneralMassConstitutive.o \ TACSPointMassConstitutive.o \ TACSGeneralSpringConstitutive.o \ diff --git a/src/constitutive/TACSBladeStiffenedShellConstitutive.cpp b/src/constitutive/TACSBladeStiffenedShellConstitutive.cpp new file mode 100644 index 000000000..9a85bbb08 --- /dev/null +++ b/src/constitutive/TACSBladeStiffenedShellConstitutive.cpp @@ -0,0 +1,724 @@ +/* +============================================================================= + +============================================================================= +@File : TACSBladeStiffenedShellConstitutive.cpp +@Date : 2023/04/06 +@Author : Alasdair Christison Gray +@Description : Constitutive model for a blade-stiffened shell. Based on the +bladeFSDT model from previous versions of TACS developed by Graeme Kennedy. +*/ + +// ============================================================================= +// Standard Library Includes +// ============================================================================= + +// ============================================================================= +// Extension Includes +// ============================================================================= +#include "TACSBladeStiffenedShellConstitutive.h" + +#include "TACSMaterialProperties.h" +#include "TACSShellConstitutive.h" + +// ============================================================================== +// Constructor +// ============================================================================== + +TACSBladeStiffenedShellConstitutive::TACSBladeStiffenedShellConstitutive( + TACSOrthotropicPly* _panelPly, TACSOrthotropicPly* _stiffenerPly, + TacsScalar _kcorr, TacsScalar _panelLength, int _panelLengthNum, + TacsScalar _stiffenerPitch, int _stiffenerPitchNum, + TacsScalar _stiffenerHeight, int _stiffenerHeightNum, + TacsScalar _stiffenerThick, int _stiffenerThickNum, TacsScalar _panelThick, + int _panelThickNum, int _numPanelPlies, TacsScalar _panelPlyAngles[], + int _panelPlyFracNums[], int _numStiffenerPlies, + TacsScalar _stiffenerPlyAngles[], int _stiffenerPlyFracNums[], + TacsScalar _flangeFraction) { + this->panelPly = _panelPly; + this->panelPly->incref(); + + this->stiffenerPly = _stiffenerPly; + this->stiffenerPly->incref(); + + this->kcorr = _kcorr; + + this->numDesignVars = 0; + + // --- Panel length values --- + this->panelLength = _panelLength; + this->panelLengthNum = _panelLengthNum; + this->panelLengthLocalNum = _panelLengthNum; + if (_panelLengthNum >= 0) { + this->panelLengthLocalNum = this->numDesignVars; + this->numDesignVars++; + } + this->panelLengthLowerBound = 0.000; + this->panelLengthUpperBound = 1e20; + + // --- Stiffener pitch values --- + this->stiffenerPitch = _stiffenerPitch; + this->stiffenerPitchNum = _stiffenerPitchNum; + this->stiffenerPitchLocalNum = _stiffenerPitchNum; + if (_stiffenerPitchNum >= 0) { + this->stiffenerPitchLocalNum = this->numDesignVars; + this->numDesignVars++; + } + this->stiffenerPitchLowerBound = 1e-3; + this->stiffenerPitchUpperBound = 1e20; + + // --- Stiffener height values --- + this->stiffenerHeight = _stiffenerHeight; + this->stiffenerHeightNum = _stiffenerHeightNum; + this->stiffenerHeightLocalNum = _stiffenerHeightNum; + if (_stiffenerHeightNum >= 0) { + this->stiffenerHeightLocalNum = this->numDesignVars; + this->numDesignVars++; + } + this->stiffenerHeightLowerBound = 1e-3; + this->stiffenerHeightUpperBound = 1e20; + + // --- Stiffener thickness values --- + this->stiffenerThick = _stiffenerThick; + this->stiffenerThickNum = _stiffenerThickNum; + this->stiffenerThickLocalNum = _stiffenerThickNum; + if (_stiffenerThickNum >= 0) { + this->stiffenerThickLocalNum = this->numDesignVars; + this->numDesignVars++; + } + this->stiffenerThickLowerBound = 1e-4; + this->stiffenerThickUpperBound = 1e20; + + // --- Panel thickness values --- + this->panelThick = _panelThick; + this->panelThickNum = _panelThickNum; + this->panelThickLocalNum = _panelThickNum; + if (_panelThickNum >= 0) { + this->panelThickLocalNum = this->numDesignVars; + this->numDesignVars++; + } + this->panelThickLowerBound = 1e-4; + this->panelThickUpperBound = 1e20; + + // --- Panel ply values --- + this->numPanelPlies = _numPanelPlies; + this->panelPlyAngles = new TacsScalar[_numPanelPlies]; + this->panelPlyFracs = new TacsScalar[_numPanelPlies]; + this->panelPlyFracNums = new int[_numPanelPlies]; + this->panelPlyFracLocalNums = new int[_numPanelPlies]; + this->panelPlyFracLowerBounds = new TacsScalar[_numPanelPlies]; + this->panelPlyFracUpperBounds = new TacsScalar[_numPanelPlies]; + for (int ii = 0; ii < _numPanelPlies; ii++) { + this->panelPlyAngles[ii] = _panelPlyAngles[ii]; + this->panelPlyFracNums[ii] = _panelPlyFracNums[ii]; + this->panelPlyFracLocalNums[ii] = _panelPlyFracNums[ii]; + if (_panelPlyFracNums[ii] >= 0) { + this->panelPlyFracLocalNums[ii] = this->numDesignVars; + this->numDesignVars++; + } + this->panelPlyFracs[ii] = 1.0 / _numPanelPlies; + this->panelPlyFracLowerBounds[ii] = 0.1; + this->panelPlyFracUpperBounds[ii] = 0.9; + } + + // --- Stiffener ply values --- + this->numStiffenerPlies = _numStiffenerPlies; + this->stiffenerPlyAngles = new TacsScalar[_numStiffenerPlies]; + this->stiffenerPlyFracs = new TacsScalar[_numStiffenerPlies]; + this->stiffenerPlyFracNums = new int[_numStiffenerPlies]; + this->stiffenerPlyFracLocalNums = new int[_numStiffenerPlies]; + this->stiffenerPlyFracLowerBounds = new TacsScalar[_numStiffenerPlies]; + this->stiffenerPlyFracUpperBounds = new TacsScalar[_numStiffenerPlies]; + for (int ii = 0; ii < _numStiffenerPlies; ii++) { + this->stiffenerPlyAngles[ii] = _stiffenerPlyAngles[ii]; + this->stiffenerPlyFracNums[ii] = _stiffenerPlyFracNums[ii]; + this->stiffenerPlyFracLocalNums[ii] = _stiffenerPlyFracNums[ii]; + if (_stiffenerPlyFracNums[ii] >= 0) { + this->stiffenerPlyFracLocalNums[ii] = this->numDesignVars; + this->numDesignVars++; + } + this->stiffenerPlyFracs[ii] = 1.0 / _numStiffenerPlies; + this->stiffenerPlyFracLowerBounds[ii] = 0.1; + this->stiffenerPlyFracUpperBounds[ii] = 0.9; + } + + // --- Stiffener flange fraction --- + this->flangeFraction = _flangeFraction; +} + +// ============================================================================== +// Destructor +// ============================================================================== +TACSBladeStiffenedShellConstitutive::~TACSBladeStiffenedShellConstitutive() { + this->panelPly->decref(); + this->stiffenerPly->decref(); + + delete[] this->panelPlyAngles; + this->panelPlyAngles = nullptr; + + delete[] this->panelPlyFracs; + this->panelPlyFracs = nullptr; + + delete[] this->panelPlyFracNums; + this->panelPlyFracNums = nullptr; + + delete[] this->panelPlyFracLocalNums; + this->panelPlyFracLocalNums = nullptr; + + delete[] this->stiffenerPlyAngles; + this->stiffenerPlyAngles = nullptr; + + delete[] this->stiffenerPlyFracs; + this->stiffenerPlyFracs = nullptr; + + delete[] this->stiffenerPlyFracNums; + this->stiffenerPlyFracNums = nullptr; + + delete[] this->stiffenerPlyFracLocalNums; + this->stiffenerPlyFracLocalNums = nullptr; + + delete[] this->panelPlyFracLowerBounds; + this->panelPlyFracLowerBounds = nullptr; + + delete[] this->panelPlyFracUpperBounds; + this->panelPlyFracUpperBounds = nullptr; + + delete[] this->stiffenerPlyFracLowerBounds; + this->stiffenerPlyFracLowerBounds = nullptr; + + delete[] this->stiffenerPlyFracUpperBounds; + this->stiffenerPlyFracUpperBounds = nullptr; +} + +// ============================================================================== +// Set non-default values +// ============================================================================== + +void TACSBladeStiffenedShellConstitutive::setStiffenerPitchBounds( + TacsScalar lowerBound, TacsScalar upperBound) { + this->stiffenerPitchLowerBound = lowerBound; + this->stiffenerPitchUpperBound = upperBound; +} + +void TACSBladeStiffenedShellConstitutive::setStiffenerHeightBounds( + TacsScalar lowerBound, TacsScalar upperBound) { + this->stiffenerHeightLowerBound = lowerBound; + this->stiffenerHeightUpperBound = upperBound; +} + +void TACSBladeStiffenedShellConstitutive::setStiffenerThicknessBounds( + TacsScalar lowerBound, TacsScalar upperBound) { + this->stiffenerThickLowerBound = lowerBound; + this->stiffenerThickUpperBound = upperBound; +} + +void TACSBladeStiffenedShellConstitutive::setPanelThicknessBounds( + TacsScalar lowerBound, TacsScalar upperBound) { + this->panelThickLowerBound = lowerBound; + this->panelThickUpperBound = upperBound; +} + +void TACSBladeStiffenedShellConstitutive::setStiffenerPlyFractionBounds( + TacsScalar lowerBounds[], TacsScalar upperBounds[]) { + for (int ii = 0; ii < this->numStiffenerPlies; ii++) { + this->stiffenerPlyFracLowerBounds[ii] = lowerBounds[ii]; + this->stiffenerPlyFracUpperBounds[ii] = upperBounds[ii]; + } +} + +void TACSBladeStiffenedShellConstitutive::setPanelPlyFractionBounds( + TacsScalar lowerBounds[], TacsScalar upperBounds[]) { + for (int ii = 0; ii < this->numPanelPlies; ii++) { + this->panelPlyFracLowerBounds[ii] = lowerBounds[ii]; + this->panelPlyFracUpperBounds[ii] = upperBounds[ii]; + } +} + +void TACSBladeStiffenedShellConstitutive::setStiffenerPlyFractions( + TacsScalar plyFractions[]) { + for (int ii = 0; ii < this->numStiffenerPlies; ii++) { + this->stiffenerPlyFracs[ii] = plyFractions[ii]; + } +} + +void TACSBladeStiffenedShellConstitutive::setPanelPlyFractions( + TacsScalar plyFractions[]) { + for (int ii = 0; ii < this->numPanelPlies; ii++) { + this->panelPlyFracs[ii] = plyFractions[ii]; + } +} + +// ============================================================================== +// Setting/getting design variable information +// ============================================================================== +// Retrieve the global design variable numbers +int TACSBladeStiffenedShellConstitutive::getDesignVarNums(int elemIndex, + int dvLen, + int dvNums[]) { + if (dvNums && dvLen >= this->numDesignVars) { + int localIndex = 0; + if (this->panelLengthNum >= 0) { + dvNums[localIndex] = panelLengthNum; + localIndex++; + } + if (this->stiffenerPitchNum >= 0) { + dvNums[localIndex] = stiffenerPitchNum; + localIndex++; + } + if (this->stiffenerHeightNum >= 0) { + dvNums[localIndex] = stiffenerHeightNum; + localIndex++; + } + if (this->stiffenerThickNum >= 0) { + dvNums[localIndex] = stiffenerThickNum; + localIndex++; + } + if (this->panelThickNum >= 0) { + dvNums[localIndex] = panelThickNum; + localIndex++; + } + for (int ii = 0; ii < this->numPanelPlies; ii++) { + if (this->panelPlyFracNums[ii] >= 0) { + dvNums[localIndex] = panelPlyFracNums[ii]; + localIndex++; + } + } + for (int ii = 0; ii < this->numStiffenerPlies; ii++) { + if (this->stiffenerPlyFracNums[ii] >= 0) { + dvNums[localIndex] = stiffenerPlyFracNums[ii]; + localIndex++; + } + } + } + return numDesignVars; +} + +// Set the element design variable from the design vector +int TACSBladeStiffenedShellConstitutive::setDesignVars(int elemIndex, int dvLen, + const TacsScalar dvs[]) { + if (dvLen >= this->numDesignVars) { + int localIndex = 0; + if (this->panelLengthNum >= 0) { + this->panelLength = dvs[localIndex]; + localIndex++; + } + if (this->stiffenerPitchNum >= 0) { + this->stiffenerPitch = dvs[localIndex]; + localIndex++; + } + if (this->stiffenerHeightNum >= 0) { + this->stiffenerHeight = dvs[localIndex]; + localIndex++; + } + if (this->stiffenerThickNum >= 0) { + this->stiffenerThick = dvs[localIndex]; + localIndex++; + } + if (this->panelThickNum >= 0) { + this->panelThick = dvs[localIndex]; + localIndex++; + } + for (int ii = 0; ii < this->numPanelPlies; ii++) { + if (this->panelPlyFracNums[ii] >= 0) { + this->panelPlyFracs[ii] = dvs[localIndex]; + localIndex++; + } + } + for (int ii = 0; ii < this->numStiffenerPlies; ii++) { + if (this->stiffenerPlyFracNums[ii] >= 0) { + this->stiffenerPlyFracs[ii] = dvs[localIndex]; + localIndex++; + } + } + } + return this->numDesignVars; +} + +// Get the element design variables values +int TACSBladeStiffenedShellConstitutive::getDesignVars(int elemIndex, int dvLen, + TacsScalar dvs[]) { + if (dvLen >= this->numDesignVars) { + int localIndex = 0; + if (this->panelLengthNum >= 0) { + dvs[localIndex] = this->panelLength; + localIndex++; + } + if (this->stiffenerPitchNum >= 0) { + dvs[localIndex] = this->stiffenerPitch; + localIndex++; + } + if (this->stiffenerHeightNum >= 0) { + dvs[localIndex] = this->stiffenerHeight; + localIndex++; + } + if (this->stiffenerThickNum >= 0) { + dvs[localIndex] = this->stiffenerThick; + localIndex++; + } + if (this->panelThickNum >= 0) { + dvs[localIndex] = this->panelThick; + localIndex++; + } + for (int ii = 0; ii < this->numPanelPlies; ii++) { + if (this->panelPlyFracNums[ii] >= 0) { + dvs[localIndex] = this->panelPlyFracs[ii]; + localIndex++; + } + } + for (int ii = 0; ii < this->numStiffenerPlies; ii++) { + if (this->stiffenerPlyFracNums[ii] >= 0) { + dvs[localIndex] = this->stiffenerPlyFracs[ii]; + localIndex++; + } + } + } + return this->numDesignVars; +} + +// Get the lower and upper bounds for the design variable values +int TACSBladeStiffenedShellConstitutive::getDesignVarRange(int elemIndex, + int dvLen, + TacsScalar lb[], + TacsScalar ub[]) { + if (dvLen >= this->numDesignVars) { + int localIndex = 0; + if (this->panelLengthNum >= 0) { + lb[localIndex] = this->panelLengthLowerBound; + ub[localIndex] = this->panelLengthUpperBound; + localIndex++; + } + if (this->stiffenerPitchNum >= 0) { + lb[localIndex] = this->stiffenerPitchLowerBound; + ub[localIndex] = this->stiffenerPitchUpperBound; + localIndex++; + } + if (this->stiffenerHeightNum >= 0) { + lb[localIndex] = this->stiffenerHeightLowerBound; + ub[localIndex] = this->stiffenerHeightUpperBound; + localIndex++; + } + if (this->stiffenerThickNum >= 0) { + lb[localIndex] = this->stiffenerThickLowerBound; + ub[localIndex] = this->stiffenerThickUpperBound; + localIndex++; + } + if (this->panelThickNum >= 0) { + lb[localIndex] = this->panelThickLowerBound; + ub[localIndex] = this->panelThickUpperBound; + localIndex++; + } + for (int ii = 0; ii < this->numPanelPlies; ii++) { + if (this->panelPlyFracNums[ii] >= 0) { + lb[localIndex] = this->panelPlyFracLowerBounds[ii]; + ub[localIndex] = this->panelPlyFracUpperBounds[ii]; + localIndex++; + } + } + for (int ii = 0; ii < this->numStiffenerPlies; ii++) { + if (this->stiffenerPlyFracNums[ii] >= 0) { + lb[localIndex] = this->stiffenerPlyFracLowerBounds[ii]; + ub[localIndex] = this->stiffenerPlyFracUpperBounds[ii]; + localIndex++; + } + } + } + return this->numDesignVars; +} + +// ============================================================================== +// Evaluate mass properties +// ============================================================================== +// Evaluate the mass per unit area +TacsScalar TACSBladeStiffenedShellConstitutive::evalDensity( + int elemIndex, const double pt[], const TacsScalar X[]) { + // Density due to the panel = thickness * rho + TacsScalar density = this->panelPly->getDensity() * this->panelThick; + // Density due to the stiffeners = rho * A / pitch + density += this->stiffenerPly->getDensity() * this->computeStiffenerArea() / + this->stiffenerPitch; + return density; +} + +// Add the derivative of the density w.r.t. the design variables +void TACSBladeStiffenedShellConstitutive::addDensityDVSens( + int elemIndex, TacsScalar scale, const double pt[], const TacsScalar X[], + int dvLen, TacsScalar dfdx[]) { + TacsScalar panelDensity = this->panelPly->getDensity(); + TacsScalar stiffenerDensity = this->stiffenerPly->getDensity(); + TacsScalar stiffenerArea = this->computeStiffenerArea(); + TacsScalar dAdt, dAdh; + this->computeStiffenerAreaSens(dAdt, dAdh); + + if (this->stiffenerPitchLocalNum >= 0) { + TacsScalar sp = this->stiffenerPitch; + dfdx[this->stiffenerPitchLocalNum] += + -scale * stiffenerDensity * stiffenerArea / (sp * sp); + } + if (this->stiffenerHeightLocalNum >= 0) { + dfdx[this->stiffenerHeightLocalNum] += + scale * stiffenerDensity * dAdh / this->stiffenerPitch; + } + if (this->stiffenerThickLocalNum >= 0) { + dfdx[this->stiffenerThickLocalNum] += + scale * stiffenerDensity * dAdt / this->stiffenerPitch; + } + if (this->panelThickLocalNum >= 0) { + dfdx[this->panelThickLocalNum] += scale * panelDensity; + } +} + +// Evaluate the mass moments +void TACSBladeStiffenedShellConstitutive::evalMassMoments( + int elemIndex, const double pt[], const TacsScalar X[], + TacsScalar moments[]) { + TacsScalar sPitchInv = 1.0 / this->stiffenerPitch; + TacsScalar sHeight = this->stiffenerHeight; + TacsScalar sThick = this->stiffenerThick; + TacsScalar pThick = this->panelThick; + TacsScalar kf = this->flangeFraction; + TacsScalar panelDensity = this->panelPly->getDensity(); + TacsScalar stiffenerDensity = this->stiffenerPly->getDensity(); + TacsScalar stiffenerArea = this->computeStiffenerArea(); + TacsScalar stiffenerOffset = + this->computeStiffenerCentroidHeight() + 0.5 * pThick; + TacsScalar stiffenerMOI = this->computeStiffenerMOI(); + + moments[0] = + panelDensity * pThick + stiffenerDensity * stiffenerArea * sPitchInv; + + // First moment of area is non-zero because the stiffener makes the section + // asymmteric + moments[1] = -stiffenerDensity * sHeight * sThick * + (kf * pThick + kf * sThick + pThick + sHeight + 2 * sThick) * + 0.5 * sPitchInv; + + // Panel contribution to second moment of area + moments[2] = 0.5 * panelDensity * pThick * pThick * pThick / 12.0; + + // Add stiffener MOI about it's own centroid + contribution from parallel axis + // theorm + moments[2] += (stiffenerMOI + 0.5 * stiffenerDensity * stiffenerArea * + stiffenerOffset * stiffenerOffset) * + sPitchInv; +} + +/** + Add the derivative of the pointwise mass times the given scalar + + @param elemIndex The local element index + @param pt The parametric location + @param X The point location + @param scale Scale factor for the moments + @param dvLen the length of the sensitivity array + @param dfdx The sensitivity array +*/ +void TACSBladeStiffenedShellConstitutive::addMassMomentsDVSens( + int elemIndex, const double pt[], const TacsScalar X[], + const TacsScalar scale[], int dvLen, TacsScalar dfdx[]) { + TacsScalar sPitchInv = 1.0 / this->stiffenerPitch; + TacsScalar sHeight = this->stiffenerHeight; + TacsScalar sThick = this->stiffenerThick; + TacsScalar pThick = this->panelThick; + TacsScalar kf = this->flangeFraction; + TacsScalar panelDensity = this->panelPly->getDensity(); + TacsScalar stiffenerDensity = this->stiffenerPly->getDensity(); + TacsScalar stiffenerArea = this->computeStiffenerArea(); + TacsScalar stiffenerOffset = + this->computeStiffenerCentroidHeight() + 0.5 * pThick; + TacsScalar stiffenerMOI = this->computeStiffenerMOI(); + + TacsScalar dzdt, dzdh; + this->computeStiffenerCentroidHeightSens(dzdt, dzdh); + + TacsScalar dAdt, dAdh; + this->computeStiffenerAreaSens(dAdt, dAdh); + + TacsScalar dMOIdt, dMOIdh; + this->computeStiffenerMOISens(dMOIdt, dMOIdh); + + // --- Stiffener pitch sensitivity --- + if (this->stiffenerPitchLocalNum >= 0) { + int ii = this->stiffenerPitchLocalNum; + TacsScalar sPitchInv2 = sPitchInv * sPitchInv; + // Density contribution + dfdx[ii] -= scale[0] * stiffenerDensity * stiffenerArea * sPitchInv2; + // First moment of area contribution + dfdx[ii] += scale[1] * stiffenerDensity * sHeight * sThick * + (kf * pThick + kf * sThick + pThick + sHeight + 2 * sThick) * + 0.5 * sPitchInv2; + // Second moment of area contribution + dfdx[ii] -= scale[2] * + (stiffenerMOI + 0.5 * stiffenerDensity * stiffenerArea * + stiffenerOffset * stiffenerOffset) * + sPitchInv2; + } + + // --- Stiffener height sensitivity --- + if (this->stiffenerHeightLocalNum >= 0) { + int ii = this->stiffenerHeightLocalNum; + // --- Density contribution --- + dfdx[ii] += scale[0] * stiffenerDensity * dAdh * sPitchInv; + // --- First moment of area contribution --- + dfdx[ii] += + scale[1] * + (sThick * stiffenerDensity * + (-kf * pThick - kf * sThick - pThick - 2 * sHeight - 2 * sThick) * + 0.5); + // --- Second moment of area contribution --- + // d/dh(MOI + 0.5*rho*A*z^2) = d/dh(MOI) + 0.5*rho*(dAdh*z^2 + 2*A*z*dzdh) + dfdx[ii] += + scale[2] * + (dMOIdh + 0.5 * stiffenerDensity * stiffenerOffset * + (stiffenerOffset * dAdh + 2.0 * stiffenerArea * dzdh)); + } + + // --- Stiffener thickness sensitivity --- + if (this->stiffenerThickLocalNum >= 0) { + int ii = this->stiffenerThickLocalNum; + // --- Density contribution --- + dfdx[ii] += scale[0] * stiffenerDensity * dAdt * sPitchInv; + // --- First moment of area contribution --- + dfdx[ii] += + scale[1] * + (sHeight * stiffenerDensity * + (-kf * pThick - 2 * kf * sThick - pThick - sHeight - 4 * sThick) / 2); + // --- Second moment of area contribution --- + // d/dt(MOI + 0.5*rho*A*z^2) = d/dt(MOI) + 0.5*rho*(dAdt*z^2 + 2*A*z*dzdt) + dfdx[ii] += + scale[2] * + (dMOIdt + 0.5 * stiffenerDensity * stiffenerOffset * + (stiffenerOffset * dAdt + 2.0 * stiffenerArea * dzdt)); + } + + // --- Panel thickness sensitivity --- + if (this->panelThickLocalNum >= 0) { + int ii = this->panelThickLocalNum; + // Density contribution + dfdx[ii] += scale[0] * panelDensity; + // Second moment of area contribution + dfdx[ii] += scale[2] * panelDensity * 0.25 * pThick * pThick; + } +} + +// ============================================================================== +// Helper functions for computing stiffener cross-section properties +// ============================================================================== +TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerArea() { + return (1 + this->flangeFraction) * this->stiffenerHeight * + this->stiffenerThick; +} + +void TACSBladeStiffenedShellConstitutive::computeStiffenerAreaSens( + TacsScalar& dAdt, TacsScalar& dAdh) { + dAdh = (1 + this->flangeFraction) * this->stiffenerThick; + dAdt = (1 + this->flangeFraction) * this->stiffenerHeight; +} + +TacsScalar +TACSBladeStiffenedShellConstitutive::computeStiffenerCentroidHeight() { + return ((1 + this->flangeFraction) * this->stiffenerThick + + 0.5 * this->stiffenerHeight) / + (1 + this->flangeFraction); +} + +void TACSBladeStiffenedShellConstitutive::computeStiffenerCentroidHeightSens( + TacsScalar& dzdt, TacsScalar& dzdh) { + dzdh = 0.5 * (1 + this->flangeFraction); + dzdt = (1 + 0.5 * this->flangeFraction) / (1 + this->flangeFraction); +} + +TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerIzz() { + TacsScalar sh = this->stiffenerHeight; + TacsScalar st = this->stiffenerThick; + TacsScalar kf = this->flangeFraction; + TacsScalar sh2 = sh * sh; + TacsScalar st2 = st * st; + TacsScalar kf2 = kf * kf; + return sh * st * + (kf2 * st2 + 4 * kf * sh2 + 6 * kf * sh * st + 4 * kf * st2 + sh2) / + (12 * (kf + 1)); +} + +void TACSBladeStiffenedShellConstitutive::computeStiffenerIzzSens( + TacsScalar& dIdt, TacsScalar& dIdh) { + TacsScalar sh = this->stiffenerHeight; + TacsScalar st = this->stiffenerThick; + TacsScalar kf = this->flangeFraction; + TacsScalar sh2 = sh * sh; + TacsScalar st2 = st * st; + TacsScalar kf2 = kf * kf; + + dIdt = + sh * + (3 * kf2 * st2 + 4 * kf * sh2 + 12 * kf * sh * st + 12 * kf * st2 + sh2) / + (12 * (kf + 1)); + + dIdh = + st * + (kf2 * st2 + 12 * kf * sh2 + 12 * kf * sh * st + 4 * kf * st2 + 3 * sh2) / + (12 * (kf + 1)); +} + +TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerJxx() { + TacsScalar sh = this->stiffenerHeight; + TacsScalar st = this->stiffenerThick; + TacsScalar kf = this->flangeFraction; + return sh * (st * st * st) * (kf + 1) / 3; +} + +void TACSBladeStiffenedShellConstitutive::computeStiffenerJxxSens( + TacsScalar& dJdt, TacsScalar& dJdh) { + TacsScalar sh = this->stiffenerHeight; + TacsScalar st = this->stiffenerThick; + TacsScalar kf = this->flangeFraction; + + dJdt = sh * (st * st) * (kf + 1); + dJdh = (st * st * st) * (kf + 1) / 3; +} + +TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerMOI() { + TacsScalar rho = this->stiffenerPly->getDensity(); + TacsScalar sh = this->stiffenerHeight; + TacsScalar st = this->stiffenerThick; + TacsScalar kf = this->flangeFraction; + TacsScalar A1 = sh * st; // Area of the stiffener web + TacsScalar A2 = kf * A1; // Area of the stiffener flange + TacsScalar z1 = st + 0.5 * sh; // Centroid of the stiffener web + TacsScalar z2 = 0.5 * st; // Centroid of the stiffener flange + TacsScalar zc = + this->computeStiffenerCentroidHeight(); // Centroid of the whole + // stiffener section + // Offsets of each area from the centroid of the whole stiffener section + TacsScalar dz1 = z1 - zc; + TacsScalar dz2 = z2 - zc; + + TacsScalar MOI1 = rho * A1 * sh * sh / + 12.0; // MOI of the stiffener web about it's own centroid + TacsScalar MOI2 = rho * A2 * st * st / 12.0; // MOI of the stiffener flange + // about it's own centroid + + // Parallel axis theorem to get the MOI of the stiffener web about its + // centroid + return MOI1 + MOI2 + 0.5 * rho * (A1 * dz1 * dz1 + A2 * dz2 * dz2); +} + +void TACSBladeStiffenedShellConstitutive::computeStiffenerMOISens( + TacsScalar& dMOIdt, TacsScalar& dMOIdh) { + TacsScalar rho = this->stiffenerPly->getDensity(); + TacsScalar sh = this->stiffenerHeight; + TacsScalar st = this->stiffenerThick; + TacsScalar kf = this->flangeFraction; + TacsScalar sh2 = sh * sh; + TacsScalar st2 = st * st; + TacsScalar kf2 = kf * kf; + + dMOIdt = + sh * rho * + (3 * kf2 * st2 + 4 * kf * sh2 + 12 * kf * sh * st + 12 * kf * st2 + sh2) / + (12 * (kf + 1)); + + dMOIdh = + st * rho * + (kf2 * st2 + 12 * kf * sh2 + 12 * kf * sh * st + 4 * kf * st2 + 3 * sh2) / + (12 * (kf + 1)); +} diff --git a/src/constitutive/TACSBladeStiffenedShellConstitutive.h b/src/constitutive/TACSBladeStiffenedShellConstitutive.h new file mode 100644 index 000000000..cc1ed3fe4 --- /dev/null +++ b/src/constitutive/TACSBladeStiffenedShellConstitutive.h @@ -0,0 +1,378 @@ +/* +============================================================================= +Blade-Stiffened Shell Constitutive Model +============================================================================= +@File : TACSBladeStiffenedShellConstitutive.h +@Date : 2023/04/05 +@Author : Alasdair Christison Gray +@Description : Constitutive model for a blade-stiffened shell. Based on the +bladeFSDT model from previous versions of TACS developed by Graeme Kennedy. +*/ + +#pragma once + +// ============================================================================= +// Standard Library Includes +// ============================================================================= + +// ============================================================================= +// Extension Includes +// ============================================================================= +#include "TACSMaterialProperties.h" +#include "TACSShellConstitutive.h" + +// ============================================================================= +// Global constant definitions +// ============================================================================= + +// ============================================================================= +// Class Declaration +// ============================================================================= + +/* + This constitutive class models a shell stiffened with T-shaped stiffeners. + The stiffeners are not explicitly modelled. Instead, their stiffness is +"smeared" across the shell. + + | | ^ + | | | + | | | + | | height + | <--------------pitch-------------> | | +Stiffener | | | +thickness ---> ----------------- ----------------- v + ---------------------------------------------------------------------- <--- +Panel thickness + +The panel and stiffener are modelled as laminates, both of which are +parameterised by an arbitrary number of ply angles and fractions. The laminate +properties are then computed using a smeared stiffness approach, which assumes +that the various ply angles are distributed evenly throughout the thicknes of +the panel. This is a valid assumption for thick laminates. + +WARNING: If you use ply fractions as design variables, it is currently up to you +to add constraints to ensure that the sum of the fractions is equal to 1.0. This +is not done automatically (yet). +*/ +class TACSBladeStiffenedShellConstitutive : public TACSShellConstitutive { + public: + /** + * @brief Construct a new TACSBladeStiffenedShellConstitutive object + * + * @param _panelPly Orthotropic ply object for the panel + * @param _stiffenerPly Orthotropic ply object for the stiffener + * @param _kcorr Shear correction factor + * @param _panelLength Panel length value + * @param _panelLengthNum Panel length design variable number + * @param _stiffenerPitch Stiffener pitch value + * @param _stiffenerPitchNum Stiffener pitch design variable number + * @param _stiffenerHeight Stiffener height value + * @param _stiffenerHeightNum Stiffener height design variable number + * @param _stiffenerThick Stiffener thickness value + * @param _stiffenerThickNum Stiffener thickness design variable number + * @param _panelThick Panel thickness value + * @param _panelThickNum Panel thickness design variable number + * @param _numPanelPlies Number of ply angles in the panel laminate + * @param _panelPlyAngles Panel ply angles + * @param _panelPlyFracNums Panel ply fraction design variable numbers + * @param _numStiffenerPlies Number of ply angles in the stiffener laminate + * @param _stiffenerPlyAngles Stiffener ply angles + * @param _stiffenerPlyFracNums Stiffener ply fraction design variable numbers + * @param _flangeFraction Stiffener base width as a fraction of the stiffener + * height + */ + TACSBladeStiffenedShellConstitutive( + TACSOrthotropicPly* _panelPly, TACSOrthotropicPly* _stiffenerPly, + TacsScalar _kcorr, TacsScalar _panelLength, int _panelLengthNum, + TacsScalar _stiffenerPitch, int _stiffenerPitchNum, + TacsScalar _stiffenerHeight, int _stiffenerHeightNum, + TacsScalar _stiffenerThick, int _stiffenerThickNum, + TacsScalar _panelThick, int _panelThickNum, int _numPanelPlies, + TacsScalar _panelPlyAngles[], int _panelPlyFracNums[], + int _numStiffenerPlies, TacsScalar _stiffenerPlyAngles[], + int _stiffenerPlyFracNums[], TacsScalar _flangeFraction = 1.0); + + ~TACSBladeStiffenedShellConstitutive(); + + // ============================================================================== + // Set non-default values + // ============================================================================== + /** + * @brief Set the Stiffener Pitch DV Bounds + * + * @param lowerBound Lower bound + * @param upperBound Upper bound + */ + void setStiffenerPitchBounds(TacsScalar lowerBound, TacsScalar upperBound); + + /** + * @brief Set the Stiffener Height DV Bounds + * + * @param lowerBound Lower bound + * @param upperBound Upper bound + */ + void setStiffenerHeightBounds(TacsScalar lowerBound, TacsScalar upperBound); + + /** + * @brief Set the Stiffener Thickness DV Bounds + * + * @param lowerBound Lower bound + * @param upperBound Upper bound + */ + void setStiffenerThicknessBounds(TacsScalar lowerBound, + TacsScalar upperBound); + + /** + * @brief Set the Panel Pitch DV Bounds + * + * @param lowerBound Lower bound + * @param upperBound Upper bound + */ + void setPanelThicknessBounds(TacsScalar lowerBound, TacsScalar upperBound); + + /** + * @brief Set the Stiffener Ply Fraction DV Bounds + * + * @param lowerBounds Lower bounds for each ply fraction + * @param upperBounds Upper bounds for each ply fraction + */ + void setStiffenerPlyFractionBounds(TacsScalar lowerBounds[], + TacsScalar upperBounds[]); + + /** + * @brief Set the Panel Ply Fraction DV Bounds + * + * @param lowerBounds Lower bounds for each ply fraction + * @param upperBounds Upper bounds for each ply fraction + */ + void setPanelPlyFractionBounds(TacsScalar lowerBounds[], + TacsScalar upperBounds[]); + + /** + * @brief Set the Stiffener Ply Fractions + * + * @param plyFractions Ply fractions + */ + void setStiffenerPlyFractions(TacsScalar plyFractions[]); + + /** + * @brief Set the Panel Ply Fractions + * + * @param plyFractions Ply fractions + */ + void setPanelPlyFractions(TacsScalar plyFractions[]); + + /** + * @brief Set the weight used for aggregating the failure criteria through the + * shell thickness + * + * @param _ksWeight + */ + inline void setKSWeight(double _ksWeight) { ksWeight = _ksWeight; } + + // ============================================================================== + // Setting/getting design variable information + // ============================================================================== + // Retrieve the global design variable numbers + int getDesignVarNums(int elemIndex, int dvLen, int dvNums[]); + + // Set the element design variable from the design vector + int setDesignVars(int elemIndex, int dvLen, const TacsScalar dvs[]); + + // Get the element design variables values + int getDesignVars(int elemIndex, int dvLen, TacsScalar dvs[]); + + // Get the lower and upper bounds for the design variable values + int getDesignVarRange(int elemIndex, int dvLen, TacsScalar lb[], + TacsScalar ub[]); + + // ============================================================================== + // Evaluate mass properties + // ============================================================================== + // Evaluate the mass per unit area + TacsScalar evalDensity(int elemIndex, const double pt[], + const TacsScalar X[]); + + // Add the derivative of the density w.r.t. the design variables + void addDensityDVSens(int elemIndex, TacsScalar scale, const double pt[], + const TacsScalar X[], int dvLen, TacsScalar dfdx[]); + + // Evaluate the mass moments + void evalMassMoments(int elemIndex, const double pt[], const TacsScalar X[], + TacsScalar moments[]); + + // Add the sensitivity of the mass moments + void addMassMomentsDVSens(int elemIndex, const double pt[], + const TacsScalar X[], const TacsScalar scale[], + int dvLen, TacsScalar dfdx[]); + + protected: + // ============================================================================== + // Helper functions for computing stiffener cross-section properties + // ============================================================================== + /** + * @brief Compute the stiffener area, + * + * @return TacsScalar Stiffener area + */ + inline TacsScalar computeStiffenerArea(); + + /** + * @brief Compute the derivative of the stiffener's cross-sectional area with + * respect to the stiffener thickness and height + * + * @param dAdt Derivative of the stiffener's cross-sectional area with respect + * to the stiffener thickness + * @param dAdh Derivative of the stiffener's cross-sectional area with respect + * to the stiffener height + */ + inline void computeStiffenerAreaSens(TacsScalar& dAdt, TacsScalar& dAdh); + + /** + * @brief Compute the stiffener centroid height, this is the height relative + * to the bottom surface of the stiffener, NOT the mid-plane of the panel. + * + * @return TacsScalar The stiffener centroid height + */ + inline TacsScalar computeStiffenerCentroidHeight(); + + /** + * @brief Compute the derivative of the stiffener centroid height with respect + * to the stiffener thickness and height + * + * @param dzdt Derivative of the stiffener centroid height with respect to the + * stiffener thickness + * @param dzdh Derivative of the stiffener centroid height with respect to the + * stiffener height + */ + inline void computeStiffenerCentroidHeightSens(TacsScalar& dzdt, + TacsScalar& dzdh); + + /** + * @brief Compute the second moment of area about the stiffener centroid + * + * @return TacsScalar Second moment of area about the stiffener centroid + */ + inline TacsScalar computeStiffenerIzz(); + + /** + * @brief Compute the derivative of the stiffener's second moment of area + * about the stiffener centroid with respect to the stiffener thickness and + * height + * + * @param dIdt Derivative of Izz with respect to the stiffener thickness + * @param dIdh Derivative of Izz with respect to the stiffener height + */ + inline void computeStiffenerIzzSens(TacsScalar& dIdt, TacsScalar& dIdh); + + /** + * @brief Compute the torsion constant of the stiffener cross section + * + * The equation used is taken from page 9 of "TORSIONAL SECTION PROPERTIES OF + * STEEL SHAPES" by the Canadian institute of steel construction + * (http://dir.cisc-icca.ca/files/technical/techdocs/updates/torsionprop.pdf). + * The use of this equation is obviously a little suspect for a composite + * stiffener, but it is the best we have for now. + * + * @return TacsScalar The stiffener torsion constant + */ + inline TacsScalar computeStiffenerJxx(); + + /** + * @brief Compute the derivative of the stiffener's torsion constant with + * respect to the stiffener thickness and height + * + * @param dJdt Derivative of Jxx with respect to the stiffener thickness + * @param dJdh Derivative of Jxx with respect to the stiffener height + */ + inline void computeStiffenerJxxSens(TacsScalar& dJdt, TacsScalar& dJdh); + + /** + * @brief Compute the moment of inertia of the stiffener cross section about + * it's centroid, NOT the shell mid-plane + * + * @return TacsScalar The stiffener moment of inertia (Iyy) about it's + * centroid + */ + inline TacsScalar computeStiffenerMOI(); + + /** + * @brief Compute the derivative of the stiffener's moment of inertia about + * its centroid with respect to the stiffener thickness and height + * + * @param dMOIdt Derivative of Iyy with respect to the stiffener thickness + * @param dMOIdh Derivative of Iyy with respect to the stiffener height + */ + inline void computeStiffenerMOISens(TacsScalar& dMOIdt, TacsScalar& dMOIdh); + + // ============================================================================== + // Attributes + // ============================================================================== + + // --- General attributes --- + int numPanelPlies; ///< Number of plies in the panel laminate + int numStiffenerPlies; ///< Number of plies in the stiffener laminate + double ksWeight = 80.0; ///< Failure criteria KS aggregation weight + int numDesignVars; ///< Number of design variables + + // --- Material properties --- + TACSOrthotropicPly* panelPly; ///< Orthotropic ply for the panel + TACSOrthotropicPly* stiffenerPly; ///< Orthotropic ply for the stiffener + TacsScalar kcorr; ///< Shear correction factor + + // --- Design variable values --- + TacsScalar panelLength; ///< Panel length + TacsScalar stiffenerPitch; ///< Stiffener pitch + TacsScalar stiffenerHeight; ///< Stiffener height + TacsScalar stiffenerThick; ///< Stiffener thickness + TacsScalar panelThick; ///< Panel thickness + TacsScalar* panelPlyFracs; ///< Panel ply Fracs + TacsScalar* stiffenerPlyFracs; ///< Stiffener ply Fracs + + // --- Fixed parameters --- + TacsScalar* panelPlyAngles; ///< Panel ply angles + TacsScalar* stiffenerPlyAngles; ///< Stiffener ply angles + TacsScalar flangeFraction; ///< Flange fraction (stiffener base width as a + ///< fraction of stiffener height) + + // --- Design variable bounds --- + TacsScalar panelLengthLowerBound = 0.0; + TacsScalar panelLengthUpperBound = 1e20; + TacsScalar stiffenerPitchLowerBound = 1e-3; + TacsScalar stiffenerPitchUpperBound = 1e20; + TacsScalar stiffenerHeightLowerBound = 1e-3; + TacsScalar stiffenerHeightUpperBound = 1e20; + TacsScalar stiffenerThickLowerBound = 1e-4; + TacsScalar stiffenerThickUpperBound = 1e20; + TacsScalar panelThickLowerBound = 1e-4; + TacsScalar panelThickUpperBound = 1e20; + TacsScalar* panelPlyFracLowerBounds; + TacsScalar* panelPlyFracUpperBounds; + TacsScalar* stiffenerPlyFracLowerBounds; + TacsScalar* stiffenerPlyFracUpperBounds; + + // --- Design variable numbers --- + int panelLengthNum; ///< Panel length DV number + int stiffenerPitchNum; ///< Stiffener pitch DV number + int stiffenerHeightNum; ///< Stiffener height DV number + int stiffenerThickNum; ///< Stiffener thickness DV number + int panelThickNum; ///< Panel thickness DV number + int* panelPlyFracNums; ///< Panel ply fraction DV numbers + int* stiffenerPlyFracNums; ///< Stiffener ply fraction DV numbers + + // --- Local design variable numbers, these are useful when returning + // sensitivity values --- + int panelLengthLocalNum; ///< Panel length local DV number + int stiffenerPitchLocalNum; ///< Stiffener pitch local DV number + int stiffenerHeightLocalNum; ///< Stiffener height local DV number + int stiffenerThickLocalNum; ///< Stiffener thickness local DV number + int panelThickLocalNum; ///< Panel thickness local DV number + int* panelPlyFracLocalNums; ///< Panel ply fraction local DV numbers + int* stiffenerPlyFracLocalNums; ///< Stiffener ply fraction local DV numbers + + static const int PANEL_LENGTH_INDEX = 0; + static const int STIFFENER_PITCH_INDEX = 1; + static const int STIFFENER_HEIGHT_INDEX = 2; + static const int STIFFENER_THICKNESS_INDEX = 3; + static const int PANEL_THICKNESS_INDEX = 4; +}; diff --git a/src/constitutive/TACSShellConstitutive.h b/src/constitutive/TACSShellConstitutive.h index 4fa937bdf..fe267682e 100644 --- a/src/constitutive/TACSShellConstitutive.h +++ b/src/constitutive/TACSShellConstitutive.h @@ -39,7 +39,7 @@ class TACSShellConstitutive : public TACSConstitutive { // Get the number of stresses int getNumStresses(); - /* + /** Get the integrals of the density through the thickness moments = int_{-t/2}^{t/2} [1, z, z^2] rho(z) dz @@ -53,7 +53,15 @@ class TACSShellConstitutive : public TACSConstitutive { const TacsScalar X[], TacsScalar moments[]) = 0; /** - Add the derivative of the pointwise mass times the given scalar + Add the contribution of the mass moment sensitivities to the derivative of a + function + + Given the sensitivity of some function, f, with respect to the mass moments, + this function adds the sensitivity of the function the design variables due + to the dependence of the mass moments on the design variables. + + e.g dfdx[0] += scale[0]*dm0/dx1 + scale[1]*dm1/dx1 + scale[2]*dm2/dx1 + dfdx[1] += scale[0]*dm0/dx2 + scale[1]*dm1/dx2 + scale[2]*dm2/dx2 @param elemIndex The local element index @param pt The parametric location From 51d1e16daf6af6c3eedcc23209b1a8f3b2bc0456 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 7 Apr 2023 22:53:51 -0400 Subject: [PATCH 097/174] Add ContinuationSolver logic for recovering from failed inner solves --- tacs/problems/static.py | 6 ++++++ tacs/solvers/ContinuationSolver.py | 22 ++++++++++++++++++---- 2 files changed, 24 insertions(+), 4 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 621f172db..78c73e06d 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1015,6 +1015,12 @@ def resFunc(res): self._preconditionerUpdateRequired = True self._jacobianUpdateRequired = True + # We should also reset the linear solver convergence so that any loosening of the linear convergence criteria are undone before a possible adjoint solve + self.KSM.setTolerances( + self.getOption("L2ConvergenceRel"), + self.getOption("L2Convergence"), + ) + # Finally return a bool indicating whether the solve was successful return self.nonlinearSolver.hasConverged diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/ContinuationSolver.py index 02f2e17b9..a579a2ea7 100644 --- a/tacs/solvers/ContinuationSolver.py +++ b/tacs/solvers/ContinuationSolver.py @@ -83,7 +83,7 @@ class ContinuationSolver(BaseSolver): 8, "Target number of Newton iterations for each continuation increment.", ], - "continuationMaxIter": [int, 100, "Maximum number of continuation steps."], + "continuationMaxIter": [int, 30, "Maximum number of continuation steps."], "continuationInitialStep": [float, 0.2, "Initial continuation step size."], "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], @@ -274,6 +274,7 @@ def solve( # done by the resulting Newton step: # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe + isRestartIncrement = False if np.real(self.stateVec.norm()) > 0: self.jacFunc() self.pcUpdateFunc() @@ -290,13 +291,15 @@ def solve( # solution if we just reset the displacements to zero and start the solver from there self.stateVec.zeroEntries() self.setStateFunc(self.stateVec) - optLoadScale = self.getLambdaFunc() + optLoadScale = INIT_STEP elif np.abs(optLoadScale - MAX_LAMBDA) < 1e-2: # If the optimum load scale is close to the max load scale then we'll just use the max load scale optLoadScale = MAX_LAMBDA + isRestartIncrement = True else: # Otherwise choose the maximum of the ideal load scale and the default initial load scale optLoadScale = max(optLoadScale, INIT_STEP) + isRestartIncrement = True # If the optimum load scale is greater than the max we want to get to then we need to reverse the # direction of load incrementation if optLoadScale > MAX_LAMBDA: @@ -365,14 +368,23 @@ def continuationcallBack(solver, u, res, monitorVars): # --- Check convergence --- isLastIncrement = increment == MAX_INCREMENTS - 1 if not success: - # If the inner solve failed then we'll reduce the step size and try again, unless we've hit the increment limit - if not isLastIncrement and stepSize > MIN_STEP: + # If this was the first increment restarting from a previous solution then we don't have a safe state to reset to, so we just have to do a full reset + if isRestartIncrement: + self.stateVec.zeroEntries() + self.incStartState.zeroEntries() + self.setStateFunc(self.stateVec) + stepSize = INIT_STEP + currentLambda = 0.0 + loadStepDirection = 1 + # If the inner solve failed then we'll reduce the step size and try again, unless we've hit the increment or step size limits + elif not isLastIncrement and stepSize > MIN_STEP: self.setStateFunc(self.incStartState) currentLambda -= stepSize * loadStepDirection self.setLambdaFunc(currentLambda) stepSize *= STEP_RETRACT_FACTOR else: self._fatalFailure = self.innerSolver.fatalFailure + break else: # If inner solver converged and we're at the max load scale then we're done if currentLambda == MAX_LAMBDA: @@ -397,6 +409,8 @@ def continuationcallBack(solver, u, res, monitorVars): currentLambda += loadStepDirection * stepSize self.setLambdaFunc(currentLambda) + isRestartIncrement = False + if result is not None: result.copyValues(self.stateVec) From bdcad8ed92f6c8b4eb87b969e9e816dfaa883da3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 7 Apr 2023 22:57:13 -0400 Subject: [PATCH 098/174] Renaming solver files --- tacs/solvers/__init__.py | 8 ++++---- tacs/solvers/{BaseSolver.py => base.py} | 0 tacs/solvers/{ContinuationSolver.py => continuation.py} | 0 tacs/solvers/{NewtonSolver.py => newton.py} | 0 4 files changed, 4 insertions(+), 4 deletions(-) rename tacs/solvers/{BaseSolver.py => base.py} (100%) rename tacs/solvers/{ContinuationSolver.py => continuation.py} (100%) rename tacs/solvers/{NewtonSolver.py => newton.py} (100%) diff --git a/tacs/solvers/__init__.py b/tacs/solvers/__init__.py index 015efbd51..c5a914154 100644 --- a/tacs/solvers/__init__.py +++ b/tacs/solvers/__init__.py @@ -1,7 +1,7 @@ -from .BaseSolver import BaseSolver +from .base import BaseSolver -from .NewtonSolver import NewtonSolver +from .newton import NewtonSolver -from .ContinuationSolver import ContinuationSolver +from .continuation import ContinuationSolver -__all__ = ["NewtonSolver", "ContinuationSolver"] +__all__ = ["newton", "continuation"] diff --git a/tacs/solvers/BaseSolver.py b/tacs/solvers/base.py similarity index 100% rename from tacs/solvers/BaseSolver.py rename to tacs/solvers/base.py diff --git a/tacs/solvers/ContinuationSolver.py b/tacs/solvers/continuation.py similarity index 100% rename from tacs/solvers/ContinuationSolver.py rename to tacs/solvers/continuation.py diff --git a/tacs/solvers/NewtonSolver.py b/tacs/solvers/newton.py similarity index 100% rename from tacs/solvers/NewtonSolver.py rename to tacs/solvers/newton.py From b44cb74f7b52c698dfb12c75d6965d6f0b3c5754 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 7 Apr 2023 22:59:28 -0400 Subject: [PATCH 099/174] Playing around with solver options in nonlinear examples again --- examples/nonlinear_annulus/analysis.py | 13 ++++++++----- examples/nonlinear_cantilever/analysis.py | 5 ++++- examples/nonlinear_hemisphere/analysis.py | 3 +-- 3 files changed, 13 insertions(+), 8 deletions(-) diff --git a/examples/nonlinear_annulus/analysis.py b/examples/nonlinear_annulus/analysis.py index 3d6dc1eb7..bc2cd83f6 100644 --- a/examples/nonlinear_annulus/analysis.py +++ b/examples/nonlinear_annulus/analysis.py @@ -87,12 +87,17 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) probOptions = { - "continuationInitialStep": 0.05, + "continuationInitialStep": 0.01, + "continuationTargetIter": 6, "newtonSolverMaxIter": 50, + "continuationRelTol": 1e-7, + "newtonSolverMaxLinIters": 5, + "continuationUsePredictor": True, + "continuationNumPredictorStates": 8, # "newtonSolverUseEW": True, "nRestarts": 3, "subSpaceSize": 20, - "newtonSolverMonitorVars": [ + "nonlinearSolverMonitorVars": [ "lambda", "linsolveriters", "linsolverres", @@ -100,9 +105,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "linesearchstep", "linesearchiters", ], - # "newtonSolverMaxLinIters": 10, - "skipFirstNLineSearch": 1, - "continuationTargetIter": 25, + "writeNLIterSolutions": True, } problem = FEAAssembler.createStaticProblem("Annulus", options=probOptions) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index 447da8196..ef02fcd62 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -87,7 +87,10 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "printTiming": True, "skipFirstNLineSearch": 0, "newtonSolverCoarseRelTol": 1e-3, - "continuationInitialStep": 0.1, + "continuationInitialStep": 0.05, + "continuationUsePredictor": True, + "continuationNumPredictorStates": 7, + "writeNLIterSolutions": True, } forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) momentProblem = FEAAssembler.createStaticProblem("TipMoment", options=probOptions) diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py index 1e9504019..cdc761940 100644 --- a/examples/nonlinear_hemisphere/analysis.py +++ b/examples/nonlinear_hemisphere/analysis.py @@ -91,7 +91,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "newtonSolverUseEW": True, "nRestarts": 3, "subSpaceSize": 20, - "newtonSolverMonitorVars": [ + "nonlinearSolverMonitorVars": [ "lambda", "linsolveriters", "linsolverres", @@ -104,7 +104,6 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg } problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) - # ============================================================================== # Find tip force points # ============================================================================== From ade6379d369c38ce1d1fca193ba8029f754ef388 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 26 Apr 2023 22:30:44 -0400 Subject: [PATCH 100/174] Give nonlinear shell classes in cython wrapper con and transform attributes --- tacs/elements.pyx | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/tacs/elements.pyx b/tacs/elements.pyx index 06882ff18..6b4b933d5 100644 --- a/tacs/elements.pyx +++ b/tacs/elements.pyx @@ -711,6 +711,8 @@ cdef class Quad4ShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad4ShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad4ShellQuaternion(Element): """ @@ -739,6 +741,8 @@ cdef class Quad4ShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad4ShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad4NonlinearShellModRot(Element): """ @@ -767,6 +771,8 @@ cdef class Quad4NonlinearShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad4NonlinearShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad4NonlinearShellQuaternion(Element): """ @@ -795,6 +801,8 @@ cdef class Quad4NonlinearShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad4NonlinearShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad9Shell(Element): """ @@ -877,6 +885,8 @@ cdef class Quad9ShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad9ShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad9ShellQuaternion(Element): """ @@ -905,6 +915,8 @@ cdef class Quad9ShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad9ShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad9NonlinearShellModRot(Element): """ @@ -933,6 +945,8 @@ cdef class Quad9NonlinearShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad9NonlinearShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad9NonlinearShellQuaternion(Element): """ @@ -961,6 +975,8 @@ cdef class Quad9NonlinearShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad9NonlinearShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad16Shell(Element): """ @@ -1043,6 +1059,8 @@ cdef class Quad16ShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad16ShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad16ShellQuaternion(Element): """ @@ -1071,6 +1089,8 @@ cdef class Quad16ShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad16ShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad16NonlinearShellModRot(Element): """ @@ -1099,6 +1119,8 @@ cdef class Quad16NonlinearShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad16NonlinearShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad16NonlinearShellQuaternion(Element): """ @@ -1127,6 +1149,8 @@ cdef class Quad16NonlinearShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSQuad16NonlinearShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Tri3Shell(Element): """ @@ -1209,6 +1233,8 @@ cdef class Tri3ShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSTri3ShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Tri3ShellQuaternion(Element): """ @@ -1237,6 +1263,8 @@ cdef class Tri3ShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSTri3ShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Tri3NonlinearShellModRot(Element): """ @@ -1265,6 +1293,8 @@ cdef class Tri3NonlinearShellModRot(Element): transform = ShellNaturalTransform() self.ptr = new TACSTri3NonlinearShellModRot(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Tri3NonlinearShellQuaternion(Element): """ @@ -1293,6 +1323,8 @@ cdef class Tri3NonlinearShellQuaternion(Element): transform = ShellNaturalTransform() self.ptr = new TACSTri3NonlinearShellQuaternion(transform.ptr, con.cptr) self.ptr.incref() + self.con = con + self.transform = transform cdef class Quad4ThermalShell(Element): """ From ba2718737cfb619ab280eb37ba55468a530cdfe6 Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Fri, 19 May 2023 13:49:13 -0400 Subject: [PATCH 101/174] Revert "Starting to add a blade-stiffened shell constitutive model" This reverts commit b19ec44b039669c174075b4c6457e5115bb705c1. --- src/constitutive/Makefile | 1 - .../TACSBladeStiffenedShellConstitutive.cpp | 724 ------------------ .../TACSBladeStiffenedShellConstitutive.h | 378 --------- src/constitutive/TACSShellConstitutive.h | 12 +- 4 files changed, 2 insertions(+), 1113 deletions(-) delete mode 100644 src/constitutive/TACSBladeStiffenedShellConstitutive.cpp delete mode 100644 src/constitutive/TACSBladeStiffenedShellConstitutive.h diff --git a/src/constitutive/Makefile b/src/constitutive/Makefile index 4d9a42ca7..c68b9f998 100644 --- a/src/constitutive/Makefile +++ b/src/constitutive/Makefile @@ -15,7 +15,6 @@ CXX_OBJS = TACSMaterialProperties.o \ TACSShellConstitutive.o \ TACSIsoShellConstitutive.o \ TACSLamParamShellConstitutive.o \ - TACSBladeStiffenedShellConstitutive.o \ TACSGeneralMassConstitutive.o \ TACSPointMassConstitutive.o \ TACSGeneralSpringConstitutive.o \ diff --git a/src/constitutive/TACSBladeStiffenedShellConstitutive.cpp b/src/constitutive/TACSBladeStiffenedShellConstitutive.cpp deleted file mode 100644 index 9a85bbb08..000000000 --- a/src/constitutive/TACSBladeStiffenedShellConstitutive.cpp +++ /dev/null @@ -1,724 +0,0 @@ -/* -============================================================================= - -============================================================================= -@File : TACSBladeStiffenedShellConstitutive.cpp -@Date : 2023/04/06 -@Author : Alasdair Christison Gray -@Description : Constitutive model for a blade-stiffened shell. Based on the -bladeFSDT model from previous versions of TACS developed by Graeme Kennedy. -*/ - -// ============================================================================= -// Standard Library Includes -// ============================================================================= - -// ============================================================================= -// Extension Includes -// ============================================================================= -#include "TACSBladeStiffenedShellConstitutive.h" - -#include "TACSMaterialProperties.h" -#include "TACSShellConstitutive.h" - -// ============================================================================== -// Constructor -// ============================================================================== - -TACSBladeStiffenedShellConstitutive::TACSBladeStiffenedShellConstitutive( - TACSOrthotropicPly* _panelPly, TACSOrthotropicPly* _stiffenerPly, - TacsScalar _kcorr, TacsScalar _panelLength, int _panelLengthNum, - TacsScalar _stiffenerPitch, int _stiffenerPitchNum, - TacsScalar _stiffenerHeight, int _stiffenerHeightNum, - TacsScalar _stiffenerThick, int _stiffenerThickNum, TacsScalar _panelThick, - int _panelThickNum, int _numPanelPlies, TacsScalar _panelPlyAngles[], - int _panelPlyFracNums[], int _numStiffenerPlies, - TacsScalar _stiffenerPlyAngles[], int _stiffenerPlyFracNums[], - TacsScalar _flangeFraction) { - this->panelPly = _panelPly; - this->panelPly->incref(); - - this->stiffenerPly = _stiffenerPly; - this->stiffenerPly->incref(); - - this->kcorr = _kcorr; - - this->numDesignVars = 0; - - // --- Panel length values --- - this->panelLength = _panelLength; - this->panelLengthNum = _panelLengthNum; - this->panelLengthLocalNum = _panelLengthNum; - if (_panelLengthNum >= 0) { - this->panelLengthLocalNum = this->numDesignVars; - this->numDesignVars++; - } - this->panelLengthLowerBound = 0.000; - this->panelLengthUpperBound = 1e20; - - // --- Stiffener pitch values --- - this->stiffenerPitch = _stiffenerPitch; - this->stiffenerPitchNum = _stiffenerPitchNum; - this->stiffenerPitchLocalNum = _stiffenerPitchNum; - if (_stiffenerPitchNum >= 0) { - this->stiffenerPitchLocalNum = this->numDesignVars; - this->numDesignVars++; - } - this->stiffenerPitchLowerBound = 1e-3; - this->stiffenerPitchUpperBound = 1e20; - - // --- Stiffener height values --- - this->stiffenerHeight = _stiffenerHeight; - this->stiffenerHeightNum = _stiffenerHeightNum; - this->stiffenerHeightLocalNum = _stiffenerHeightNum; - if (_stiffenerHeightNum >= 0) { - this->stiffenerHeightLocalNum = this->numDesignVars; - this->numDesignVars++; - } - this->stiffenerHeightLowerBound = 1e-3; - this->stiffenerHeightUpperBound = 1e20; - - // --- Stiffener thickness values --- - this->stiffenerThick = _stiffenerThick; - this->stiffenerThickNum = _stiffenerThickNum; - this->stiffenerThickLocalNum = _stiffenerThickNum; - if (_stiffenerThickNum >= 0) { - this->stiffenerThickLocalNum = this->numDesignVars; - this->numDesignVars++; - } - this->stiffenerThickLowerBound = 1e-4; - this->stiffenerThickUpperBound = 1e20; - - // --- Panel thickness values --- - this->panelThick = _panelThick; - this->panelThickNum = _panelThickNum; - this->panelThickLocalNum = _panelThickNum; - if (_panelThickNum >= 0) { - this->panelThickLocalNum = this->numDesignVars; - this->numDesignVars++; - } - this->panelThickLowerBound = 1e-4; - this->panelThickUpperBound = 1e20; - - // --- Panel ply values --- - this->numPanelPlies = _numPanelPlies; - this->panelPlyAngles = new TacsScalar[_numPanelPlies]; - this->panelPlyFracs = new TacsScalar[_numPanelPlies]; - this->panelPlyFracNums = new int[_numPanelPlies]; - this->panelPlyFracLocalNums = new int[_numPanelPlies]; - this->panelPlyFracLowerBounds = new TacsScalar[_numPanelPlies]; - this->panelPlyFracUpperBounds = new TacsScalar[_numPanelPlies]; - for (int ii = 0; ii < _numPanelPlies; ii++) { - this->panelPlyAngles[ii] = _panelPlyAngles[ii]; - this->panelPlyFracNums[ii] = _panelPlyFracNums[ii]; - this->panelPlyFracLocalNums[ii] = _panelPlyFracNums[ii]; - if (_panelPlyFracNums[ii] >= 0) { - this->panelPlyFracLocalNums[ii] = this->numDesignVars; - this->numDesignVars++; - } - this->panelPlyFracs[ii] = 1.0 / _numPanelPlies; - this->panelPlyFracLowerBounds[ii] = 0.1; - this->panelPlyFracUpperBounds[ii] = 0.9; - } - - // --- Stiffener ply values --- - this->numStiffenerPlies = _numStiffenerPlies; - this->stiffenerPlyAngles = new TacsScalar[_numStiffenerPlies]; - this->stiffenerPlyFracs = new TacsScalar[_numStiffenerPlies]; - this->stiffenerPlyFracNums = new int[_numStiffenerPlies]; - this->stiffenerPlyFracLocalNums = new int[_numStiffenerPlies]; - this->stiffenerPlyFracLowerBounds = new TacsScalar[_numStiffenerPlies]; - this->stiffenerPlyFracUpperBounds = new TacsScalar[_numStiffenerPlies]; - for (int ii = 0; ii < _numStiffenerPlies; ii++) { - this->stiffenerPlyAngles[ii] = _stiffenerPlyAngles[ii]; - this->stiffenerPlyFracNums[ii] = _stiffenerPlyFracNums[ii]; - this->stiffenerPlyFracLocalNums[ii] = _stiffenerPlyFracNums[ii]; - if (_stiffenerPlyFracNums[ii] >= 0) { - this->stiffenerPlyFracLocalNums[ii] = this->numDesignVars; - this->numDesignVars++; - } - this->stiffenerPlyFracs[ii] = 1.0 / _numStiffenerPlies; - this->stiffenerPlyFracLowerBounds[ii] = 0.1; - this->stiffenerPlyFracUpperBounds[ii] = 0.9; - } - - // --- Stiffener flange fraction --- - this->flangeFraction = _flangeFraction; -} - -// ============================================================================== -// Destructor -// ============================================================================== -TACSBladeStiffenedShellConstitutive::~TACSBladeStiffenedShellConstitutive() { - this->panelPly->decref(); - this->stiffenerPly->decref(); - - delete[] this->panelPlyAngles; - this->panelPlyAngles = nullptr; - - delete[] this->panelPlyFracs; - this->panelPlyFracs = nullptr; - - delete[] this->panelPlyFracNums; - this->panelPlyFracNums = nullptr; - - delete[] this->panelPlyFracLocalNums; - this->panelPlyFracLocalNums = nullptr; - - delete[] this->stiffenerPlyAngles; - this->stiffenerPlyAngles = nullptr; - - delete[] this->stiffenerPlyFracs; - this->stiffenerPlyFracs = nullptr; - - delete[] this->stiffenerPlyFracNums; - this->stiffenerPlyFracNums = nullptr; - - delete[] this->stiffenerPlyFracLocalNums; - this->stiffenerPlyFracLocalNums = nullptr; - - delete[] this->panelPlyFracLowerBounds; - this->panelPlyFracLowerBounds = nullptr; - - delete[] this->panelPlyFracUpperBounds; - this->panelPlyFracUpperBounds = nullptr; - - delete[] this->stiffenerPlyFracLowerBounds; - this->stiffenerPlyFracLowerBounds = nullptr; - - delete[] this->stiffenerPlyFracUpperBounds; - this->stiffenerPlyFracUpperBounds = nullptr; -} - -// ============================================================================== -// Set non-default values -// ============================================================================== - -void TACSBladeStiffenedShellConstitutive::setStiffenerPitchBounds( - TacsScalar lowerBound, TacsScalar upperBound) { - this->stiffenerPitchLowerBound = lowerBound; - this->stiffenerPitchUpperBound = upperBound; -} - -void TACSBladeStiffenedShellConstitutive::setStiffenerHeightBounds( - TacsScalar lowerBound, TacsScalar upperBound) { - this->stiffenerHeightLowerBound = lowerBound; - this->stiffenerHeightUpperBound = upperBound; -} - -void TACSBladeStiffenedShellConstitutive::setStiffenerThicknessBounds( - TacsScalar lowerBound, TacsScalar upperBound) { - this->stiffenerThickLowerBound = lowerBound; - this->stiffenerThickUpperBound = upperBound; -} - -void TACSBladeStiffenedShellConstitutive::setPanelThicknessBounds( - TacsScalar lowerBound, TacsScalar upperBound) { - this->panelThickLowerBound = lowerBound; - this->panelThickUpperBound = upperBound; -} - -void TACSBladeStiffenedShellConstitutive::setStiffenerPlyFractionBounds( - TacsScalar lowerBounds[], TacsScalar upperBounds[]) { - for (int ii = 0; ii < this->numStiffenerPlies; ii++) { - this->stiffenerPlyFracLowerBounds[ii] = lowerBounds[ii]; - this->stiffenerPlyFracUpperBounds[ii] = upperBounds[ii]; - } -} - -void TACSBladeStiffenedShellConstitutive::setPanelPlyFractionBounds( - TacsScalar lowerBounds[], TacsScalar upperBounds[]) { - for (int ii = 0; ii < this->numPanelPlies; ii++) { - this->panelPlyFracLowerBounds[ii] = lowerBounds[ii]; - this->panelPlyFracUpperBounds[ii] = upperBounds[ii]; - } -} - -void TACSBladeStiffenedShellConstitutive::setStiffenerPlyFractions( - TacsScalar plyFractions[]) { - for (int ii = 0; ii < this->numStiffenerPlies; ii++) { - this->stiffenerPlyFracs[ii] = plyFractions[ii]; - } -} - -void TACSBladeStiffenedShellConstitutive::setPanelPlyFractions( - TacsScalar plyFractions[]) { - for (int ii = 0; ii < this->numPanelPlies; ii++) { - this->panelPlyFracs[ii] = plyFractions[ii]; - } -} - -// ============================================================================== -// Setting/getting design variable information -// ============================================================================== -// Retrieve the global design variable numbers -int TACSBladeStiffenedShellConstitutive::getDesignVarNums(int elemIndex, - int dvLen, - int dvNums[]) { - if (dvNums && dvLen >= this->numDesignVars) { - int localIndex = 0; - if (this->panelLengthNum >= 0) { - dvNums[localIndex] = panelLengthNum; - localIndex++; - } - if (this->stiffenerPitchNum >= 0) { - dvNums[localIndex] = stiffenerPitchNum; - localIndex++; - } - if (this->stiffenerHeightNum >= 0) { - dvNums[localIndex] = stiffenerHeightNum; - localIndex++; - } - if (this->stiffenerThickNum >= 0) { - dvNums[localIndex] = stiffenerThickNum; - localIndex++; - } - if (this->panelThickNum >= 0) { - dvNums[localIndex] = panelThickNum; - localIndex++; - } - for (int ii = 0; ii < this->numPanelPlies; ii++) { - if (this->panelPlyFracNums[ii] >= 0) { - dvNums[localIndex] = panelPlyFracNums[ii]; - localIndex++; - } - } - for (int ii = 0; ii < this->numStiffenerPlies; ii++) { - if (this->stiffenerPlyFracNums[ii] >= 0) { - dvNums[localIndex] = stiffenerPlyFracNums[ii]; - localIndex++; - } - } - } - return numDesignVars; -} - -// Set the element design variable from the design vector -int TACSBladeStiffenedShellConstitutive::setDesignVars(int elemIndex, int dvLen, - const TacsScalar dvs[]) { - if (dvLen >= this->numDesignVars) { - int localIndex = 0; - if (this->panelLengthNum >= 0) { - this->panelLength = dvs[localIndex]; - localIndex++; - } - if (this->stiffenerPitchNum >= 0) { - this->stiffenerPitch = dvs[localIndex]; - localIndex++; - } - if (this->stiffenerHeightNum >= 0) { - this->stiffenerHeight = dvs[localIndex]; - localIndex++; - } - if (this->stiffenerThickNum >= 0) { - this->stiffenerThick = dvs[localIndex]; - localIndex++; - } - if (this->panelThickNum >= 0) { - this->panelThick = dvs[localIndex]; - localIndex++; - } - for (int ii = 0; ii < this->numPanelPlies; ii++) { - if (this->panelPlyFracNums[ii] >= 0) { - this->panelPlyFracs[ii] = dvs[localIndex]; - localIndex++; - } - } - for (int ii = 0; ii < this->numStiffenerPlies; ii++) { - if (this->stiffenerPlyFracNums[ii] >= 0) { - this->stiffenerPlyFracs[ii] = dvs[localIndex]; - localIndex++; - } - } - } - return this->numDesignVars; -} - -// Get the element design variables values -int TACSBladeStiffenedShellConstitutive::getDesignVars(int elemIndex, int dvLen, - TacsScalar dvs[]) { - if (dvLen >= this->numDesignVars) { - int localIndex = 0; - if (this->panelLengthNum >= 0) { - dvs[localIndex] = this->panelLength; - localIndex++; - } - if (this->stiffenerPitchNum >= 0) { - dvs[localIndex] = this->stiffenerPitch; - localIndex++; - } - if (this->stiffenerHeightNum >= 0) { - dvs[localIndex] = this->stiffenerHeight; - localIndex++; - } - if (this->stiffenerThickNum >= 0) { - dvs[localIndex] = this->stiffenerThick; - localIndex++; - } - if (this->panelThickNum >= 0) { - dvs[localIndex] = this->panelThick; - localIndex++; - } - for (int ii = 0; ii < this->numPanelPlies; ii++) { - if (this->panelPlyFracNums[ii] >= 0) { - dvs[localIndex] = this->panelPlyFracs[ii]; - localIndex++; - } - } - for (int ii = 0; ii < this->numStiffenerPlies; ii++) { - if (this->stiffenerPlyFracNums[ii] >= 0) { - dvs[localIndex] = this->stiffenerPlyFracs[ii]; - localIndex++; - } - } - } - return this->numDesignVars; -} - -// Get the lower and upper bounds for the design variable values -int TACSBladeStiffenedShellConstitutive::getDesignVarRange(int elemIndex, - int dvLen, - TacsScalar lb[], - TacsScalar ub[]) { - if (dvLen >= this->numDesignVars) { - int localIndex = 0; - if (this->panelLengthNum >= 0) { - lb[localIndex] = this->panelLengthLowerBound; - ub[localIndex] = this->panelLengthUpperBound; - localIndex++; - } - if (this->stiffenerPitchNum >= 0) { - lb[localIndex] = this->stiffenerPitchLowerBound; - ub[localIndex] = this->stiffenerPitchUpperBound; - localIndex++; - } - if (this->stiffenerHeightNum >= 0) { - lb[localIndex] = this->stiffenerHeightLowerBound; - ub[localIndex] = this->stiffenerHeightUpperBound; - localIndex++; - } - if (this->stiffenerThickNum >= 0) { - lb[localIndex] = this->stiffenerThickLowerBound; - ub[localIndex] = this->stiffenerThickUpperBound; - localIndex++; - } - if (this->panelThickNum >= 0) { - lb[localIndex] = this->panelThickLowerBound; - ub[localIndex] = this->panelThickUpperBound; - localIndex++; - } - for (int ii = 0; ii < this->numPanelPlies; ii++) { - if (this->panelPlyFracNums[ii] >= 0) { - lb[localIndex] = this->panelPlyFracLowerBounds[ii]; - ub[localIndex] = this->panelPlyFracUpperBounds[ii]; - localIndex++; - } - } - for (int ii = 0; ii < this->numStiffenerPlies; ii++) { - if (this->stiffenerPlyFracNums[ii] >= 0) { - lb[localIndex] = this->stiffenerPlyFracLowerBounds[ii]; - ub[localIndex] = this->stiffenerPlyFracUpperBounds[ii]; - localIndex++; - } - } - } - return this->numDesignVars; -} - -// ============================================================================== -// Evaluate mass properties -// ============================================================================== -// Evaluate the mass per unit area -TacsScalar TACSBladeStiffenedShellConstitutive::evalDensity( - int elemIndex, const double pt[], const TacsScalar X[]) { - // Density due to the panel = thickness * rho - TacsScalar density = this->panelPly->getDensity() * this->panelThick; - // Density due to the stiffeners = rho * A / pitch - density += this->stiffenerPly->getDensity() * this->computeStiffenerArea() / - this->stiffenerPitch; - return density; -} - -// Add the derivative of the density w.r.t. the design variables -void TACSBladeStiffenedShellConstitutive::addDensityDVSens( - int elemIndex, TacsScalar scale, const double pt[], const TacsScalar X[], - int dvLen, TacsScalar dfdx[]) { - TacsScalar panelDensity = this->panelPly->getDensity(); - TacsScalar stiffenerDensity = this->stiffenerPly->getDensity(); - TacsScalar stiffenerArea = this->computeStiffenerArea(); - TacsScalar dAdt, dAdh; - this->computeStiffenerAreaSens(dAdt, dAdh); - - if (this->stiffenerPitchLocalNum >= 0) { - TacsScalar sp = this->stiffenerPitch; - dfdx[this->stiffenerPitchLocalNum] += - -scale * stiffenerDensity * stiffenerArea / (sp * sp); - } - if (this->stiffenerHeightLocalNum >= 0) { - dfdx[this->stiffenerHeightLocalNum] += - scale * stiffenerDensity * dAdh / this->stiffenerPitch; - } - if (this->stiffenerThickLocalNum >= 0) { - dfdx[this->stiffenerThickLocalNum] += - scale * stiffenerDensity * dAdt / this->stiffenerPitch; - } - if (this->panelThickLocalNum >= 0) { - dfdx[this->panelThickLocalNum] += scale * panelDensity; - } -} - -// Evaluate the mass moments -void TACSBladeStiffenedShellConstitutive::evalMassMoments( - int elemIndex, const double pt[], const TacsScalar X[], - TacsScalar moments[]) { - TacsScalar sPitchInv = 1.0 / this->stiffenerPitch; - TacsScalar sHeight = this->stiffenerHeight; - TacsScalar sThick = this->stiffenerThick; - TacsScalar pThick = this->panelThick; - TacsScalar kf = this->flangeFraction; - TacsScalar panelDensity = this->panelPly->getDensity(); - TacsScalar stiffenerDensity = this->stiffenerPly->getDensity(); - TacsScalar stiffenerArea = this->computeStiffenerArea(); - TacsScalar stiffenerOffset = - this->computeStiffenerCentroidHeight() + 0.5 * pThick; - TacsScalar stiffenerMOI = this->computeStiffenerMOI(); - - moments[0] = - panelDensity * pThick + stiffenerDensity * stiffenerArea * sPitchInv; - - // First moment of area is non-zero because the stiffener makes the section - // asymmteric - moments[1] = -stiffenerDensity * sHeight * sThick * - (kf * pThick + kf * sThick + pThick + sHeight + 2 * sThick) * - 0.5 * sPitchInv; - - // Panel contribution to second moment of area - moments[2] = 0.5 * panelDensity * pThick * pThick * pThick / 12.0; - - // Add stiffener MOI about it's own centroid + contribution from parallel axis - // theorm - moments[2] += (stiffenerMOI + 0.5 * stiffenerDensity * stiffenerArea * - stiffenerOffset * stiffenerOffset) * - sPitchInv; -} - -/** - Add the derivative of the pointwise mass times the given scalar - - @param elemIndex The local element index - @param pt The parametric location - @param X The point location - @param scale Scale factor for the moments - @param dvLen the length of the sensitivity array - @param dfdx The sensitivity array -*/ -void TACSBladeStiffenedShellConstitutive::addMassMomentsDVSens( - int elemIndex, const double pt[], const TacsScalar X[], - const TacsScalar scale[], int dvLen, TacsScalar dfdx[]) { - TacsScalar sPitchInv = 1.0 / this->stiffenerPitch; - TacsScalar sHeight = this->stiffenerHeight; - TacsScalar sThick = this->stiffenerThick; - TacsScalar pThick = this->panelThick; - TacsScalar kf = this->flangeFraction; - TacsScalar panelDensity = this->panelPly->getDensity(); - TacsScalar stiffenerDensity = this->stiffenerPly->getDensity(); - TacsScalar stiffenerArea = this->computeStiffenerArea(); - TacsScalar stiffenerOffset = - this->computeStiffenerCentroidHeight() + 0.5 * pThick; - TacsScalar stiffenerMOI = this->computeStiffenerMOI(); - - TacsScalar dzdt, dzdh; - this->computeStiffenerCentroidHeightSens(dzdt, dzdh); - - TacsScalar dAdt, dAdh; - this->computeStiffenerAreaSens(dAdt, dAdh); - - TacsScalar dMOIdt, dMOIdh; - this->computeStiffenerMOISens(dMOIdt, dMOIdh); - - // --- Stiffener pitch sensitivity --- - if (this->stiffenerPitchLocalNum >= 0) { - int ii = this->stiffenerPitchLocalNum; - TacsScalar sPitchInv2 = sPitchInv * sPitchInv; - // Density contribution - dfdx[ii] -= scale[0] * stiffenerDensity * stiffenerArea * sPitchInv2; - // First moment of area contribution - dfdx[ii] += scale[1] * stiffenerDensity * sHeight * sThick * - (kf * pThick + kf * sThick + pThick + sHeight + 2 * sThick) * - 0.5 * sPitchInv2; - // Second moment of area contribution - dfdx[ii] -= scale[2] * - (stiffenerMOI + 0.5 * stiffenerDensity * stiffenerArea * - stiffenerOffset * stiffenerOffset) * - sPitchInv2; - } - - // --- Stiffener height sensitivity --- - if (this->stiffenerHeightLocalNum >= 0) { - int ii = this->stiffenerHeightLocalNum; - // --- Density contribution --- - dfdx[ii] += scale[0] * stiffenerDensity * dAdh * sPitchInv; - // --- First moment of area contribution --- - dfdx[ii] += - scale[1] * - (sThick * stiffenerDensity * - (-kf * pThick - kf * sThick - pThick - 2 * sHeight - 2 * sThick) * - 0.5); - // --- Second moment of area contribution --- - // d/dh(MOI + 0.5*rho*A*z^2) = d/dh(MOI) + 0.5*rho*(dAdh*z^2 + 2*A*z*dzdh) - dfdx[ii] += - scale[2] * - (dMOIdh + 0.5 * stiffenerDensity * stiffenerOffset * - (stiffenerOffset * dAdh + 2.0 * stiffenerArea * dzdh)); - } - - // --- Stiffener thickness sensitivity --- - if (this->stiffenerThickLocalNum >= 0) { - int ii = this->stiffenerThickLocalNum; - // --- Density contribution --- - dfdx[ii] += scale[0] * stiffenerDensity * dAdt * sPitchInv; - // --- First moment of area contribution --- - dfdx[ii] += - scale[1] * - (sHeight * stiffenerDensity * - (-kf * pThick - 2 * kf * sThick - pThick - sHeight - 4 * sThick) / 2); - // --- Second moment of area contribution --- - // d/dt(MOI + 0.5*rho*A*z^2) = d/dt(MOI) + 0.5*rho*(dAdt*z^2 + 2*A*z*dzdt) - dfdx[ii] += - scale[2] * - (dMOIdt + 0.5 * stiffenerDensity * stiffenerOffset * - (stiffenerOffset * dAdt + 2.0 * stiffenerArea * dzdt)); - } - - // --- Panel thickness sensitivity --- - if (this->panelThickLocalNum >= 0) { - int ii = this->panelThickLocalNum; - // Density contribution - dfdx[ii] += scale[0] * panelDensity; - // Second moment of area contribution - dfdx[ii] += scale[2] * panelDensity * 0.25 * pThick * pThick; - } -} - -// ============================================================================== -// Helper functions for computing stiffener cross-section properties -// ============================================================================== -TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerArea() { - return (1 + this->flangeFraction) * this->stiffenerHeight * - this->stiffenerThick; -} - -void TACSBladeStiffenedShellConstitutive::computeStiffenerAreaSens( - TacsScalar& dAdt, TacsScalar& dAdh) { - dAdh = (1 + this->flangeFraction) * this->stiffenerThick; - dAdt = (1 + this->flangeFraction) * this->stiffenerHeight; -} - -TacsScalar -TACSBladeStiffenedShellConstitutive::computeStiffenerCentroidHeight() { - return ((1 + this->flangeFraction) * this->stiffenerThick + - 0.5 * this->stiffenerHeight) / - (1 + this->flangeFraction); -} - -void TACSBladeStiffenedShellConstitutive::computeStiffenerCentroidHeightSens( - TacsScalar& dzdt, TacsScalar& dzdh) { - dzdh = 0.5 * (1 + this->flangeFraction); - dzdt = (1 + 0.5 * this->flangeFraction) / (1 + this->flangeFraction); -} - -TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerIzz() { - TacsScalar sh = this->stiffenerHeight; - TacsScalar st = this->stiffenerThick; - TacsScalar kf = this->flangeFraction; - TacsScalar sh2 = sh * sh; - TacsScalar st2 = st * st; - TacsScalar kf2 = kf * kf; - return sh * st * - (kf2 * st2 + 4 * kf * sh2 + 6 * kf * sh * st + 4 * kf * st2 + sh2) / - (12 * (kf + 1)); -} - -void TACSBladeStiffenedShellConstitutive::computeStiffenerIzzSens( - TacsScalar& dIdt, TacsScalar& dIdh) { - TacsScalar sh = this->stiffenerHeight; - TacsScalar st = this->stiffenerThick; - TacsScalar kf = this->flangeFraction; - TacsScalar sh2 = sh * sh; - TacsScalar st2 = st * st; - TacsScalar kf2 = kf * kf; - - dIdt = - sh * - (3 * kf2 * st2 + 4 * kf * sh2 + 12 * kf * sh * st + 12 * kf * st2 + sh2) / - (12 * (kf + 1)); - - dIdh = - st * - (kf2 * st2 + 12 * kf * sh2 + 12 * kf * sh * st + 4 * kf * st2 + 3 * sh2) / - (12 * (kf + 1)); -} - -TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerJxx() { - TacsScalar sh = this->stiffenerHeight; - TacsScalar st = this->stiffenerThick; - TacsScalar kf = this->flangeFraction; - return sh * (st * st * st) * (kf + 1) / 3; -} - -void TACSBladeStiffenedShellConstitutive::computeStiffenerJxxSens( - TacsScalar& dJdt, TacsScalar& dJdh) { - TacsScalar sh = this->stiffenerHeight; - TacsScalar st = this->stiffenerThick; - TacsScalar kf = this->flangeFraction; - - dJdt = sh * (st * st) * (kf + 1); - dJdh = (st * st * st) * (kf + 1) / 3; -} - -TacsScalar TACSBladeStiffenedShellConstitutive::computeStiffenerMOI() { - TacsScalar rho = this->stiffenerPly->getDensity(); - TacsScalar sh = this->stiffenerHeight; - TacsScalar st = this->stiffenerThick; - TacsScalar kf = this->flangeFraction; - TacsScalar A1 = sh * st; // Area of the stiffener web - TacsScalar A2 = kf * A1; // Area of the stiffener flange - TacsScalar z1 = st + 0.5 * sh; // Centroid of the stiffener web - TacsScalar z2 = 0.5 * st; // Centroid of the stiffener flange - TacsScalar zc = - this->computeStiffenerCentroidHeight(); // Centroid of the whole - // stiffener section - // Offsets of each area from the centroid of the whole stiffener section - TacsScalar dz1 = z1 - zc; - TacsScalar dz2 = z2 - zc; - - TacsScalar MOI1 = rho * A1 * sh * sh / - 12.0; // MOI of the stiffener web about it's own centroid - TacsScalar MOI2 = rho * A2 * st * st / 12.0; // MOI of the stiffener flange - // about it's own centroid - - // Parallel axis theorem to get the MOI of the stiffener web about its - // centroid - return MOI1 + MOI2 + 0.5 * rho * (A1 * dz1 * dz1 + A2 * dz2 * dz2); -} - -void TACSBladeStiffenedShellConstitutive::computeStiffenerMOISens( - TacsScalar& dMOIdt, TacsScalar& dMOIdh) { - TacsScalar rho = this->stiffenerPly->getDensity(); - TacsScalar sh = this->stiffenerHeight; - TacsScalar st = this->stiffenerThick; - TacsScalar kf = this->flangeFraction; - TacsScalar sh2 = sh * sh; - TacsScalar st2 = st * st; - TacsScalar kf2 = kf * kf; - - dMOIdt = - sh * rho * - (3 * kf2 * st2 + 4 * kf * sh2 + 12 * kf * sh * st + 12 * kf * st2 + sh2) / - (12 * (kf + 1)); - - dMOIdh = - st * rho * - (kf2 * st2 + 12 * kf * sh2 + 12 * kf * sh * st + 4 * kf * st2 + 3 * sh2) / - (12 * (kf + 1)); -} diff --git a/src/constitutive/TACSBladeStiffenedShellConstitutive.h b/src/constitutive/TACSBladeStiffenedShellConstitutive.h deleted file mode 100644 index cc1ed3fe4..000000000 --- a/src/constitutive/TACSBladeStiffenedShellConstitutive.h +++ /dev/null @@ -1,378 +0,0 @@ -/* -============================================================================= -Blade-Stiffened Shell Constitutive Model -============================================================================= -@File : TACSBladeStiffenedShellConstitutive.h -@Date : 2023/04/05 -@Author : Alasdair Christison Gray -@Description : Constitutive model for a blade-stiffened shell. Based on the -bladeFSDT model from previous versions of TACS developed by Graeme Kennedy. -*/ - -#pragma once - -// ============================================================================= -// Standard Library Includes -// ============================================================================= - -// ============================================================================= -// Extension Includes -// ============================================================================= -#include "TACSMaterialProperties.h" -#include "TACSShellConstitutive.h" - -// ============================================================================= -// Global constant definitions -// ============================================================================= - -// ============================================================================= -// Class Declaration -// ============================================================================= - -/* - This constitutive class models a shell stiffened with T-shaped stiffeners. - The stiffeners are not explicitly modelled. Instead, their stiffness is -"smeared" across the shell. - - | | ^ - | | | - | | | - | | height - | <--------------pitch-------------> | | -Stiffener | | | -thickness ---> ----------------- ----------------- v - ---------------------------------------------------------------------- <--- -Panel thickness - -The panel and stiffener are modelled as laminates, both of which are -parameterised by an arbitrary number of ply angles and fractions. The laminate -properties are then computed using a smeared stiffness approach, which assumes -that the various ply angles are distributed evenly throughout the thicknes of -the panel. This is a valid assumption for thick laminates. - -WARNING: If you use ply fractions as design variables, it is currently up to you -to add constraints to ensure that the sum of the fractions is equal to 1.0. This -is not done automatically (yet). -*/ -class TACSBladeStiffenedShellConstitutive : public TACSShellConstitutive { - public: - /** - * @brief Construct a new TACSBladeStiffenedShellConstitutive object - * - * @param _panelPly Orthotropic ply object for the panel - * @param _stiffenerPly Orthotropic ply object for the stiffener - * @param _kcorr Shear correction factor - * @param _panelLength Panel length value - * @param _panelLengthNum Panel length design variable number - * @param _stiffenerPitch Stiffener pitch value - * @param _stiffenerPitchNum Stiffener pitch design variable number - * @param _stiffenerHeight Stiffener height value - * @param _stiffenerHeightNum Stiffener height design variable number - * @param _stiffenerThick Stiffener thickness value - * @param _stiffenerThickNum Stiffener thickness design variable number - * @param _panelThick Panel thickness value - * @param _panelThickNum Panel thickness design variable number - * @param _numPanelPlies Number of ply angles in the panel laminate - * @param _panelPlyAngles Panel ply angles - * @param _panelPlyFracNums Panel ply fraction design variable numbers - * @param _numStiffenerPlies Number of ply angles in the stiffener laminate - * @param _stiffenerPlyAngles Stiffener ply angles - * @param _stiffenerPlyFracNums Stiffener ply fraction design variable numbers - * @param _flangeFraction Stiffener base width as a fraction of the stiffener - * height - */ - TACSBladeStiffenedShellConstitutive( - TACSOrthotropicPly* _panelPly, TACSOrthotropicPly* _stiffenerPly, - TacsScalar _kcorr, TacsScalar _panelLength, int _panelLengthNum, - TacsScalar _stiffenerPitch, int _stiffenerPitchNum, - TacsScalar _stiffenerHeight, int _stiffenerHeightNum, - TacsScalar _stiffenerThick, int _stiffenerThickNum, - TacsScalar _panelThick, int _panelThickNum, int _numPanelPlies, - TacsScalar _panelPlyAngles[], int _panelPlyFracNums[], - int _numStiffenerPlies, TacsScalar _stiffenerPlyAngles[], - int _stiffenerPlyFracNums[], TacsScalar _flangeFraction = 1.0); - - ~TACSBladeStiffenedShellConstitutive(); - - // ============================================================================== - // Set non-default values - // ============================================================================== - /** - * @brief Set the Stiffener Pitch DV Bounds - * - * @param lowerBound Lower bound - * @param upperBound Upper bound - */ - void setStiffenerPitchBounds(TacsScalar lowerBound, TacsScalar upperBound); - - /** - * @brief Set the Stiffener Height DV Bounds - * - * @param lowerBound Lower bound - * @param upperBound Upper bound - */ - void setStiffenerHeightBounds(TacsScalar lowerBound, TacsScalar upperBound); - - /** - * @brief Set the Stiffener Thickness DV Bounds - * - * @param lowerBound Lower bound - * @param upperBound Upper bound - */ - void setStiffenerThicknessBounds(TacsScalar lowerBound, - TacsScalar upperBound); - - /** - * @brief Set the Panel Pitch DV Bounds - * - * @param lowerBound Lower bound - * @param upperBound Upper bound - */ - void setPanelThicknessBounds(TacsScalar lowerBound, TacsScalar upperBound); - - /** - * @brief Set the Stiffener Ply Fraction DV Bounds - * - * @param lowerBounds Lower bounds for each ply fraction - * @param upperBounds Upper bounds for each ply fraction - */ - void setStiffenerPlyFractionBounds(TacsScalar lowerBounds[], - TacsScalar upperBounds[]); - - /** - * @brief Set the Panel Ply Fraction DV Bounds - * - * @param lowerBounds Lower bounds for each ply fraction - * @param upperBounds Upper bounds for each ply fraction - */ - void setPanelPlyFractionBounds(TacsScalar lowerBounds[], - TacsScalar upperBounds[]); - - /** - * @brief Set the Stiffener Ply Fractions - * - * @param plyFractions Ply fractions - */ - void setStiffenerPlyFractions(TacsScalar plyFractions[]); - - /** - * @brief Set the Panel Ply Fractions - * - * @param plyFractions Ply fractions - */ - void setPanelPlyFractions(TacsScalar plyFractions[]); - - /** - * @brief Set the weight used for aggregating the failure criteria through the - * shell thickness - * - * @param _ksWeight - */ - inline void setKSWeight(double _ksWeight) { ksWeight = _ksWeight; } - - // ============================================================================== - // Setting/getting design variable information - // ============================================================================== - // Retrieve the global design variable numbers - int getDesignVarNums(int elemIndex, int dvLen, int dvNums[]); - - // Set the element design variable from the design vector - int setDesignVars(int elemIndex, int dvLen, const TacsScalar dvs[]); - - // Get the element design variables values - int getDesignVars(int elemIndex, int dvLen, TacsScalar dvs[]); - - // Get the lower and upper bounds for the design variable values - int getDesignVarRange(int elemIndex, int dvLen, TacsScalar lb[], - TacsScalar ub[]); - - // ============================================================================== - // Evaluate mass properties - // ============================================================================== - // Evaluate the mass per unit area - TacsScalar evalDensity(int elemIndex, const double pt[], - const TacsScalar X[]); - - // Add the derivative of the density w.r.t. the design variables - void addDensityDVSens(int elemIndex, TacsScalar scale, const double pt[], - const TacsScalar X[], int dvLen, TacsScalar dfdx[]); - - // Evaluate the mass moments - void evalMassMoments(int elemIndex, const double pt[], const TacsScalar X[], - TacsScalar moments[]); - - // Add the sensitivity of the mass moments - void addMassMomentsDVSens(int elemIndex, const double pt[], - const TacsScalar X[], const TacsScalar scale[], - int dvLen, TacsScalar dfdx[]); - - protected: - // ============================================================================== - // Helper functions for computing stiffener cross-section properties - // ============================================================================== - /** - * @brief Compute the stiffener area, - * - * @return TacsScalar Stiffener area - */ - inline TacsScalar computeStiffenerArea(); - - /** - * @brief Compute the derivative of the stiffener's cross-sectional area with - * respect to the stiffener thickness and height - * - * @param dAdt Derivative of the stiffener's cross-sectional area with respect - * to the stiffener thickness - * @param dAdh Derivative of the stiffener's cross-sectional area with respect - * to the stiffener height - */ - inline void computeStiffenerAreaSens(TacsScalar& dAdt, TacsScalar& dAdh); - - /** - * @brief Compute the stiffener centroid height, this is the height relative - * to the bottom surface of the stiffener, NOT the mid-plane of the panel. - * - * @return TacsScalar The stiffener centroid height - */ - inline TacsScalar computeStiffenerCentroidHeight(); - - /** - * @brief Compute the derivative of the stiffener centroid height with respect - * to the stiffener thickness and height - * - * @param dzdt Derivative of the stiffener centroid height with respect to the - * stiffener thickness - * @param dzdh Derivative of the stiffener centroid height with respect to the - * stiffener height - */ - inline void computeStiffenerCentroidHeightSens(TacsScalar& dzdt, - TacsScalar& dzdh); - - /** - * @brief Compute the second moment of area about the stiffener centroid - * - * @return TacsScalar Second moment of area about the stiffener centroid - */ - inline TacsScalar computeStiffenerIzz(); - - /** - * @brief Compute the derivative of the stiffener's second moment of area - * about the stiffener centroid with respect to the stiffener thickness and - * height - * - * @param dIdt Derivative of Izz with respect to the stiffener thickness - * @param dIdh Derivative of Izz with respect to the stiffener height - */ - inline void computeStiffenerIzzSens(TacsScalar& dIdt, TacsScalar& dIdh); - - /** - * @brief Compute the torsion constant of the stiffener cross section - * - * The equation used is taken from page 9 of "TORSIONAL SECTION PROPERTIES OF - * STEEL SHAPES" by the Canadian institute of steel construction - * (http://dir.cisc-icca.ca/files/technical/techdocs/updates/torsionprop.pdf). - * The use of this equation is obviously a little suspect for a composite - * stiffener, but it is the best we have for now. - * - * @return TacsScalar The stiffener torsion constant - */ - inline TacsScalar computeStiffenerJxx(); - - /** - * @brief Compute the derivative of the stiffener's torsion constant with - * respect to the stiffener thickness and height - * - * @param dJdt Derivative of Jxx with respect to the stiffener thickness - * @param dJdh Derivative of Jxx with respect to the stiffener height - */ - inline void computeStiffenerJxxSens(TacsScalar& dJdt, TacsScalar& dJdh); - - /** - * @brief Compute the moment of inertia of the stiffener cross section about - * it's centroid, NOT the shell mid-plane - * - * @return TacsScalar The stiffener moment of inertia (Iyy) about it's - * centroid - */ - inline TacsScalar computeStiffenerMOI(); - - /** - * @brief Compute the derivative of the stiffener's moment of inertia about - * its centroid with respect to the stiffener thickness and height - * - * @param dMOIdt Derivative of Iyy with respect to the stiffener thickness - * @param dMOIdh Derivative of Iyy with respect to the stiffener height - */ - inline void computeStiffenerMOISens(TacsScalar& dMOIdt, TacsScalar& dMOIdh); - - // ============================================================================== - // Attributes - // ============================================================================== - - // --- General attributes --- - int numPanelPlies; ///< Number of plies in the panel laminate - int numStiffenerPlies; ///< Number of plies in the stiffener laminate - double ksWeight = 80.0; ///< Failure criteria KS aggregation weight - int numDesignVars; ///< Number of design variables - - // --- Material properties --- - TACSOrthotropicPly* panelPly; ///< Orthotropic ply for the panel - TACSOrthotropicPly* stiffenerPly; ///< Orthotropic ply for the stiffener - TacsScalar kcorr; ///< Shear correction factor - - // --- Design variable values --- - TacsScalar panelLength; ///< Panel length - TacsScalar stiffenerPitch; ///< Stiffener pitch - TacsScalar stiffenerHeight; ///< Stiffener height - TacsScalar stiffenerThick; ///< Stiffener thickness - TacsScalar panelThick; ///< Panel thickness - TacsScalar* panelPlyFracs; ///< Panel ply Fracs - TacsScalar* stiffenerPlyFracs; ///< Stiffener ply Fracs - - // --- Fixed parameters --- - TacsScalar* panelPlyAngles; ///< Panel ply angles - TacsScalar* stiffenerPlyAngles; ///< Stiffener ply angles - TacsScalar flangeFraction; ///< Flange fraction (stiffener base width as a - ///< fraction of stiffener height) - - // --- Design variable bounds --- - TacsScalar panelLengthLowerBound = 0.0; - TacsScalar panelLengthUpperBound = 1e20; - TacsScalar stiffenerPitchLowerBound = 1e-3; - TacsScalar stiffenerPitchUpperBound = 1e20; - TacsScalar stiffenerHeightLowerBound = 1e-3; - TacsScalar stiffenerHeightUpperBound = 1e20; - TacsScalar stiffenerThickLowerBound = 1e-4; - TacsScalar stiffenerThickUpperBound = 1e20; - TacsScalar panelThickLowerBound = 1e-4; - TacsScalar panelThickUpperBound = 1e20; - TacsScalar* panelPlyFracLowerBounds; - TacsScalar* panelPlyFracUpperBounds; - TacsScalar* stiffenerPlyFracLowerBounds; - TacsScalar* stiffenerPlyFracUpperBounds; - - // --- Design variable numbers --- - int panelLengthNum; ///< Panel length DV number - int stiffenerPitchNum; ///< Stiffener pitch DV number - int stiffenerHeightNum; ///< Stiffener height DV number - int stiffenerThickNum; ///< Stiffener thickness DV number - int panelThickNum; ///< Panel thickness DV number - int* panelPlyFracNums; ///< Panel ply fraction DV numbers - int* stiffenerPlyFracNums; ///< Stiffener ply fraction DV numbers - - // --- Local design variable numbers, these are useful when returning - // sensitivity values --- - int panelLengthLocalNum; ///< Panel length local DV number - int stiffenerPitchLocalNum; ///< Stiffener pitch local DV number - int stiffenerHeightLocalNum; ///< Stiffener height local DV number - int stiffenerThickLocalNum; ///< Stiffener thickness local DV number - int panelThickLocalNum; ///< Panel thickness local DV number - int* panelPlyFracLocalNums; ///< Panel ply fraction local DV numbers - int* stiffenerPlyFracLocalNums; ///< Stiffener ply fraction local DV numbers - - static const int PANEL_LENGTH_INDEX = 0; - static const int STIFFENER_PITCH_INDEX = 1; - static const int STIFFENER_HEIGHT_INDEX = 2; - static const int STIFFENER_THICKNESS_INDEX = 3; - static const int PANEL_THICKNESS_INDEX = 4; -}; diff --git a/src/constitutive/TACSShellConstitutive.h b/src/constitutive/TACSShellConstitutive.h index fe267682e..4fa937bdf 100644 --- a/src/constitutive/TACSShellConstitutive.h +++ b/src/constitutive/TACSShellConstitutive.h @@ -39,7 +39,7 @@ class TACSShellConstitutive : public TACSConstitutive { // Get the number of stresses int getNumStresses(); - /** + /* Get the integrals of the density through the thickness moments = int_{-t/2}^{t/2} [1, z, z^2] rho(z) dz @@ -53,15 +53,7 @@ class TACSShellConstitutive : public TACSConstitutive { const TacsScalar X[], TacsScalar moments[]) = 0; /** - Add the contribution of the mass moment sensitivities to the derivative of a - function - - Given the sensitivity of some function, f, with respect to the mass moments, - this function adds the sensitivity of the function the design variables due - to the dependence of the mass moments on the design variables. - - e.g dfdx[0] += scale[0]*dm0/dx1 + scale[1]*dm1/dx1 + scale[2]*dm2/dx1 - dfdx[1] += scale[0]*dm0/dx2 + scale[1]*dm1/dx2 + scale[2]*dm2/dx2 + Add the derivative of the pointwise mass times the given scalar @param elemIndex The local element index @param pt The parametric location From c3799d9098732ea1b9de62786b7a83a17c9cc2ed Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 15 May 2023 17:24:26 -0400 Subject: [PATCH 102/174] minor changes --- .gitignore | 3 +++ tacs/solvers/continuation.py | 2 -- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index fad407478..39d466c22 100644 --- a/.gitignore +++ b/.gitignore @@ -50,3 +50,6 @@ reports/ .vscode .DS_Store .pre-commit-config.yaml + +# pycache files +**/__pycache__/** diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index a579a2ea7..fb42dadb2 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -27,8 +27,6 @@ def lagrangeInterp(xKnown, yKnown, xQuery, yQuery): """Interpolate an array using lagrange polynomials - _extended_summary_ - Parameters ---------- xKnown : iterable of length n From 4abac6efefbcb7e4ca7e922cf3ad00747699b95d Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 19 May 2023 13:52:40 -0400 Subject: [PATCH 103/174] Reset predictor states if inner solve fails --- tacs/solvers/continuation.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index fb42dadb2..ae15ad77a 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -366,6 +366,11 @@ def continuationcallBack(solver, u, res, monitorVars): # --- Check convergence --- isLastIncrement = increment == MAX_INCREMENTS - 1 if not success: + # If this increment failed then we should probably erase any saved states used for the predictor steps because they're clearly not working well + if USE_PREDICTOR: + for ii in range(len(self.equilibriumPathLoadScales)): + self.equilibriumPathLoadScales[ii] = None + self.equilibriumPathStates[ii].zeroEntries() # If this was the first increment restarting from a previous solution then we don't have a safe state to reset to, so we just have to do a full reset if isRestartIncrement: self.stateVec.zeroEntries() From 8f8334cd67c5db5a1e6af1a867364f8541492113 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 13 Jul 2023 14:16:05 -0400 Subject: [PATCH 104/174] Fix problem initialization bug --- tacs/problems/base.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tacs/problems/base.py b/tacs/problems/base.py index fff7cb213..4d617a3ed 100644 --- a/tacs/problems/base.py +++ b/tacs/problems/base.py @@ -46,15 +46,16 @@ def __init__( meshLoader : tacs.pymeshloader.pyMeshLoader pyMeshLoader object used to create the assembler. """ + + # Set nonlinear flag + self._isNonlinear = isNonlinear + # Set attributes and options TACSSystem.__init__(self, assembler, comm, options, outputViewer, meshLoader) # List of functions self.functionList = OrderedDict() - # Set nonlinear flag - self._isNonlinear = isNonlinear - return @property From 5747f1d2b590eb22b797f576c6ce27f5e44c77cc Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 13 Jul 2023 14:57:51 -0400 Subject: [PATCH 105/174] Update nonlinear integration test tolerances --- .../test_shell_hemisphere_nonlinear.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index bd14d5244..0dff91e05 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -52,12 +52,12 @@ def setup_tacs_problems(self, comm): # Overwrite default check values if self.dtype == complex: self.rtol = 1e-8 - self.atol = 1e-8 - self.dh = 1e-50 + self.atol = 1e-13 + self.dh = 1e-200 else: - self.rtol = 2e-1 - self.atol = 1e-3 - self.dh = 1e-6 + self.rtol = 1e-2 + self.atol = 1e-4 + self.dh = 1e-4 E = 6.825e7 # Young's modulus NU = 0.3 # Poisson's ratio From 48e6588e05fa550b9a3363da720f7faf949bce28 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 13 Jul 2023 15:21:56 -0400 Subject: [PATCH 106/174] Fix bug introduced by merge commit --- tacs/problems/static.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 77aadc352..7e9f8f16d 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1937,8 +1937,6 @@ def writeSolutionHistory(self, outputDir=None, baseName=None, number=None): baseName = self.getOutputFileName(outputDir, baseName, number) if self.history is not None: self.history.save(baseName) - base = os.path.join(outputDir, baseName) + ".f5" - self.outputViewer.writeToFile(base) def writeLoadToBDF(self, bdfFile, loadCaseID): """ From 916a14f391f54985e5878a8c3d5786f241741d2f Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 14 Jul 2023 12:09:43 -0400 Subject: [PATCH 107/174] Change how nonlinear solver options are handled so they don't appear in StaticProblem default options --- ...tionSolver.rst => continuation_solver.rst} | 4 +- .../{NewtonSolver.rst => newton_solver.rst} | 0 docs/source/pytacs/solvers.rst | 4 +- docs/source/pytacs/static.rst | 4 +- examples/nonlinear_skin_buckle/analysis.py | 2 +- tacs/problems/static.py | 92 +++++++++++-------- tacs/solvers/base.py | 10 +- tacs/solvers/continuation.py | 32 +++++-- tacs/solvers/newton.py | 43 +++++---- 9 files changed, 113 insertions(+), 78 deletions(-) rename docs/source/pytacs/{ContinuationSolver.rst => continuation_solver.rst} (83%) rename docs/source/pytacs/{NewtonSolver.rst => newton_solver.rst} (100%) diff --git a/docs/source/pytacs/ContinuationSolver.rst b/docs/source/pytacs/continuation_solver.rst similarity index 83% rename from docs/source/pytacs/ContinuationSolver.rst rename to docs/source/pytacs/continuation_solver.rst index 6e15d23ca..2bc352a78 100644 --- a/docs/source/pytacs/ContinuationSolver.rst +++ b/docs/source/pytacs/continuation_solver.rst @@ -1,5 +1,5 @@ ContinuationSolver -------------- +------------------ .. automodule:: tacs.solvers.ContinuationSolver Options @@ -12,6 +12,8 @@ The following options, their default values and descriptions are listed below: .. program-output:: python -c "from tacs.solvers import ContinuationSolver; ContinuationSolver.printDefaultOptions()" +These methods can also be used to set options for whichever inner solver is being used by the continuation solver (e.g a :doc:`newton_solver`). + API Reference ^^^^^^^^^^^^^ .. autoclass:: tacs.solvers.ContinuationSolver diff --git a/docs/source/pytacs/NewtonSolver.rst b/docs/source/pytacs/newton_solver.rst similarity index 100% rename from docs/source/pytacs/NewtonSolver.rst rename to docs/source/pytacs/newton_solver.rst diff --git a/docs/source/pytacs/solvers.rst b/docs/source/pytacs/solvers.rst index 223e7eaa1..747edd172 100644 --- a/docs/source/pytacs/solvers.rst +++ b/docs/source/pytacs/solvers.rst @@ -4,5 +4,5 @@ Solver classes .. toctree:: :maxdepth: 1 - NewtonSolver - ContinuationSolver + newton_solver + continuation_solver diff --git a/docs/source/pytacs/static.rst b/docs/source/pytacs/static.rst index 36405d161..56ac0a648 100644 --- a/docs/source/pytacs/static.rst +++ b/docs/source/pytacs/static.rst @@ -12,8 +12,10 @@ The following options, their default values and descriptions are listed below: .. program-output:: python -c "from tacs.problems import StaticProblem; StaticProblem.printDefaultOptions()" +When solving a nonlinear static problem, these methods will also accept any of the options from the :doc:`newton_solver` and :doc:`continuation_solver` solvers. + API Reference ^^^^^^^^^^^^^ .. autoclass:: tacs.problems.StaticProblem :members: - :inherited-members: \ No newline at end of file + :inherited-members: diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index d3fd516f9..3af474b2b 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -90,7 +90,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "printTiming": True, "continuationInitialStep": 0.25, "newtonSolverMaxLinIters": 0, - "skipFirstNLineSearch": 0, + "newtonSolverSkipFirstNLineSearch": 0, "newtonSolverMaxIter": 100, "nRestarts": 3, "subSpaceSize": 20, diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 7e9f8f16d..698fdfb3a 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -119,8 +119,6 @@ class StaticProblem(TACSProblem): "Flag for printing out timing information for class procedures.", ], } - defaultOptions.update(tacs.solvers.NewtonSolver.defaultOptions) - defaultOptions.update(tacs.solvers.ContinuationSolver.defaultOptions) def __init__( self, @@ -166,6 +164,27 @@ def __init__( self.history = None self.newtonSolver = None self.nonlinearSolver = None + self.nonlinearSolverOptionNames = [] + + if isNonlinear: + # --- Compile a list of nonlinear solver options then separate out any nonlinear options supplied by the user --- + self.nonlinearSolverOptionNames += [ + name.lower() for name in tacs.solvers.NewtonSolver.defaultOptions + ] + self.nonlinearSolverOptionNames += [ + name.lower() for name in tacs.solvers.ContinuationSolver.defaultOptions + ] + + nonlinearSolverOptions = { + key: options[key] + for key in options + if key.lower() in self.nonlinearSolverOptionNames + } + options = { + key: options[key] + for key in options + if key.lower() not in self.nonlinearSolverOptionNames + } # Default setup for common problem class objects, sets up comm and options TACSProblem.__init__( @@ -177,17 +196,7 @@ def __init__( # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: - self._createSolverHistory() - # Create Newton solver, the inner solver for the continuation solver - solverOptions = {} - solverOptionNames = [ - name.lower() for name in tacs.solvers.NewtonSolver.defaultOptions - ] - for key in self.options: - if key.lower() in solverOptionNames: - solverOptions[key] = self.getOption(key) - self.newtonSolver = tacs.solvers.NewtonSolver( assembler=self.assembler, setStateFunc=self.setVariables, @@ -197,33 +206,24 @@ def __init__( linearSolver=self.KSM, stateVec=self.u, resVec=self.res, - options=solverOptions, comm=self.comm, ) # And now create the continuation solver - solverOptions = {} - solverOptionNames = [ - name.lower() for name in tacs.solvers.ContinuationSolver.defaultOptions - ] - for key in self.options: - if key.lower() in solverOptionNames: - solverOptions[key] = self.getOption(key) - - def getLoadScale(): - return self.loadScale - self.nonlinearSolver = tacs.solvers.ContinuationSolver( jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, linearSolver=self.KSM, setLambdaFunc=self.setLoadScale, - getLambdaFunc=getLoadScale, + getLambdaFunc=self.getLoadScale, innerSolver=self.newtonSolver, - options=solverOptions, comm=self.comm, ) self.nonlinearSolver.setCallback(self._nonlinearCallback) + for name, value in nonlinearSolverOptions.items(): + self.nonlinearSolver.setOption(name, value) + + self._createSolverHistory() def _createSolverHistory(self): """Setup the solver history object based on the current options @@ -232,7 +232,7 @@ def _createSolverHistory(self): """ monitorVars = [s.lower() for s in self.getOption("nonlinearSolverMonitorVars")] numType = float if self.dtype == np.float64 else complex - if self.comm.rank == 0: + if self.nonlinearSolver is not None and self.comm.rank == 0: history = SolverHistory() # Define the variables to be stored in the history @@ -243,7 +243,7 @@ def _createSolverHistory(self): # Newton solve iteration number history.addVariable("SubIter", int, printVar=True) # Einstat walker linear solver tolerance - if self.getOption("newtonSolverUseEW"): + if self.nonlinearSolver.getOption("newtonSolverUseEW"): history.addVariable("EW Tol", float, printVar="ewtol" in monitorVars) # Number of linear solver iterations history.addVariable( @@ -263,14 +263,14 @@ def _createSolverHistory(self): "LS step", float, printVar="linesearchstep" in monitorVars - and self.getOption("useLineSearch"), + and self.nonlinearSolver.getOption("newtonSolverUseLineSearch"), ) # Num line search iterations history.addVariable( "LS iters", int, printVar="linesearchiters" in monitorVars - and self.getOption("useLineSearch"), + and self.nonlinearSolver.getOption("newtonSolverUseLineSearch"), ) # Flags history.addVariable("Flags", str, printVar=True) @@ -429,8 +429,16 @@ def setOption(self, name, value): value : depends on option New option value to set """ - # Default setOption for common problem class objects - TACSProblem.setOption(self, name, value) + # If the supplied option is a nonlinear solver option, pass it to the nonlinear solver instead of the problem + if ( + self.isNonlinear + and name.lower() in self.nonlinearSolverOptionNames + ): + if self.nonlinearSolver is not None: + self.nonlinearSolver.setOption(name, value) + else: + # Default setOption for common problem class objects + TACSProblem.setOption(self, name, value) createVariables = True @@ -458,14 +466,6 @@ def setOption(self, name, value): createVariables = False if self.isNonlinear: - # Pass option to nonlinear solver if it is a nonlinear solver option - if name.lower() in [ - opt.lower() for opt in self.nonlinearSolver.defaultOptions - ]: - createVariables = False - if self.nonlinearSolver is not None: - self.nonlinearSolver.setOption(name, value) - # We need to create a new solver history object if the monitor variables have updated if ( name.lower() in ["nonlinearsolvermonitorvars", "newtonsolveruseew"] @@ -521,6 +521,18 @@ def setLoadScale(self, value): self._jacobianUpdateRequired = True self._loadScale = value + def getLoadScale(self): + """Get the current load scale + + This function is required by the continuation solver + + Returns + ------- + float + Current load scale + """ + return self.loadScale + def addFunction(self, funcName, funcHandle, compIDs=None, **kwargs): """ Generic method to add a function for TACS. It is intended to diff --git a/tacs/solvers/base.py b/tacs/solvers/base.py index 7ad0ec375..27cf89c31 100644 --- a/tacs/solvers/base.py +++ b/tacs/solvers/base.py @@ -43,7 +43,7 @@ def __init__( setStateFunc : function Function to set the state vector, with signature setStateFunc(stateVec: tacs.TACS.Vec) -> None resFunc : function - Function to evaluate the residual at the current state, with signature resFunc(resVec: tacs.TACS.Vec) -> None + Function to evaluate the residual at the current state, with signature `resFunc(resVec: tacs.TACS.Vec) -> None` stateVec : tacs.TACS.Vec, optional Vector to store the state in, by default the solver will create it's own but these can be passed to save additional allocations resVec : tacs.TACS.Vec, optional @@ -149,9 +149,9 @@ def setCallback(self, callback: Callable) -> None: Callback function, should have the following signature: callback(solver: tacs.solver, u: tacs.TACS.Vec, res: tacs.TACS.Vec, monitorVars: dict) -> None Where: - - ``solver`` is the solver object - - ``u`` is the current state vector - - ``res`` is the current residual vector - - ``monitorVars`` is a dictionary of variables to monitor, which can be specified through the ``"nonlinearSolverMonitorVars"`` option + - ``solver`` is the solver object + - ``u`` is the current state vector + - ``res`` is the current residual vector + - ``monitorVars`` is a dictionary of variables to monitor, which can be specified through the ``"nonlinearSolverMonitorVars"`` option """ self.callback = callback diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index ae15ad77a..c5b95f94b 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -134,15 +134,15 @@ def __init__( Parameters ---------- jacFunc : function - Function to update the residual Jacobian at the current state, with signature jacFunc() + Function to update the residual Jacobian at the current state, with signature `jacFunc() -> None` pcUpdateFunc : function - Function to update the residual Jacobian preconditioner at the current state, with signature pcUpdateFunc() + Function to update the residual Jacobian preconditioner at the current state, with signature `pcUpdateFunc() -> None` linearSolver : tacs.TACS.KSM TACS linear solver object to use for the Newton solve, the linear solver owns the matrix and preconditioner setLambdaFunc : function - Function to set the continuation parameter, with signature setLambdaFunc(lambda:float) -> None + Function to set the continuation parameter, with signature `setLambdaFunc(lambda:float) -> None` setLambdaFunc : function - Function to get the current continuation parameter, with signature getLambdaFunc() -> float + Function to get the current continuation parameter, with signature `getLambdaFunc() -> float` innerSolver : TACS Nonlinear Solver A Solver object to use for the corrector solve in each increment (e.g a NewtonSolver object) options : dict, optional @@ -159,8 +159,13 @@ def __init__( self.innerSolver = innerSolver self.defaultOptions.update(innerSolver.defaultOptions) - self.equilibriumPathStates = None - self.equilibriumPathLoadScales = None + self.equilibriumPathStates = [] + self.equilibriumPathLoadScales = [] + + # --- Make list of inner solver option names --- + self.innerSolverOptionNames = [ + opt.lower() for opt in self.innerSolver.defaultOptions + ] BaseSolver.__init__( self, @@ -191,11 +196,11 @@ def _setupPredictorVectors(self) -> None: self.equilibriumPathLoadScales.append(None) def setOption(self, name, value) -> None: - BaseSolver.setOption(self, name, value) - - # Pass option to inner solver if it is a inner solver option - if name.lower() in [opt.lower() for opt in self.innerSolver.defaultOptions]: + # Pass option to inner solver if it's an inner solver option + if name.lower() in self.innerSolverOptionNames: self.innerSolver.setOption(name, value) + else: + BaseSolver.setOption(self, name, value) # Update the predictor computation data structures if the relevant options are changed if name.lower() in [ @@ -204,6 +209,13 @@ def setOption(self, name, value) -> None: ]: self._setupPredictorVectors() + def getOption(self, name): + # Get the option from the inner solver if it's an inner solver option + if name.lower() in self.innerSolverOptionNames: + return self.innerSolver.getOption(name) + else: + return BaseSolver.getOption(self, name) + def setConvergenceTolerance( self, absTol: Optional[float] = None, relTol: Optional[float] = None ) -> None: diff --git a/tacs/solvers/newton.py b/tacs/solvers/newton.py index fa27ae4e3..67b1e504e 100644 --- a/tacs/solvers/newton.py +++ b/tacs/solvers/newton.py @@ -75,43 +75,47 @@ class NewtonSolver(BaseSolver): "Eisenstat-Walker alpha parameter.", ], # Line search options - "useLineSearch": [ + "newtonSolverUseLineSearch": [ bool, True, "Flag for using line search in the nonlinear solver.", ], - "lineSearchMonitor": [ + "newtonSolverPrintLineSearchIters": [ bool, False, "Flag for printing out line search information.", ], - "skipFirstNLineSearch": [ + "newtonSolverSkipFirstNLineSearch": [ int, 0, "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", ], - "lineSearchMaxIter": [int, 25, "Maximum number of linesearch iterations."], - "lineSearchExpectedDecrease": [ + "newtonSolverLineSearchMaxIter": [ + int, + 25, + "Maximum number of linesearch iterations.", + ], + "newtonSolverLineSearchExpectedDecrease": [ float, 1e-4, "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", ], - "lineSearchMaxStep": [ + "newtonSolverLineSearchMaxStep": [ float, 2.0, "Maximum step size for the linesearch, as a fraction of the Newton step", ], - "lineSearchMinStep": [ + "newtonSolverLineSearchMinStep": [ float, 1e-2, "Minimum step size for the linesearch, as a fraction of the Newton step", ], - "lineSearchMaxStepChange": [ + "newtonSolverLineSearchMaxStepChange": [ float, 0.5, "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", ], - "lineSearchFallbackStepLimit": [ + "newtonSolverLineSearchFallbackStepLimit": [ float, 0.9, "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", @@ -204,8 +208,8 @@ def solve( Vector in which to store the solution, by default None. The problem's state is updated with the solution whether or not this is provided. """ - USE_LINESEARCH = self.getOption("useLineSearch") - LINESEARCH_SKIP_ITERS = self.getOption("skipFirstNLineSearch") + USE_LINESEARCH = self.getOption("newtonSolverUseLineSearch") + LINESEARCH_SKIP_ITERS = self.getOption("newtonSolverSkipFirstNLineSearch") MAX_ITERS = self.getOption("newtonSolverMaxIter") MAX_RES = self.getOption("newtonSolverDivergenceTol") MAX_LIN_ITERS = self.getOption("newtonSolverMaxLinIters") @@ -333,12 +337,15 @@ def solve( result.copyValues(self.stateVec) def energyLineSearch(self, u, stepDir, slope=None): - MAX_LINESEARCH_ITERS = self.getOption("lineSearchMaxIter") - LINESEARCH_MU = self.getOption("lineSearchExpectedDecrease") - LINESEARCH_ALPHA_MIN = self.getOption("lineSearchMinStep") - LINESEARCH_ALPHA_MAX = self.getOption("lineSearchMaxStep") - LINESEARCH_MAX_STEP_CHANGE = self.getOption("lineSearchMaxStepChange") - PRINT_LINESEARCH_ITERS = self.getOption("lineSearchMonitor") + MAX_LINESEARCH_ITERS = self.getOption("newtonSolverLineSearchMaxIter") + LINESEARCH_MU = self.getOption("newtonSolverLineSearchExpectedDecrease") + LINESEARCH_ALPHA_MIN = self.getOption("newtonSolverLineSearchMinStep") + LINESEARCH_ALPHA_MAX = self.getOption("newtonSolverLineSearchMaxStep") + LINESEARCH_MAX_STEP_CHANGE = self.getOption( + "newtonSolverLineSearchMaxStepChange" + ) + FALLBACK_ALPHA = self.getOption("newtonSolverLineSearchFallbackStepLimit") + PRINT_LINESEARCH_ITERS = self.getOption("newtonSolverPrintLineSearchIters") if slope is None: slope = 1.0 @@ -382,7 +389,7 @@ def energyLineSearch(self, u, stepDir, slope=None): else: # 8. Update $\alpha$ (based on search method) if iteration == 0: - alphaMin = 0.9 + alphaMin = FALLBACK_ALPHA else: alphaMin = LINESEARCH_ALPHA_MIN if fNew == fOld: From 51f9fc330855e04ecb2572c07216a5b22da0c8fe Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 14 Jul 2023 15:34:23 -0400 Subject: [PATCH 108/174] Alter `TacsTestElementMatXptSens` to test derivative components individually --- src/elements/TACSElementVerification.cpp | 92 ++++++++++++------------ 1 file changed, 46 insertions(+), 46 deletions(-) diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index 5fd1ea359..2957d9dc7 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -971,62 +971,68 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, // Retrieve the number of variables int nvars = element->getNumVariables(); - TacsScalar *psi = new TacsScalar[nvars]; - TacsScalar *phi = new TacsScalar[nvars]; + TacsScalar psi[nvars]; + TacsScalar phi[nvars]; int nnodes = element->getNumNodes(); - TacsScalar *result = new TacsScalar[3 * nnodes]; - TacsScalar *pert = new TacsScalar[3 * nnodes]; // perturbation for nodes - TacsScalar *Xp = new TacsScalar[3 * nnodes]; - TacsScalar *mat = new TacsScalar[nvars * nvars]; + TacsScalar dfdX[3 * nnodes]; + TacsScalar dfdX_approx[3 * nnodes]; + TacsScalar xPert[3 * nnodes]; // perturbation for nodes + TacsScalar Xp[3 * nnodes]; + TacsScalar mat[nvars * nvars]; // Generate a perturbation vector - TacsGenerateRandomArray(pert, 3 * nnodes); + memset(xPert, 0, 3 * nnodes * sizeof(TacsScalar)); TacsGenerateRandomArray(psi, nvars); TacsGenerateRandomArray(phi, nvars); - memset(result, 0, 3 * nnodes * sizeof(TacsScalar)); + memset(dfdX, 0, 3 * nnodes * sizeof(TacsScalar)); + memcpy(Xp, Xpts, 3 * nnodes * sizeof(TacsScalar)); double scale = 1.0 * rand() / RAND_MAX; // Compute the element matrix element->addMatXptSensInnerProduct(elemType, elemIndex, time, scale, psi, phi, - Xpts, vars, result); + Xpts, vars, dfdX); - // Perturb the nodes in the forward sense - TacsForwardDiffPerturb(Xp, 3 * nnodes, Xpts, pert, dh); - element->getMatType(elemType, elemIndex, time, Xp, vars, mat); - TacsScalar forward = 0.0; - for (int i = 0; i < nvars; i++) { - for (int j = 0; j < nvars; j++) { - forward += mat[nvars * i + j] * psi[i] * phi[j]; + for (int kk = 0; kk < 3 * nnodes; kk++) { + xPert[kk] = 1.0; + // Perturb the nodes in the forward sense + memset(mat, 0, nvars * nvars * sizeof(TacsScalar)); + TacsForwardDiffPerturb(Xp, 3 * nnodes, Xpts, xPert, dh); + element->getMatType(elemType, elemIndex, time, Xp, vars, mat); + TacsScalar forward = 0.0; + for (int i = 0; i < nvars; i++) { + for (int j = 0; j < nvars; j++) { + forward += mat[nvars * i + j] * psi[i] * phi[j]; + } } - } - // Perturb the nodes in the reverse sense - TacsBackwardDiffPerturb(Xp, 3 * nnodes, Xpts, pert, dh); - element->getMatType(elemType, elemIndex, time, Xp, vars, mat); - TacsScalar backward = 0.0; - for (int i = 0; i < nvars; i++) { - for (int j = 0; j < nvars; j++) { - backward += mat[nvars * i + j] * psi[i] * phi[j]; + TacsScalar backward = 0.0; +#ifndef TACS_USE_COMPLEX + // Perturb the nodes in the reverse sense + memset(mat, 0, nvars * nvars * sizeof(TacsScalar)); + TacsBackwardDiffPerturb(Xp, 3 * nnodes, Xpts, xPert, dh); + element->getMatType(elemType, elemIndex, time, Xp, vars, mat); + for (int i = 0; i < nvars; i++) { + for (int j = 0; j < nvars; j++) { + backward += mat[nvars * i + j] * psi[i] * phi[j]; + } } - } - - // Form the FD/CS approximate - TacsFormDiffApproximate(&forward, &backward, 1, dh); +#endif - // Compute the fd result - TacsScalar res = 0.0; - for (int i = 0; i < 3 * nnodes; i++) { - res += result[i] * pert[i]; + // Form the FD/CS approximate + TacsFormDiffApproximate(&forward, &backward, 1, dh); + dfdX_approx[kk] = forward * scale; + xPert[kk] = 0.0; } - TacsScalar fd = scale * forward; // Compute the error int max_err_index, max_rel_index; - double max_err = TacsGetMaxError(&res, &fd, 1, &max_err_index); - double max_rel = TacsGetMaxRelError(&res, &fd, 1, &max_rel_index); + double max_err = + TacsGetMaxError(dfdX, dfdX_approx, 3 * nnodes, &max_err_index); + double max_rel = + TacsGetMaxRelError(dfdX, dfdX_approx, 3 * nnodes, &max_rel_index); if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", @@ -1040,23 +1046,17 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 1) { fprintf(stderr, "The derivative of the inner product of the %s and two random " - "vectors w.r.t the state variables\n", + "vectors w.r.t the node coordinates\n", TacsGetMatrixTypeName(elemType)); - TacsPrintErrorComponents(stderr, "Element Xpt product", &res, &fd, 1); + TacsPrintErrorComponents(stderr, "Element product XptSens", dfdX, + dfdX_approx, 3 * nnodes); } if (test_print_level) { fprintf(stderr, "\n"); } - bool allClose = - TacsAssertAllClose(&res, &fd, 1, test_fail_atol, test_fail_rtol); - - delete[] result; - delete[] psi; - delete[] phi; - delete[] pert; - delete[] Xp; - delete[] mat; + bool allClose = TacsAssertAllClose(dfdX, dfdX_approx, 3 * nnodes, + test_fail_atol, test_fail_rtol); return !allClose; } From a12a49b03b98b79a6973bdf2d9567b13cf58af85 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 14 Jul 2023 15:35:07 -0400 Subject: [PATCH 109/174] Trying to debug `TacsTestElementMatXptSens` test failure --- src/elements/TACSElement.cpp | 2 +- src/elements/shell/TACSShellElement.h | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/elements/TACSElement.cpp b/src/elements/TACSElement.cpp index 1f58af12a..0d31b62d4 100644 --- a/src/elements/TACSElement.cpp +++ b/src/elements/TACSElement.cpp @@ -437,7 +437,7 @@ void TACSElement::addMatXptSensInnerProduct( const TacsScalar vars[], TacsScalar dfdX[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX diff --git a/src/elements/shell/TACSShellElement.h b/src/elements/shell/TACSShellElement.h index aafe630a0..70a344aa0 100644 --- a/src/elements/shell/TACSShellElement.h +++ b/src/elements/shell/TACSShellElement.h @@ -681,10 +681,11 @@ void TACSShellElement::getMatType( for (int i = 0; i < vars_per_node * num_nodes; i++) { norm += vars[i] * vars[i]; } - norm = sqrt(norm); if (TacsRealPart(norm) == 0.0) { norm = 1.0; + } else { + norm = sqrt(norm); } // Central difference the tangent stiffness matrix From 56adb8875c30336f506ee8f39cb079ae7effb730 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 17 Jul 2023 17:34:37 -0400 Subject: [PATCH 110/174] Change default complex step size to 1e-200 --- src/elements/TACSElement.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/elements/TACSElement.cpp b/src/elements/TACSElement.cpp index 0d31b62d4..5aaad204e 100644 --- a/src/elements/TACSElement.cpp +++ b/src/elements/TACSElement.cpp @@ -46,7 +46,7 @@ void TACSElement::addJacobian(int elemIndex, double time, TacsScalar alpha, TacsScalar J[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -203,7 +203,7 @@ void TACSElement::addAdjResProduct( const TacsScalar ddvars[], int dvLen, TacsScalar dfdx[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -273,7 +273,7 @@ void TACSElement::addAdjResXptProduct( const TacsScalar ddvars[], TacsScalar fXptSens[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -358,7 +358,7 @@ void TACSElement::addMatDVSensInnerProduct( const TacsScalar vars[], int dvLen, TacsScalar dfdx[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -512,7 +512,7 @@ void TACSElement::getMatSVSensInnerProduct( const TacsScalar vars[], TacsScalar dfdu[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -587,7 +587,7 @@ void TACSElement::addPointQuantityDVSens( const TacsScalar dfdq[], int dvLen, TacsScalar dfdx[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -664,7 +664,7 @@ void TACSElement::addPointQuantitySVSens( const TacsScalar ddvars[], const TacsScalar dfdq[], TacsScalar dfdu[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -750,7 +750,7 @@ void TACSElement::addPointQuantityXptSens( const TacsScalar dfddetXd, const TacsScalar dfdq[], TacsScalar dfdXpts[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-30; + const double dh = 1e-200; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX From 3249ea638ee98aee583c4372fa275bf52fa7f6f3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 17 Jul 2023 17:36:01 -0400 Subject: [PATCH 111/174] fix in `TacsTestElementMatXptSens` --- src/elements/TACSElementVerification.cpp | 50 +++++++++++------------- 1 file changed, 22 insertions(+), 28 deletions(-) diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index 2957d9dc7..9a2e243b1 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -110,16 +110,16 @@ double TacsGetMaxRelError(TacsScalar *testVals, TacsScalar *refVals, int size, void TacsPrintErrorComponents(FILE *fp, const char *descript, TacsScalar *testVals, TacsScalar *refVals, int size) { - fprintf(fp, "%*s[ ] %15s %15s %15s %15s\n", (int)strlen(descript), "Val", + fprintf(fp, "%*s[ ] %25s %25s %25s %25s\n", (int)strlen(descript), "Val", "Analytic", "Approximate", "Rel. Error", "Abs. Error"); for (int i = 0; i < size; i++) { double absError = fabs(TacsRealPart(testVals[i] - refVals[i])); if (refVals[i] != 0.0) { - fprintf(fp, "%s[%3d] %15.6e %15.6e %15.4e %15.4e\n", descript, i, + fprintf(fp, "%s[%3d] %25.16e %25.16e %25.16e %25.16e\n", descript, i, TacsRealPart(testVals[i]), TacsRealPart(refVals[i]), fabs(TacsRealPart(absError / refVals[i])), absError); } else { - fprintf(fp, "%s[%3d] %15.6e %15.6e %15s %15.4e\n", descript, i, + fprintf(fp, "%s[%3d] %25.16e %25.16e %25s %25.16e\n", descript, i, TacsRealPart(testVals[i]), TacsRealPart(refVals[i]), "-", absError); } @@ -963,7 +963,7 @@ int TacsTestElementMatDVSens(TACSElement *element, ElementMatrixType matType, return !allClose; } -int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, +int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType matType, int elemIndex, double time, const TacsScalar Xpts[], const TacsScalar vars[], double dh, int test_print_level, @@ -992,7 +992,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, double scale = 1.0 * rand() / RAND_MAX; // Compute the element matrix - element->addMatXptSensInnerProduct(elemType, elemIndex, time, scale, psi, phi, + element->addMatXptSensInnerProduct(matType, elemIndex, time, scale, psi, phi, Xpts, vars, dfdX); for (int kk = 0; kk < 3 * nnodes; kk++) { @@ -1000,7 +1000,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, // Perturb the nodes in the forward sense memset(mat, 0, nvars * nvars * sizeof(TacsScalar)); TacsForwardDiffPerturb(Xp, 3 * nnodes, Xpts, xPert, dh); - element->getMatType(elemType, elemIndex, time, Xp, vars, mat); + element->getMatType(matType, elemIndex, time, Xp, vars, mat); TacsScalar forward = 0.0; for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { @@ -1013,7 +1013,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, // Perturb the nodes in the reverse sense memset(mat, 0, nvars * nvars * sizeof(TacsScalar)); TacsBackwardDiffPerturb(Xp, 3 * nnodes, Xpts, xPert, dh); - element->getMatType(elemType, elemIndex, time, Xp, vars, mat); + element->getMatType(matType, elemIndex, time, Xp, vars, mat); for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { backward += mat[nvars * i + j] * psi[i] * phi[j]; @@ -1025,6 +1025,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, TacsFormDiffApproximate(&forward, &backward, 1, dh); dfdX_approx[kk] = forward * scale; xPert[kk] = 0.0; + Xp[kk] = Xpts[kk]; } // Compute the error @@ -1036,7 +1037,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType), element->getObjectName()); + TacsGetMatrixTypeName(matType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1047,7 +1048,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, fprintf(stderr, "The derivative of the inner product of the %s and two random " "vectors w.r.t the node coordinates\n", - TacsGetMatrixTypeName(elemType)); + TacsGetMatrixTypeName(matType)); TacsPrintErrorComponents(stderr, "Element product XptSens", dfdX, dfdX_approx, 3 * nnodes); } @@ -1061,7 +1062,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType elemType, return !allClose; } -int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, +int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType matType, int elemIndex, double time, const TacsScalar Xpts[], const TacsScalar vars[], double dh, int test_print_level, @@ -1069,13 +1070,13 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, // Retrieve the number of variables int nvars = element->getNumVariables(); - TacsScalar *result = new TacsScalar[nvars]; - TacsScalar *psi = new TacsScalar[nvars]; - TacsScalar *phi = new TacsScalar[nvars]; + TacsScalar result[nvars]; + TacsScalar psi[nvars]; + TacsScalar phi[nvars]; - TacsScalar *pert = new TacsScalar[nvars]; // perturbation for vars - TacsScalar *q = new TacsScalar[nvars]; - TacsScalar *mat = new TacsScalar[nvars * nvars]; + TacsScalar pert[nvars]; // perturbation for vars + TacsScalar q[nvars]; + TacsScalar mat[nvars * nvars]; // Generate a perturbation vector TacsGenerateRandomArray(pert, nvars); @@ -1083,12 +1084,12 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, TacsGenerateRandomArray(phi, nvars); // Compute the element matrix - element->getMatSVSensInnerProduct(elemType, elemIndex, time, psi, phi, Xpts, + element->getMatSVSensInnerProduct(matType, elemIndex, time, psi, phi, Xpts, vars, result); // Perturb the variables in the forward sense TacsForwardDiffPerturb(q, nvars, vars, pert, dh); - element->getMatType(elemType, elemIndex, time, Xpts, q, mat); + element->getMatType(matType, elemIndex, time, Xpts, q, mat); TacsScalar forward = 0.0; for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { @@ -1098,7 +1099,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, // Perturb the variables in the reverse sense TacsBackwardDiffPerturb(q, nvars, vars, pert, dh); - element->getMatType(elemType, elemIndex, time, Xpts, q, mat); + element->getMatType(matType, elemIndex, time, Xpts, q, mat); TacsScalar backward = 0.0; for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { @@ -1123,7 +1124,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, if (test_print_level > 0) { fprintf(stderr, "Testing the %s derivative for %s.\n", - TacsGetMatrixTypeName(elemType), element->getObjectName()); + TacsGetMatrixTypeName(matType), element->getObjectName()); fprintf(stderr, "Max Err: %10.4e in component %d.\n", max_err, max_err_index); fprintf(stderr, "Max REr: %10.4e in component %d.\n", max_rel, @@ -1134,7 +1135,7 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, fprintf(stderr, "The derivative of the inner product of the %s and two random " "vectors w.r.t the state variables\n", - TacsGetMatrixTypeName(elemType)); + TacsGetMatrixTypeName(matType)); TacsPrintErrorComponents(stderr, "Element SV product", &res, &fd, 1); } if (test_print_level) { @@ -1144,13 +1145,6 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType elemType, bool allClose = TacsAssertAllClose(&res, &fd, 1, test_fail_atol, test_fail_rtol); - delete[] result; - delete[] psi; - delete[] phi; - delete[] pert; - delete[] q; - delete[] mat; - return !allClose; } From 3d71bce464b00f492f0fe5e3841802950483b411 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 17 Jul 2023 17:36:42 -0400 Subject: [PATCH 112/174] option name change in NL cantilever example --- examples/nonlinear_cantilever/analysis.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index ef02fcd62..06ef82048 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -85,7 +85,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "printTiming": True, - "skipFirstNLineSearch": 0, + "newtonSolverSkipFirstNLineSearch": 0, "newtonSolverCoarseRelTol": 1e-3, "continuationInitialStep": 0.05, "continuationUsePredictor": True, From bcb24ced07e09137868032d1717dc12629226cfd Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 10:03:37 -0400 Subject: [PATCH 113/174] Make `solveLinear` a private method --- tacs/problems/static.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 698fdfb3a..b8d889cef 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -948,7 +948,7 @@ def solve(self, Fext=None): initNormTime = time.time() # Solve Linear System for the update - hasConverged = self.solveLinear(self.res, self.update) + hasConverged = self._solveLinear(self.res, self.update) self.update.scale(-1.0) @@ -1072,7 +1072,7 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): baseName=f"{self.name}-{self.callCounter:03d}-NLIter", number=iteration ) - def solveLinear(self, res, sol): + def _solveLinear(self, res, sol): """Solve the linear system J * sol = res using the current Jacobian matrix Parameters @@ -1808,7 +1808,7 @@ def solveAdjoint(self, rhs, phi): bcTerms.axpy(-1.0, self.adjRHS) # Solve Linear System - self.solveLinear(self.adjRHS, self.phi) + self._solveLinear(self.adjRHS, self.phi) self.assembler.applyBCs(self.phi) # Add bc terms back in self.phi.axpy(1.0, bcTerms) From 7253d35a8e0e819b058363a6619937d7bf268607 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 11:25:55 -0400 Subject: [PATCH 114/174] Remove unused TACS vector --- tacs/problems/static.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index b8d889cef..6a2b4dc7b 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -308,9 +308,6 @@ def _createVariables(self): self.externalForce = self.assembler.createVec() self.internalForce = self.assembler.createVec() - if self.isNonlinear: - self.u_inc_start = self.assembler.createVec() - # Auxiliary element object for applying tractions/pressure self.auxElems = tacs.TACS.AuxElements() # Counter for number of calls to `solve` method From 1d5d7609c1b619b248df49abcfd83c416b598311 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 11:26:07 -0400 Subject: [PATCH 115/174] `black .` --- tacs/mphys/builder.py | 4 +++- tacs/problems/static.py | 5 +---- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/tacs/mphys/builder.py b/tacs/mphys/builder.py index 6cbd8e673..45599a499 100644 --- a/tacs/mphys/builder.py +++ b/tacs/mphys/builder.py @@ -197,7 +197,9 @@ def get_tagged_indices(self, tags): else: tagged_comps = self.fea_assembler.selectCompIDs(include=tags) # Select local node IDs for tags - masked_local_nodes = self.fea_assembler.getLocalNodeIDsForComps(tagged_comps) + masked_local_nodes = self.fea_assembler.getLocalNodeIDsForComps( + tagged_comps + ) # Select local node IDs and multiplier node IDs local_mnodes = self.fea_assembler.getLocalMultiplierNodeIDs() diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 6a2b4dc7b..b99c5e91b 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -427,10 +427,7 @@ def setOption(self, name, value): New option value to set """ # If the supplied option is a nonlinear solver option, pass it to the nonlinear solver instead of the problem - if ( - self.isNonlinear - and name.lower() in self.nonlinearSolverOptionNames - ): + if self.isNonlinear and name.lower() in self.nonlinearSolverOptionNames: if self.nonlinearSolver is not None: self.nonlinearSolver.setOption(name, value) else: From db16aa5be71bd4394b55ea2f3144ba9cd2c7fc7f Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 14:23:56 -0400 Subject: [PATCH 116/174] Implement cheap method for determining if problem is nonlinear --- tacs/problems/static.py | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index b99c5e91b..ad03a788b 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -194,6 +194,8 @@ def __init__( # Create problem-specific variables self._createVariables() + self._isNonlinear = self._checkNonlinearity() + # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: # Create Newton solver, the inner solver for the continuation solver @@ -225,6 +227,36 @@ def __init__( self._createSolverHistory() + def _checkNonlinearity(self)->bool: + """Check if the problem is nonlinear + + This check works by checking whether the residual is nonlinear w.r.t the states using 2 residual evaluations. + + Returns + ------- + bool + True if the problem is nonlinear, False otherwise. + """ + # Store the current state + self.getVariables(self.u) + + res1 = self.assembler.createVec() + res2 = self.assembler.createVec() + state = self.assembler.createVec() + state.setRand(-1e-3, 1e-3) + self.setVariables(state) + self.getResidual(res1) + state.scale(2.0) + self.setVariables(state) + self.getResidual(res2) + + # Reset the state + self.setVariables(self.u) + + # Check if res2 - 2 * res1 is zero + res2.axpy(-2.0, res1) + return res2.norm() > 1e-14 + def _createSolverHistory(self): """Setup the solver history object based on the current options From 8b1ec42d470635c17625c1260be05c3ae2272b31 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 15:59:11 -0400 Subject: [PATCH 117/174] Move nonlinearity check to pyTACS so it is easily passed to all problem types --- tacs/problems/buckling.py | 3 ++- tacs/problems/static.py | 32 -------------------------------- tacs/pytacs.py | 37 ++++++++++++++++++++++++++++++++++--- 3 files changed, 36 insertions(+), 36 deletions(-) diff --git a/tacs/problems/buckling.py b/tacs/problems/buckling.py index 887b83a40..562e22948 100644 --- a/tacs/problems/buckling.py +++ b/tacs/problems/buckling.py @@ -86,6 +86,7 @@ def __init__( comm, outputViewer=None, meshLoader=None, + isNonlinear=False, options=None, ): """ @@ -123,7 +124,7 @@ def __init__( self.name = name # Default setup for common problem class objects, sets up comm and options - TACSProblem.__init__(self, assembler, comm, options, outputViewer, meshLoader) + TACSProblem.__init__(self, assembler, comm, options, outputViewer, meshLoader, isNonlinear) # Set time eigenvalue parameters self.sigma = sigma diff --git a/tacs/problems/static.py b/tacs/problems/static.py index ad03a788b..b99c5e91b 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -194,8 +194,6 @@ def __init__( # Create problem-specific variables self._createVariables() - self._isNonlinear = self._checkNonlinearity() - # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: # Create Newton solver, the inner solver for the continuation solver @@ -227,36 +225,6 @@ def __init__( self._createSolverHistory() - def _checkNonlinearity(self)->bool: - """Check if the problem is nonlinear - - This check works by checking whether the residual is nonlinear w.r.t the states using 2 residual evaluations. - - Returns - ------- - bool - True if the problem is nonlinear, False otherwise. - """ - # Store the current state - self.getVariables(self.u) - - res1 = self.assembler.createVec() - res2 = self.assembler.createVec() - state = self.assembler.createVec() - state.setRand(-1e-3, 1e-3) - self.setVariables(state) - self.getResidual(res1) - state.scale(2.0) - self.setVariables(state) - self.getResidual(res2) - - # Reset the state - self.setVariables(self.u) - - # Check if res2 - 2 * res1 is zero - res2.axpy(-2.0, res1) - return res2.norm() > 1e-14 - def _createSolverHistory(self): """Setup the solver history object based on the current options diff --git a/tacs/pytacs.py b/tacs/pytacs.py index f3a659d83..e0ce2002a 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -81,8 +81,6 @@ class pyTACS(BaseUI): # Default class options defaultOptions = { - # TODO: Figure out a way to automatically figure out if model is nonlinear so we can remove this option - "isNonlinear": [bool, False, "Flag for whether the model is nonlinear."], # Meshloader options "printDebug": [ bool, @@ -235,7 +233,7 @@ def __init__(self, fileName, comm=None, dvNum=0, scaleList=None, options=None): self.assembler = None # Nonlinear flag - self._isNonlinear = self.getOption("isNonlinear") + self._isNonlinear = None initFinishTime = time.time() if self.getOption("printTiming"): @@ -809,6 +807,38 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, self.xlb = self.assembler.createDesignVec() self.assembler.getDesignVarRange(self.xlb, self.xub) + self._isNonlinear = self._checkNonlinearity() + + @postinitialize_method + def _checkNonlinearity(self) -> bool: + """Check if the finite element model is nonlinear + + This check works by checking whether the residual is nonlinear w.r.t the states using 2 residual evaluations. + + Returns + ------- + bool + True if the problem is nonlinear, False otherwise. + """ + + res1 = self.assembler.createVec() + res2 = self.assembler.createVec() + state = self.assembler.createVec() + state.setRand(-1e-3, 1e-3) + self.assembler.setVariables(state) + self.assembler.assembleRes(res1) + state.scale(2.0) + self.assembler.setVariables(state) + self.assembler.assembleRes(res2) + + # Reset the state variables + state.zeroEntries() + self.assembler.setVariables(state) + + # Check if res2 - 2 * res1 is zero + res2.axpy(-2.0, res1) + return res2.norm() > 1e-14 + def _elemCallBackFromBDF(self): """ Automatically setup elemCallBack using information contained in BDF file. @@ -1533,6 +1563,7 @@ def createBucklingProblem(self, name, sigma, numEigs, options=None): self.comm, self.outputViewer, self.meshLoader, + self.isNonlinear, options, ) # Set with original design vars and coordinates, in case they have changed From 640c235bee9b07d1f4bea1e109f7f558d3446679 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 16:32:24 -0400 Subject: [PATCH 118/174] Normalise nonlinearity check by the residual norm --- tacs/pytacs.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tacs/pytacs.py b/tacs/pytacs.py index e0ce2002a..ec5c9294d 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -830,6 +830,7 @@ def _checkNonlinearity(self) -> bool: state.scale(2.0) self.assembler.setVariables(state) self.assembler.assembleRes(res2) + resNorm = res1.norm() # Reset the state variables state.zeroEntries() @@ -837,7 +838,7 @@ def _checkNonlinearity(self) -> bool: # Check if res2 - 2 * res1 is zero res2.axpy(-2.0, res1) - return res2.norm() > 1e-14 + return (res2.norm()/resNorm) > 1e-14 def _elemCallBackFromBDF(self): """ From 2e5b1f8ee22ab0fc2155854b66881c3ab46b49a4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 16:32:49 -0400 Subject: [PATCH 119/174] Fix nonlinear option handling when `options` is `None` --- tacs/problems/static.py | 23 +++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index b99c5e91b..6f969a0d8 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -175,16 +175,19 @@ def __init__( name.lower() for name in tacs.solvers.ContinuationSolver.defaultOptions ] - nonlinearSolverOptions = { - key: options[key] - for key in options - if key.lower() in self.nonlinearSolverOptionNames - } - options = { - key: options[key] - for key in options - if key.lower() not in self.nonlinearSolverOptionNames - } + if options is None: + nonlinearSolverOptions = {} + else: + nonlinearSolverOptions = { + key: options[key] + for key in options + if key.lower() in self.nonlinearSolverOptionNames + } + options = { + key: options[key] + for key in options + if key.lower() not in self.nonlinearSolverOptionNames + } # Default setup for common problem class objects, sets up comm and options TACSProblem.__init__( From 7cfc76e6ac9e7e3cd3a5d9a3dd1a757ccfccc1b5 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 16:52:49 -0400 Subject: [PATCH 120/174] Fix nonlinearity check for case where r(0) != 0 --- tacs/pytacs.py | 21 +++++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/tacs/pytacs.py b/tacs/pytacs.py index ec5c9294d..129b3e306 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -820,23 +820,36 @@ def _checkNonlinearity(self) -> bool: bool True if the problem is nonlinear, False otherwise. """ - + res0 = self.assembler.createVec() res1 = self.assembler.createVec() res2 = self.assembler.createVec() state = self.assembler.createVec() - state.setRand(-1e-3, 1e-3) + + # Evaluate r(0) + state.zeroEntries() + self.assembler.setVariables(state) + self.assembler.assembleRes(res0) + + # Evaluate r(u) - r(0) + state.setRand() + self.applyBCsToVec(state) self.assembler.setVariables(state) self.assembler.assembleRes(res1) + res1.axpy(-1.0, res0) + + # Evaluate r(2u) - r(0) state.scale(2.0) + self.applyBCsToVec(state) self.assembler.setVariables(state) self.assembler.assembleRes(res2) - resNorm = res1.norm() + res2.axpy(-1.0, res0) # Reset the state variables state.zeroEntries() self.assembler.setVariables(state) - # Check if res2 - 2 * res1 is zero + # Check if (res2-res0) - 2 * (res1 - res0) is zero (or very close to it) + resNorm = res1.norm() res2.axpy(-2.0, res1) return (res2.norm()/resNorm) > 1e-14 From 260cbe8274c99e033fab8a2fe3fcd29316eecbaf Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 28 Jul 2023 17:03:30 -0400 Subject: [PATCH 121/174] Include velocity and accelerations in nonlinearity check --- tacs/pytacs.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tacs/pytacs.py b/tacs/pytacs.py index 129b3e306..12edc1981 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -827,26 +827,26 @@ def _checkNonlinearity(self) -> bool: # Evaluate r(0) state.zeroEntries() - self.assembler.setVariables(state) + self.assembler.setVariables(state, state, state) self.assembler.assembleRes(res0) # Evaluate r(u) - r(0) state.setRand() self.applyBCsToVec(state) - self.assembler.setVariables(state) + self.assembler.setVariables(state, state, state) self.assembler.assembleRes(res1) res1.axpy(-1.0, res0) # Evaluate r(2u) - r(0) state.scale(2.0) self.applyBCsToVec(state) - self.assembler.setVariables(state) + self.assembler.setVariables(state, state, state) self.assembler.assembleRes(res2) res2.axpy(-1.0, res0) # Reset the state variables state.zeroEntries() - self.assembler.setVariables(state) + self.assembler.setVariables(state, state, state) # Check if (res2-res0) - 2 * (res1 - res0) is zero (or very close to it) resNorm = res1.norm() From 0e7098e8512f334f9881712777e1bb18f3da79fc Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 31 Jul 2023 13:23:16 -0400 Subject: [PATCH 122/174] Fixes in continuation solver to avoid divide by zeros --- tacs/solvers/continuation.py | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index c5b95f94b..8013831ec 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -271,7 +271,14 @@ def solve( # Compute the internal and external forcing vectors at the current point self.computeForceVectors() - self.setRefNorm(np.real(self.fExt.norm())) + if np.real(self.fExt.norm()) == 0: + self.du_e.copyValues(self.stateVec) + self.stateVec.zeroEntries() + self.setStateFunc(self.stateVec) + self.resFunc(self.resVec) + self.setRefNorm(np.real(self.resVec.norm())) + else: + self.setRefNorm(np.real(self.fExt.norm())) # ============================================================================== # Compute the initial load scale @@ -285,7 +292,7 @@ def solve( # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe isRestartIncrement = False - if np.real(self.stateVec.norm()) > 0: + if np.real(self.stateVec.norm()) > 0 and np.real(self.fExt.norm()) > 0.: self.jacFunc() self.pcUpdateFunc() self.linearSolver.solve(self.fExt, self.du_e) @@ -316,6 +323,9 @@ def solve( loadStepDirection = -1 self.setLambdaFunc(optLoadScale) + elif np.real(self.fExt.norm()) == 0.: + # If the external force is zero then the load scale doesn't mean anything and we can just set it to 1 + self.setLambdaFunc(1.0) # If starting from zero, we can assume that u=0, lambda=0 is an equilibrium state if USE_PREDICTOR and self.stateVec.norm() == 0: From 38686f80011dc7ef7f82b926c7fe5011afa86b9f Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 31 Jul 2023 13:52:14 -0400 Subject: [PATCH 123/174] Remove unnecessary call to `applyBCs` in staticProblem --- tacs/problems/static.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 6f969a0d8..b0c3cdbd4 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1853,8 +1853,6 @@ def setVariables(self, states): self.u.copyValues(states) elif isinstance(states, np.ndarray): self.u_array[:] = states[:] - # Apply boundary conditions - self.assembler.applyBCs(self.u) # Set states to assembler self.assembler.setVariables(self.u) From c86283882612759b1a85c77b8e1dd3c65000dff5 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 31 Jul 2023 13:56:46 -0400 Subject: [PATCH 124/174] Add `setBCsInVec` method to pyTACS --- tacs/pytacs.py | 28 ++++++++++++++++++++++++++-- 1 file changed, 26 insertions(+), 2 deletions(-) diff --git a/tacs/pytacs.py b/tacs/pytacs.py index 12edc1981..bb0cc029d 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -832,14 +832,14 @@ def _checkNonlinearity(self) -> bool: # Evaluate r(u) - r(0) state.setRand() - self.applyBCsToVec(state) + self.setBCsInVec(state) self.assembler.setVariables(state, state, state) self.assembler.assembleRes(res1) res1.axpy(-1.0, res0) # Evaluate r(2u) - r(0) state.scale(2.0) - self.applyBCsToVec(state) + self.setBCsInVec(state) self.assembler.setVariables(state, state, state) self.assembler.assembleRes(res2) res2.axpy(-1.0, res0) @@ -1426,6 +1426,30 @@ def applyBCsToVec(self, vec): # Copy values back to array array[:] = vec.getArray() + @postinitialize_method + def setBCsInVec(self, vec): + """ + Sets dirichlet boundary condition values in the input vector. + + Parameters + ---------- + vec : numpy.ndarray or tacs.TACS.Vec + Vector to set boundary conditions in. + """ + # Check if input is a BVec or numpy array + if isinstance(vec, tacs.TACS.Vec): + self.assembler.setBCs(vec) + elif isinstance(vec, np.ndarray): + array = vec + # Create temporary BVec + vec = self.assembler.createVec() + # Copy array values to BVec + vec.getArray()[:] = array + # Apply BCs + self.assembler.setBCs(vec) + # Copy values back to array + array[:] = vec.getArray() + @postinitialize_method def createStaticProblem(self, name, options=None): """ From f98eea21f5a5dc0e6e170ce2331f2b7b90c49ce4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 31 Jul 2023 17:03:23 -0400 Subject: [PATCH 125/174] add `setBCs` to `setVariables` so that MPhys wrapper works --- tacs/problems/static.py | 1 + 1 file changed, 1 insertion(+) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index b0c3cdbd4..154d9097c 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1854,6 +1854,7 @@ def setVariables(self, states): elif isinstance(states, np.ndarray): self.u_array[:] = states[:] # Set states to assembler + self.assembler.setBCs(self.u) self.assembler.setVariables(self.u) # If this is a nonlinear problem then changing the state will change the jacobian From 3a4e598c227f808611ddcfd55ee0eaa5681ed2d4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 31 Jul 2023 17:04:51 -0400 Subject: [PATCH 126/174] Fix mphys masked_converter imports --- tacs/mphys/coupling.py | 2 +- tacs/mphys/mesh.py | 2 +- tacs/mphys/precoupling.py | 2 +- tacs/mphys/solver.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/tacs/mphys/coupling.py b/tacs/mphys/coupling.py index 945e607e2..90c2c36a6 100644 --- a/tacs/mphys/coupling.py +++ b/tacs/mphys/coupling.py @@ -2,7 +2,7 @@ import openmdao.api as om -from mphys import MaskedConverter, UnmaskedConverter, MaskedVariableDescription +from mphys.mask_converter import MaskedConverter, UnmaskedConverter, MaskedVariableDescription from .solver import TacsSolver diff --git a/tacs/mphys/mesh.py b/tacs/mphys/mesh.py index ecb8dabac..80086c9f0 100644 --- a/tacs/mphys/mesh.py +++ b/tacs/mphys/mesh.py @@ -2,7 +2,7 @@ import openmdao.api as om -from mphys import MaskedConverter, MaskedVariableDescription +from mphys.mask_converter import MaskedConverter, MaskedVariableDescription class TacsMesh(om.IndepVarComp): diff --git a/tacs/mphys/precoupling.py b/tacs/mphys/precoupling.py index 221dbba12..2f6c45937 100644 --- a/tacs/mphys/precoupling.py +++ b/tacs/mphys/precoupling.py @@ -1,7 +1,7 @@ import numpy as np import openmdao.api as om -from mphys import UnmaskedConverter, MaskedVariableDescription +from mphys.mask_converter import UnmaskedConverter, MaskedVariableDescription from .dv import TacsDVComp diff --git a/tacs/mphys/solver.py b/tacs/mphys/solver.py index 7246f4153..735a5ebab 100644 --- a/tacs/mphys/solver.py +++ b/tacs/mphys/solver.py @@ -128,7 +128,7 @@ def apply_nonlinear(self, inputs, outputs, residuals): self.sp.getResidual(res=residuals[self.states_name], Fext=Fext) def solve_nonlinear(self, inputs, outputs): - self._update_internal(inputs) + self._update_internal(inputs) # TODO: We should also pass in outputs here in-case OpenMDAO is trying to pass in an intial state? if self.coupled: Fext = inputs[self.rhs_name] From 382c8bcdbe9763148b0dda6b598809b83dfc08b2 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Mon, 31 Jul 2023 17:33:23 -0400 Subject: [PATCH 127/174] Fix complex type issue in `_checkNonlinearity` --- tacs/pytacs.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tacs/pytacs.py b/tacs/pytacs.py index bb0cc029d..67750ef80 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -849,9 +849,9 @@ def _checkNonlinearity(self) -> bool: self.assembler.setVariables(state, state, state) # Check if (res2-res0) - 2 * (res1 - res0) is zero (or very close to it) - resNorm = res1.norm() + resNorm = np.real(res1.norm()) res2.axpy(-2.0, res1) - return (res2.norm()/resNorm) > 1e-14 + return (np.real(res2.norm())/resNorm) > 1e-14 def _elemCallBackFromBDF(self): """ From ee6d4c4bec55fc5d22e629a7ced606c2cd3aa2c9 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 3 Aug 2023 16:56:48 -0400 Subject: [PATCH 128/174] Revert "Change default complex step size to 1e-200" This reverts commit 56adb8875c30336f506ee8f39cb079ae7effb730. --- src/elements/TACSElement.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/elements/TACSElement.cpp b/src/elements/TACSElement.cpp index 5aaad204e..0d31b62d4 100644 --- a/src/elements/TACSElement.cpp +++ b/src/elements/TACSElement.cpp @@ -46,7 +46,7 @@ void TACSElement::addJacobian(int elemIndex, double time, TacsScalar alpha, TacsScalar J[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -203,7 +203,7 @@ void TACSElement::addAdjResProduct( const TacsScalar ddvars[], int dvLen, TacsScalar dfdx[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -273,7 +273,7 @@ void TACSElement::addAdjResXptProduct( const TacsScalar ddvars[], TacsScalar fXptSens[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -358,7 +358,7 @@ void TACSElement::addMatDVSensInnerProduct( const TacsScalar vars[], int dvLen, TacsScalar dfdx[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -512,7 +512,7 @@ void TACSElement::getMatSVSensInnerProduct( const TacsScalar vars[], TacsScalar dfdu[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -587,7 +587,7 @@ void TACSElement::addPointQuantityDVSens( const TacsScalar dfdq[], int dvLen, TacsScalar dfdx[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -664,7 +664,7 @@ void TACSElement::addPointQuantitySVSens( const TacsScalar ddvars[], const TacsScalar dfdq[], TacsScalar dfdu[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX @@ -750,7 +750,7 @@ void TACSElement::addPointQuantityXptSens( const TacsScalar dfddetXd, const TacsScalar dfdq[], TacsScalar dfdXpts[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX From bdb61cc3cf7bd7739a5eadab4b01dead025dc1e5 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 3 Aug 2023 20:40:44 -0400 Subject: [PATCH 129/174] Fix mat indexing in matrix product sens tests --- src/elements/TACSElement.cpp | 2 +- src/elements/TACSElementVerification.cpp | 12 +++++++----- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/elements/TACSElement.cpp b/src/elements/TACSElement.cpp index 0d31b62d4..1f58af12a 100644 --- a/src/elements/TACSElement.cpp +++ b/src/elements/TACSElement.cpp @@ -437,7 +437,7 @@ void TACSElement::addMatXptSensInnerProduct( const TacsScalar vars[], TacsScalar dfdX[]) { // The step length #ifdef TACS_USE_COMPLEX - const double dh = 1e-200; + const double dh = 1e-30; #else const double dh = 1e-7; #endif // TACS_USE_COMPLEX diff --git a/src/elements/TACSElementVerification.cpp b/src/elements/TACSElementVerification.cpp index 9a2e243b1..a82620ac8 100644 --- a/src/elements/TACSElementVerification.cpp +++ b/src/elements/TACSElementVerification.cpp @@ -1004,7 +1004,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType matType, TacsScalar forward = 0.0; for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { - forward += mat[nvars * i + j] * psi[i] * phi[j]; + forward += mat[i + j * nvars] * psi[i] * phi[j]; } } @@ -1016,7 +1016,7 @@ int TacsTestElementMatXptSens(TACSElement *element, ElementMatrixType matType, element->getMatType(matType, elemIndex, time, Xp, vars, mat); for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { - backward += mat[nvars * i + j] * psi[i] * phi[j]; + backward += mat[i + j * nvars] * psi[i] * phi[j]; } } #endif @@ -1093,19 +1093,21 @@ int TacsTestElementMatSVSens(TACSElement *element, ElementMatrixType matType, TacsScalar forward = 0.0; for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { - forward += mat[nvars * i + j] * psi[i] * phi[j]; + forward += mat[i + j * nvars] * psi[i] * phi[j]; } } // Perturb the variables in the reverse sense + TacsScalar backward = 0.0; +#ifndef TACS_USE_COMPLEX TacsBackwardDiffPerturb(q, nvars, vars, pert, dh); element->getMatType(matType, elemIndex, time, Xpts, q, mat); - TacsScalar backward = 0.0; for (int i = 0; i < nvars; i++) { for (int j = 0; j < nvars; j++) { - backward += mat[nvars * i + j] * psi[i] * phi[j]; + backward += mat[i + j * nvars] * psi[i] * phi[j]; } } +#endif // Form the FD/CS approximate TacsFormDiffApproximate(&forward, &backward, 1, dh); From 29dc3874ee289303ad8bc61522fdd533c563e200 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 3 Aug 2023 20:41:49 -0400 Subject: [PATCH 130/174] Make element test CS step size consistent with size used in element functions --- tests/element_tests/shell_tests/test_shell_element.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/element_tests/shell_tests/test_shell_element.py b/tests/element_tests/shell_tests/test_shell_element.py index 15d153a88..32b5d1cfd 100644 --- a/tests/element_tests/shell_tests/test_shell_element.py +++ b/tests/element_tests/shell_tests/test_shell_element.py @@ -26,7 +26,7 @@ def setUp(self): # fd/cs step size if TACS.dtype is complex: - self.dh = 1e-200 + self.dh = 1e-30 self.rtol = 1e-10 else: self.dh = 1e-5 From 09595970d3efda597689e13e612fb298a84f20f4 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 9 Aug 2023 15:14:40 -0400 Subject: [PATCH 131/174] add method to set multiple options at once --- tacs/utilities.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/tacs/utilities.py b/tacs/utilities.py index 4471ee93c..e1f9fb719 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -87,6 +87,18 @@ def setOption(self, name, value): " is %s." % (name, self.options[name][0], type(value)) ) + def setOptions(self, options): + """ + Set multiple solver options at once. The names are not case sensitive. + + Parameters + ---------- + options : dict + Dictionary of option names and values to set + """ + for name, value in options.items(): + self.setOption(name, value) + def getOption(self, name): """ Get a solver option value. The name is not case sensitive. From b0d43eb160a3d920f58fa412af2dabb46ed7b183 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 9 Aug 2023 18:16:14 -0400 Subject: [PATCH 132/174] Add helper function for printing out any modified options --- tacs/utilities.py | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/tacs/utilities.py b/tacs/utilities.py index e1f9fb719..b0c087a69 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -99,6 +99,21 @@ def setOptions(self, options): for name, value in options.items(): self.setOption(name, value) + def printModifiedOptions(self): + """Prints a nicely formatted table of all the options that have been modified from their defaults + + _extended_summary_ + """ + if self.comm.rank == 0: + print("\n") + self._info("Modified options", box=True) + for opt in self.defaultOptions: + defaultValue = self.defaultOptions[opt][1] + actualValue = self.getOption(opt) + if defaultValue != actualValue: + print(f"{opt}: {actualValue} (default: {defaultValue})") + print("\n", flush=True) + def getOption(self, name): """ Get a solver option value. The name is not case sensitive. From 215861dddffe5aefbcc22afc0fdeea04d3f49ac2 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 9 Aug 2023 18:17:27 -0400 Subject: [PATCH 133/174] `black .` --- tacs/caps2tacs/tacs_model.py | 9 ++++++++- tacs/mphys/coupling.py | 6 +++++- tacs/mphys/solver.py | 4 +++- tacs/problems/buckling.py | 4 +++- tacs/pytacs.py | 2 +- 5 files changed, 20 insertions(+), 5 deletions(-) diff --git a/tacs/caps2tacs/tacs_model.py b/tacs/caps2tacs/tacs_model.py index 6e34e73d9..19b4c8ed2 100644 --- a/tacs/caps2tacs/tacs_model.py +++ b/tacs/caps2tacs/tacs_model.py @@ -45,7 +45,14 @@ def uses_aflr(self): return isinstance(self.mesh_aim, AflrAim) @classmethod - def build(cls, csm_file, comm=None, mesh="egads", problem_name: str = "capsStruct", verbosity=1): + def build( + cls, + csm_file, + comm=None, + mesh="egads", + problem_name: str = "capsStruct", + verbosity=1, + ): """ make a pyCAPS problem with the tacsAIM and egadsAIM on serial / root proc diff --git a/tacs/mphys/coupling.py b/tacs/mphys/coupling.py index 90c2c36a6..c81a24339 100644 --- a/tacs/mphys/coupling.py +++ b/tacs/mphys/coupling.py @@ -2,7 +2,11 @@ import openmdao.api as om -from mphys.mask_converter import MaskedConverter, UnmaskedConverter, MaskedVariableDescription +from mphys.mask_converter import ( + MaskedConverter, + UnmaskedConverter, + MaskedVariableDescription, +) from .solver import TacsSolver diff --git a/tacs/mphys/solver.py b/tacs/mphys/solver.py index 735a5ebab..9ce2eecbc 100644 --- a/tacs/mphys/solver.py +++ b/tacs/mphys/solver.py @@ -128,7 +128,9 @@ def apply_nonlinear(self, inputs, outputs, residuals): self.sp.getResidual(res=residuals[self.states_name], Fext=Fext) def solve_nonlinear(self, inputs, outputs): - self._update_internal(inputs) # TODO: We should also pass in outputs here in-case OpenMDAO is trying to pass in an intial state? + self._update_internal( + inputs + ) # TODO: We should also pass in outputs here in-case OpenMDAO is trying to pass in an intial state? if self.coupled: Fext = inputs[self.rhs_name] diff --git a/tacs/problems/buckling.py b/tacs/problems/buckling.py index 562e22948..c5b86146b 100644 --- a/tacs/problems/buckling.py +++ b/tacs/problems/buckling.py @@ -124,7 +124,9 @@ def __init__( self.name = name # Default setup for common problem class objects, sets up comm and options - TACSProblem.__init__(self, assembler, comm, options, outputViewer, meshLoader, isNonlinear) + TACSProblem.__init__( + self, assembler, comm, options, outputViewer, meshLoader, isNonlinear + ) # Set time eigenvalue parameters self.sigma = sigma diff --git a/tacs/pytacs.py b/tacs/pytacs.py index 67750ef80..daeb30747 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -851,7 +851,7 @@ def _checkNonlinearity(self) -> bool: # Check if (res2-res0) - 2 * (res1 - res0) is zero (or very close to it) resNorm = np.real(res1.norm()) res2.axpy(-2.0, res1) - return (np.real(res2.norm())/resNorm) > 1e-14 + return (np.real(res2.norm()) / resNorm) > 1e-14 def _elemCallBackFromBDF(self): """ From 8d76cd758658165ddcffb4df20a7913a925f13e1 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 9 Aug 2023 18:23:01 -0400 Subject: [PATCH 134/174] Remove all logic for automatically passing options from static problem to solvers, remove solver names from their options --- tacs/problems/static.py | 43 ++----------- tacs/solvers/continuation.py | 115 +++++++++++++++-------------------- tacs/solvers/newton.py | 90 ++++++++++++++------------- 3 files changed, 99 insertions(+), 149 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 154d9097c..6a1022d49 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -164,30 +164,6 @@ def __init__( self.history = None self.newtonSolver = None self.nonlinearSolver = None - self.nonlinearSolverOptionNames = [] - - if isNonlinear: - # --- Compile a list of nonlinear solver options then separate out any nonlinear options supplied by the user --- - self.nonlinearSolverOptionNames += [ - name.lower() for name in tacs.solvers.NewtonSolver.defaultOptions - ] - self.nonlinearSolverOptionNames += [ - name.lower() for name in tacs.solvers.ContinuationSolver.defaultOptions - ] - - if options is None: - nonlinearSolverOptions = {} - else: - nonlinearSolverOptions = { - key: options[key] - for key in options - if key.lower() in self.nonlinearSolverOptionNames - } - options = { - key: options[key] - for key in options - if key.lower() not in self.nonlinearSolverOptionNames - } # Default setup for common problem class objects, sets up comm and options TACSProblem.__init__( @@ -223,8 +199,6 @@ def __init__( comm=self.comm, ) self.nonlinearSolver.setCallback(self._nonlinearCallback) - for name, value in nonlinearSolverOptions.items(): - self.nonlinearSolver.setOption(name, value) self._createSolverHistory() @@ -246,7 +220,7 @@ def _createSolverHistory(self): # Newton solve iteration number history.addVariable("SubIter", int, printVar=True) # Einstat walker linear solver tolerance - if self.nonlinearSolver.getOption("newtonSolverUseEW"): + if self.newtonSolver.getOption("UseEW"): history.addVariable("EW Tol", float, printVar="ewtol" in monitorVars) # Number of linear solver iterations history.addVariable( @@ -266,14 +240,14 @@ def _createSolverHistory(self): "LS step", float, printVar="linesearchstep" in monitorVars - and self.nonlinearSolver.getOption("newtonSolverUseLineSearch"), + and self.newtonSolver.getOption("UseLineSearch"), ) # Num line search iterations history.addVariable( "LS iters", int, printVar="linesearchiters" in monitorVars - and self.nonlinearSolver.getOption("newtonSolverUseLineSearch"), + and self.newtonSolver.getOption("UseLineSearch"), ) # Flags history.addVariable("Flags", str, printVar=True) @@ -429,13 +403,8 @@ def setOption(self, name, value): value : depends on option New option value to set """ - # If the supplied option is a nonlinear solver option, pass it to the nonlinear solver instead of the problem - if self.isNonlinear and name.lower() in self.nonlinearSolverOptionNames: - if self.nonlinearSolver is not None: - self.nonlinearSolver.setOption(name, value) - else: - # Default setOption for common problem class objects - TACSProblem.setOption(self, name, value) + # Default setOption for common problem class objects + TACSProblem.setOption(self, name, value) createVariables = True @@ -465,7 +434,7 @@ def setOption(self, name, value): if self.isNonlinear: # We need to create a new solver history object if the monitor variables have updated if ( - name.lower() in ["nonlinearsolvermonitorvars", "newtonsolveruseew"] + name.lower() == "nonlinearsolvermonitorvars" and self.history is not None ): createVariables = False diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index 8013831ec..66ac6d6f8 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -9,7 +9,7 @@ # ============================================================================== # Standard Python modules # ============================================================================== -from typing import Optional, Callable +from typing import Optional, Callable, Any # ============================================================================== # External Python modules @@ -51,71 +51,71 @@ def lagrangeInterp(xKnown, yKnown, xQuery, yQuery): class ContinuationSolver(BaseSolver): defaultOptions = { - "continuationMaxLambda": [ + "MaxLambda": [ float, 1.0, "Final continuation parameter value to aim for.", ], - "continuationAbsTol": [ + "AbsTol": [ float, 1e-8, "Convergence criteria for the nonlinear residual norm.", ], - "continuationRelTol": [ + "RelTol": [ float, 1e-8, "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", ], - "continuationCoarseAbsTol": [ + "CoarseAbsTol": [ float, 1e-4, "Residual norm criteria for intermediate continuation steps, making this larger may speed up the nonlinear solver by allowing it to only partially converge intermediate steps.", ], - "continuationCoarseRelTol": [ + "CoarseRelTol": [ float, 1e-4, "Relative residual norm criteria for intermediate load increments.", ], - "continuationTargetIter": [ + "TargetIter": [ int, 8, "Target number of Newton iterations for each continuation increment.", ], - "continuationMaxIter": [int, 30, "Maximum number of continuation steps."], - "continuationInitialStep": [float, 0.2, "Initial continuation step size."], - "continuationMinStep": [float, 1e-4, "Minimum continuation step size."], - "continuationMaxStep": [float, np.inf, "Maximum continuation step size."], - "continuationMinStepFactor": [ + "MaxIter": [int, 30, "Maximum number of continuation steps."], + "InitialStep": [float, 0.2, "Initial continuation step size."], + "MinStep": [float, 1e-4, "Minimum continuation step size."], + "MaxStep": [float, np.inf, "Maximum continuation step size."], + "MinStepFactor": [ float, 0.5, "The minimum factor by which the continuation step size can decrease in a single step.", ], - "continuationMaxStepFactor": [ + "MaxStepFactor": [ float, 2.0, "The maximum factor by which the continuation step size can increase in a single step.", ], - "continuationRetractionFactor": [ + "RetractionFactor": [ float, 0.5, "The factor by which the continuation step size is reduced when the Newton solver fails to converge.", ], # Predictor step options - "continuationUsePredictor": [ + "UsePredictor": [ bool, False, "Flag for using predictor step in continuation.", ], - "continuationNumPredictorStates": [ + "NumPredictorStates": [ int, 2, "Number of previous equilibrium states to use in computing the predictor step.", ], - "predictorUseDerivative": [ - bool, - False, - "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", - ], + # "predictorUseDerivative": [ + # bool, + # False, + # "Whether to use the equilibrium path slope in the computation of the predictor step. This requires a linear solve and thus greatly increases the cost of the predictor step computation.", + # ], } def __init__( @@ -157,16 +157,10 @@ def __init__( self.setLambdaFunc = setLambdaFunc self.getLambdaFunc = getLambdaFunc self.innerSolver = innerSolver - self.defaultOptions.update(innerSolver.defaultOptions) self.equilibriumPathStates = [] self.equilibriumPathLoadScales = [] - # --- Make list of inner solver option names --- - self.innerSolverOptionNames = [ - opt.lower() for opt in self.innerSolver.defaultOptions - ] - BaseSolver.__init__( self, assembler=self.innerSolver.assembler, @@ -190,32 +184,21 @@ def _setupPredictorVectors(self) -> None: """Setup the structures containing the data for computing the predictor steps""" self.equilibriumPathStates = [] self.equilibriumPathLoadScales = [] - if self.getOption("continuationUsePredictor"): - for _ in range(self.getOption("continuationNumPredictorStates")): + if self.getOption("UsePredictor"): + for _ in range(self.getOption("NumPredictorStates")): self.equilibriumPathStates.append(self.assembler.createVec()) self.equilibriumPathLoadScales.append(None) - def setOption(self, name, value) -> None: - # Pass option to inner solver if it's an inner solver option - if name.lower() in self.innerSolverOptionNames: - self.innerSolver.setOption(name, value) - else: - BaseSolver.setOption(self, name, value) + def setOption(self, name: str, value: Any) -> None: + BaseSolver.setOption(self, name, value) # Update the predictor computation data structures if the relevant options are changed if name.lower() in [ - "continuationusepredictor", - "continuationnumpredictorstates", + "usepredictor", + "numpredictorstates", ]: self._setupPredictorVectors() - def getOption(self, name): - # Get the option from the inner solver if it's an inner solver option - if name.lower() in self.innerSolverOptionNames: - return self.innerSolver.getOption(name) - else: - return BaseSolver.getOption(self, name) - def setConvergenceTolerance( self, absTol: Optional[float] = None, relTol: Optional[float] = None ) -> None: @@ -229,39 +212,39 @@ def setConvergenceTolerance( Relative tolerance, not changed if no value is provided """ if absTol is not None: - self.setOption("continuationAbsTol", absTol) + self.setOption("AbsTol", absTol) if relTol is not None: - self.setOption("continuationRelTol", relTol) + self.setOption("RelTol", relTol) return def initializeSolve(self) -> None: """Perform any initialization required before the solve""" BaseSolver.initializeSolve(self) - if self.getOption("continuationUsePredictor"): - for ii in range(self.getOption("continuationNumPredictorStates")): + if self.getOption("UsePredictor"): + for ii in range(self.getOption("NumPredictorStates")): self.equilibriumPathLoadScales[ii] = None self.equilibriumPathStates[ii].zeroEntries() def solve( self, u0: Optional[tacs.TACS.Vec] = None, result: Optional[tacs.TACS.Vec] = None ) -> None: - MAX_LAMBDA = self.getOption("continuationMaxLambda") - TARGET_ITERS = self.getOption("continuationTargetIter") - INIT_STEP = self.getOption("continuationInitialStep") - MIN_STEP = self.getOption("continuationMinStep") - MAX_STEP = self.getOption("continuationMaxStep") - MAX_INCREMENTS = self.getOption("continuationMaxIter") - MIN_STEP_FACTOR = self.getOption("continuationMinStepFactor") - MAX_STEP_FACTOR = self.getOption("continuationMaxStepFactor") - STEP_RETRACT_FACTOR = self.getOption("continuationRetractionFactor") - - ABS_TOL = self.getOption("continuationAbsTol") - REL_TOL = self.getOption("continuationRelTol") - COARSE_ABS_TOL = self.getOption("continuationCoarseAbsTol") - COARSE_REL_TOL = self.getOption("continuationCoarseRelTol") - - USE_PREDICTOR = self.getOption("continuationUsePredictor") + MAX_LAMBDA = self.getOption("MaxLambda") + TARGET_ITERS = self.getOption("TargetIter") + INIT_STEP = self.getOption("InitialStep") + MIN_STEP = self.getOption("MinStep") + MAX_STEP = self.getOption("MaxStep") + MAX_INCREMENTS = self.getOption("MaxIter") + MIN_STEP_FACTOR = self.getOption("MinStepFactor") + MAX_STEP_FACTOR = self.getOption("MaxStepFactor") + STEP_RETRACT_FACTOR = self.getOption("RetractionFactor") + + ABS_TOL = self.getOption("AbsTol") + REL_TOL = self.getOption("RelTol") + COARSE_ABS_TOL = self.getOption("CoarseAbsTol") + COARSE_REL_TOL = self.getOption("CoarseRelTol") + + USE_PREDICTOR = self.getOption("UsePredictor") # PREDICTOR_USE_DERIVATIVE = self.getOption("predictorUseDerivative") self.initializeSolve() @@ -292,7 +275,7 @@ def solve( # optLoadScale = (Fe^T dUi + Fi^T dUe) / (-2 Fe^T dUe) # Where: Fe = external force, Fi = internal force, dUi = inv(K) * Fi, dUe = inv(K) * Fe isRestartIncrement = False - if np.real(self.stateVec.norm()) > 0 and np.real(self.fExt.norm()) > 0.: + if np.real(self.stateVec.norm()) > 0 and np.real(self.fExt.norm()) > 0.0: self.jacFunc() self.pcUpdateFunc() self.linearSolver.solve(self.fExt, self.du_e) @@ -323,7 +306,7 @@ def solve( loadStepDirection = -1 self.setLambdaFunc(optLoadScale) - elif np.real(self.fExt.norm()) == 0.: + elif np.real(self.fExt.norm()) == 0.0: # If the external force is zero then the load scale doesn't mean anything and we can just set it to 1 self.setLambdaFunc(1.0) diff --git a/tacs/solvers/newton.py b/tacs/solvers/newton.py index 67b1e504e..97b212a11 100644 --- a/tacs/solvers/newton.py +++ b/tacs/solvers/newton.py @@ -26,96 +26,96 @@ class NewtonSolver(BaseSolver): defaultOptions = { - "newtonSolverMaxIter": [int, 40, "Maximum number of Newton iterations."], - "newtonSolverForceFirstIter": [ + "MaxIter": [int, 40, "Maximum number of Newton iterations."], + "ForceFirstIter": [ bool, False, "Force the solver to perform the first Newton iteration, even if the convergence criteria are satisfied at the initial point.", ], - "newtonSolverAbsTol": [ + "AbsTol": [ float, 1e-8, "Convergence criteria for the nonlinear residual norm.", ], - "newtonSolverRelTol": [ + "RelTol": [ float, 1e-8, "Relative convergence criteria for the nonlinear residual norm, norm is measured relative to that of the external load vector.", ], - "newtonSolverDivergenceTol": [ + "DivergenceTol": [ float, 1e10, "Residual norm at which the nonlinear solver is jugded to have diverged", ], - "newtonSolverAbsLinTol": [float, 1e-12, "Linear solver residual tolerance."], - "newtonSolverRelLinTol": [ + "AbsLinTol": [float, 1e-12, "Linear solver residual tolerance."], + "RelLinTol": [ float, 1e-12, "Linear solver relative residual tolerance.", ], - "newtonSolverMaxLinIters": [ + "MaxLinIters": [ int, 0, "If the linear solver takes more than this number of iterations to converge, the preconditioner is updated.", ], - "newtonSolverUseEW": [ + "UseEW": [ bool, False, "Flag for enabling use of variable linear solver convergence using the Eisenstat-Walker method.", ], - "newtonSolverEWMaxTol": [ + "EWMaxTol": [ float, 0.01, "Eisenstat-Walker max allowable linear solver tolerance.", ], - "newtonSolverEWGamma": [float, 1.0, "Eisenstat-Walker gamma parameter."], - "newtonSolverEWAlpha": [ + "EWGamma": [float, 1.0, "Eisenstat-Walker gamma parameter."], + "EWAlpha": [ float, 0.5 * (1.0 + np.sqrt(5)), "Eisenstat-Walker alpha parameter.", ], # Line search options - "newtonSolverUseLineSearch": [ + "UseLineSearch": [ bool, True, "Flag for using line search in the nonlinear solver.", ], - "newtonSolverPrintLineSearchIters": [ + "PrintLineSearchIters": [ bool, False, "Flag for printing out line search information.", ], - "newtonSolverSkipFirstNLineSearch": [ + "SkipFirstNLineSearch": [ int, 0, "Skip the first N line searches. Setting this to 1 can improve the convergence speed of Newton solver, but also decreases robustness", ], - "newtonSolverLineSearchMaxIter": [ + "LineSearchMaxIter": [ int, 25, "Maximum number of linesearch iterations.", ], - "newtonSolverLineSearchExpectedDecrease": [ + "LineSearchExpectedDecrease": [ float, 1e-4, "Minimum fraction of the expected decrease in the energy gradient during the linesearch. Should be between 0 and 1. Higher values should improve robustness at the expense of solution time.", ], - "newtonSolverLineSearchMaxStep": [ + "LineSearchMaxStep": [ float, 2.0, "Maximum step size for the linesearch, as a fraction of the Newton step", ], - "newtonSolverLineSearchMinStep": [ + "LineSearchMinStep": [ float, 1e-2, "Minimum step size for the linesearch, as a fraction of the Newton step", ], - "newtonSolverLineSearchMaxStepChange": [ + "LineSearchMaxStepChange": [ float, 0.5, "Maximum change in the step size from one linesearch iteration to the next, can be useful in cases where secant method bounces between upper and lower step bounds.", ], - "newtonSolverLineSearchFallbackStepLimit": [ + "LineSearchFallbackStepLimit": [ float, 0.9, "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", @@ -190,9 +190,9 @@ def setConvergenceTolerance( Relative tolerance, not changed if no value is provided """ if absTol is not None: - self.setOption("newtonSolverAbsTol", absTol) + self.setOption("AbsTol", absTol) if relTol is not None: - self.setOption("newtonSolverRelTol", relTol) + self.setOption("RelTol", relTol) return def solve( @@ -208,23 +208,23 @@ def solve( Vector in which to store the solution, by default None. The problem's state is updated with the solution whether or not this is provided. """ - USE_LINESEARCH = self.getOption("newtonSolverUseLineSearch") - LINESEARCH_SKIP_ITERS = self.getOption("newtonSolverSkipFirstNLineSearch") - MAX_ITERS = self.getOption("newtonSolverMaxIter") - MAX_RES = self.getOption("newtonSolverDivergenceTol") - MAX_LIN_ITERS = self.getOption("newtonSolverMaxLinIters") - FORCE_FIRST_ITER = self.getOption("newtonSolverForceFirstIter") + USE_LINESEARCH = self.getOption("UseLineSearch") + LINESEARCH_SKIP_ITERS = self.getOption("SkipFirstNLineSearch") + MAX_ITERS = self.getOption("MaxIter") + MAX_RES = self.getOption("DivergenceTol") + MAX_LIN_ITERS = self.getOption("MaxLinIters") + FORCE_FIRST_ITER = self.getOption("ForceFirstIter") # Linear solver convergence options - USE_EW = self.getOption("newtonSolverUseEW") - LIN_SOLVE_TOL_MAX = self.getOption("newtonSolverEWMaxTol") - LIN_SOLVE_TOL_MIN = self.getOption("newtonSolverRelLinTol") - EW_ALPHA = self.getOption("newtonSolverEWAlpha") - EW_GAMMA = self.getOption("newtonSolverEWGamma") + USE_EW = self.getOption("UseEW") + LIN_SOLVE_TOL_MAX = self.getOption("EWMaxTol") + LIN_SOLVE_TOL_MIN = self.getOption("RelLinTol") + EW_ALPHA = self.getOption("EWAlpha") + EW_GAMMA = self.getOption("EWGamma") linCovergenceRel = LIN_SOLVE_TOL_MAX if USE_EW else LIN_SOLVE_TOL_MIN - ABS_TOL = self.getOption("newtonSolverAbsTol") - REL_TOL = self.getOption("newtonSolverRelTol") + ABS_TOL = self.getOption("AbsTol") + REL_TOL = self.getOption("RelTol") self.initializeSolve() @@ -303,7 +303,7 @@ def solve( linCovergenceRel, LIN_SOLVE_TOL_MIN, LIN_SOLVE_TOL_MAX ) self.linearSolver.setTolerances( - float(linCovergenceRel), self.getOption("newtonSolverAbsLinTol") + float(linCovergenceRel), self.getOption("AbsLinTol") ) # Compute Newton step @@ -337,15 +337,13 @@ def solve( result.copyValues(self.stateVec) def energyLineSearch(self, u, stepDir, slope=None): - MAX_LINESEARCH_ITERS = self.getOption("newtonSolverLineSearchMaxIter") - LINESEARCH_MU = self.getOption("newtonSolverLineSearchExpectedDecrease") - LINESEARCH_ALPHA_MIN = self.getOption("newtonSolverLineSearchMinStep") - LINESEARCH_ALPHA_MAX = self.getOption("newtonSolverLineSearchMaxStep") - LINESEARCH_MAX_STEP_CHANGE = self.getOption( - "newtonSolverLineSearchMaxStepChange" - ) - FALLBACK_ALPHA = self.getOption("newtonSolverLineSearchFallbackStepLimit") - PRINT_LINESEARCH_ITERS = self.getOption("newtonSolverPrintLineSearchIters") + MAX_LINESEARCH_ITERS = self.getOption("LineSearchMaxIter") + LINESEARCH_MU = self.getOption("LineSearchExpectedDecrease") + LINESEARCH_ALPHA_MIN = self.getOption("LineSearchMinStep") + LINESEARCH_ALPHA_MAX = self.getOption("LineSearchMaxStep") + LINESEARCH_MAX_STEP_CHANGE = self.getOption("LineSearchMaxStepChange") + FALLBACK_ALPHA = self.getOption("LineSearchFallbackStepLimit") + PRINT_LINESEARCH_ITERS = self.getOption("PrintLineSearchIters") if slope is None: slope = 1.0 From a48821f57caa3ef9be9f44e79a5aa74dc164c68f Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 9 Aug 2023 18:25:38 -0400 Subject: [PATCH 135/174] Update cantilever example to use new options system --- examples/nonlinear_cantilever/analysis.py | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index 06ef82048..c269a62dd 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -65,7 +65,6 @@ # ============================================================================== structOptions = { "printtiming": True, - "isNonlinear": True, } FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) @@ -85,17 +84,27 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "printTiming": True, - "newtonSolverSkipFirstNLineSearch": 0, - "newtonSolverCoarseRelTol": 1e-3, - "continuationInitialStep": 0.05, - "continuationUsePredictor": True, - "continuationNumPredictorStates": 7, "writeNLIterSolutions": True, } +newtonOptions = { + "SkipFirstNLineSearch": 1 + } +continuationOptions = { + "CoarseRelTol": 1e-3, + "InitialStep": 0.05, + "UsePredictor": True, + "NumPredictorStates": 7, + } forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) momentProblem = FEAAssembler.createStaticProblem("TipMoment", options=probOptions) problems = [forceProblem, momentProblem] +for problem in problems: + problem.newtonSolver.setOptions(newtonOptions) + problem.nonlinearSolver.setOptions(continuationOptions) + +forceProblem.nonlinearSolver.printModifiedOptions() +forceProblem.newtonSolver.printModifiedOptions() # ============================================================================== # Determine beam dimensions and other properties From 88d8bb0cad9a08eb9ecb9d02c21744332c19c79c Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 9 Aug 2023 21:06:18 -0400 Subject: [PATCH 136/174] Don't create solver history until user has chance to set solver options --- tacs/problems/static.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 6a1022d49..3140b4e07 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -200,8 +200,6 @@ def __init__( ) self.nonlinearSolver.setCallback(self._nonlinearCallback) - self._createSolverHistory() - def _createSolverHistory(self): """Setup the solver history object based on the current options @@ -862,11 +860,14 @@ def _initializeSolve(self): self.updatePreconditioner() if self.isNonlinear: - # Reset the solver history - if self.rank == 0: - self.history.reset(clearMetadata=True) - self.history.addMetadata("Options", self.options) - self.history.addMetadata("Name", self.name) + if self.comm.rank == 0: + # Create the solver history if we don't have one yet, otherwise reset it + if self.history is None: + self._createSolverHistory() + else: + self.history.reset(clearMetadata=True) + self.history.addMetadata("Options", self.options) + self.history.addMetadata("Name", self.name) def solve(self, Fext=None): """ From 215266839a9a68d747065850d28fef120960b30e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 9 Aug 2023 21:06:28 -0400 Subject: [PATCH 137/174] Fix nonlinear integration test --- .../test_shell_hemisphere_nonlinear.py | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index 0dff91e05..07e97e1ba 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -118,23 +118,19 @@ def elemCallBack( FEAAssembler.initialize(elemCallBack) probOptions = { - "continuationInitialStep": 1.0, - "newtonSolverMaxIter": 50, - "newtonSolverUseEW": True, - "newtonSolverForceFirstIter": True, "nRestarts": 3, "subSpaceSize": 20, - "nonlinearSolverMonitorVars": [ - "lambda", - "linsolveriters", - "linsolverres", - "EWTol", - "linesearchstep", - "linesearchiters", - ], "newtonSolverMaxLinIters": 10, } + continuationOptions = {"InitialStep": 1.0} + newtonOptions = { + "MaxIter": 50, + "UseEW": True, + "ForceFirstIter": True, + "MaxLinIters": 10,} problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) + problem.nonlinearSolver.setOptions(continuationOptions) + problem.newtonSolver.setOptions(newtonOptions) # ============================================================================== # Find tip force points @@ -191,3 +187,7 @@ def elemCallBack( problem.addFunction("Compliance", functions.Compliance) return [problem], FEAAssembler + +if __name__ == "__main__": + import unittest + unittest.main() From 26088608c78185ff50a92e633e66a61569dbf09b Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 10 Aug 2023 11:03:22 -0400 Subject: [PATCH 138/174] Documentation improvements --- docs/source/pytacs/base_solver.rst | 9 +++++++ docs/source/pytacs/continuation_solver.rst | 4 +-- docs/source/pytacs/newton_solver.rst | 2 +- docs/source/pytacs/solvers.rst | 3 ++- docs/source/pytacs/static.rst | 2 -- tacs/solvers/base.py | 6 +++-- tacs/solvers/continuation.py | 10 ++++--- tacs/solvers/newton.py | 12 ++++++--- tacs/utilities.py | 31 +++++++++++----------- 9 files changed, 47 insertions(+), 32 deletions(-) create mode 100644 docs/source/pytacs/base_solver.rst diff --git a/docs/source/pytacs/base_solver.rst b/docs/source/pytacs/base_solver.rst new file mode 100644 index 000000000..4fec17afb --- /dev/null +++ b/docs/source/pytacs/base_solver.rst @@ -0,0 +1,9 @@ +BaseSolver +------------------ +.. automodule:: tacs.solvers.base + +API Reference +^^^^^^^^^^^^^ +.. autoclass:: tacs.solvers.BaseSolver + :members: + :inherited-members: diff --git a/docs/source/pytacs/continuation_solver.rst b/docs/source/pytacs/continuation_solver.rst index 2bc352a78..b80273284 100644 --- a/docs/source/pytacs/continuation_solver.rst +++ b/docs/source/pytacs/continuation_solver.rst @@ -1,6 +1,6 @@ ContinuationSolver ------------------ -.. automodule:: tacs.solvers.ContinuationSolver +.. automodule:: tacs.solvers.continuation Options ^^^^^^^ @@ -12,8 +12,6 @@ The following options, their default values and descriptions are listed below: .. program-output:: python -c "from tacs.solvers import ContinuationSolver; ContinuationSolver.printDefaultOptions()" -These methods can also be used to set options for whichever inner solver is being used by the continuation solver (e.g a :doc:`newton_solver`). - API Reference ^^^^^^^^^^^^^ .. autoclass:: tacs.solvers.ContinuationSolver diff --git a/docs/source/pytacs/newton_solver.rst b/docs/source/pytacs/newton_solver.rst index a7808e1e6..4cd99d2d2 100644 --- a/docs/source/pytacs/newton_solver.rst +++ b/docs/source/pytacs/newton_solver.rst @@ -1,6 +1,6 @@ NewtonSolver ------------- -.. automodule:: tacs.solvers.NewtonSolver +.. automodule:: tacs.solvers.newton Options ^^^^^^^ diff --git a/docs/source/pytacs/solvers.rst b/docs/source/pytacs/solvers.rst index 747edd172..626320a30 100644 --- a/docs/source/pytacs/solvers.rst +++ b/docs/source/pytacs/solvers.rst @@ -4,5 +4,6 @@ Solver classes .. toctree:: :maxdepth: 1 - newton_solver + base_solver continuation_solver + newton_solver diff --git a/docs/source/pytacs/static.rst b/docs/source/pytacs/static.rst index 56ac0a648..ec029be4e 100644 --- a/docs/source/pytacs/static.rst +++ b/docs/source/pytacs/static.rst @@ -12,8 +12,6 @@ The following options, their default values and descriptions are listed below: .. program-output:: python -c "from tacs.problems import StaticProblem; StaticProblem.printDefaultOptions()" -When solving a nonlinear static problem, these methods will also accept any of the options from the :doc:`newton_solver` and :doc:`continuation_solver` solvers. - API Reference ^^^^^^^^^^^^^ .. autoclass:: tacs.problems.StaticProblem diff --git a/tacs/solvers/base.py b/tacs/solvers/base.py index 27cf89c31..4cd5b6118 100644 --- a/tacs/solvers/base.py +++ b/tacs/solvers/base.py @@ -2,7 +2,9 @@ ============================================================================== TACS: Base Solver Class ============================================================================== -@Description : Base class for pyTACS nonlinear solvers +This is the base class from which all other TACS solvers are derived. +It is an abstract class, so cannot be used directly. Instead, it defines +the methods that all solvers must implement. """ # ============================================================================== @@ -51,7 +53,7 @@ def __init__( options : dict, optional Dictionary holding solver-specific option parameters (case-insensitive)., by default None comm : mpi4py.MPI.Intracomm, optional - The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + The comm object on which to create the pyTACS object., by default mpi4py.MPI.COMM_WORLD """ self.assembler = assembler self.setStateFunc = setStateFunc diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index 66ac6d6f8..905374694 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -2,8 +2,12 @@ ============================================================================== TACS Nonlinear Continuation Solver ============================================================================== -@Author : Alasdair Christison Gray -@Description : A predictor-corrector force continuation solver for nonlinear TACS problems +This continuation solver uses a predictor-corrector scheme to increment the load scale in nonlinear problems. +Each iteration of the continuation solver consists of three steps: + +#. Predictor computation: If enabled, the solver will use the solutions from previous continuation steps to extrapolate the equilibrium path to the current load scale, which should provide a good initial guess for the inner solver. +#. Corrector computation: The continuation solver calls an inner solver to solve the nonlinear problem at the current load scale. +#. Load scale update: The continuation solver increments the load scale, the size of the step taken is adapted each iteration to try and achieve a target number of inner solver iterations. """ # ============================================================================== @@ -148,7 +152,7 @@ def __init__( options : dict, optional Dictionary holding solver-specific option parameters (case-insensitive)., by default None comm : mpi4py.MPI.Intracomm, optional - The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + The comm object on which to create the pyTACS object., by default mpi4py.MPI.COMM_WORLD """ self.jacFunc = jacFunc diff --git a/tacs/solvers/newton.py b/tacs/solvers/newton.py index 97b212a11..91cf3d393 100644 --- a/tacs/solvers/newton.py +++ b/tacs/solvers/newton.py @@ -2,8 +2,12 @@ ============================================================================== TACS Nonlinear Newton Solver ============================================================================== -@Author : Alasdair Christison Gray -@Description : A Newton solver for nonlinear TACS problems +This is a fairly standard Newton solver with a critical point (or minimum +energy) line search. +The convergence of the linear solution in each iteration can be controlled +adaptively using the Eisenstat-Walker method (specifically variant (b) +described on page 50 of `this paper +`_ by An, Mo and Liu) """ # ============================================================================== @@ -61,7 +65,7 @@ class NewtonSolver(BaseSolver): "UseEW": [ bool, False, - "Flag for enabling use of variable linear solver convergence using the Eisenstat-Walker method.", + "Flag for enabling use of adaptive linear solver convergence using the Eisenstat-Walker method.", ], "EWMaxTol": [ float, @@ -158,7 +162,7 @@ def __init__( options : dict, optional Dictionary holding solver-specific option parameters (case-insensitive)., by default None comm : mpi4py.MPI.Intracomm, optional - The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + The comm object on which to create the pyTACS object., by default mpi4py.MPI.COMM_WORLD """ BaseSolver.__init__( self, diff --git a/tacs/utilities.py b/tacs/utilities.py index b0c087a69..808e940c6 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -29,7 +29,7 @@ def __init__(self, options=None, comm=None) -> None: options : dict, optional Object-specific option parameters (case-insensitive), by default None comm : mpi4py.MPI.Intracomm, optional - The comm object on which to create the pyTACS object., by default MPI.COMM_WORLD + The comm object on which to create the pyTACS object., by default mpi4py.MPI.COMM_WORLD """ # Set the communicator and rank if comm is None: @@ -99,21 +99,6 @@ def setOptions(self, options): for name, value in options.items(): self.setOption(name, value) - def printModifiedOptions(self): - """Prints a nicely formatted table of all the options that have been modified from their defaults - - _extended_summary_ - """ - if self.comm.rank == 0: - print("\n") - self._info("Modified options", box=True) - for opt in self.defaultOptions: - defaultValue = self.defaultOptions[opt][1] - actualValue = self.getOption(opt) - if defaultValue != actualValue: - print(f"{opt}: {actualValue} (default: {defaultValue})") - print("\n", flush=True) - def getOption(self, name): """ Get a solver option value. The name is not case sensitive. @@ -155,6 +140,20 @@ def printOptions(self): # print description self._pp(f"\t {self.options[name][2]}") + def printModifiedOptions(self): + """Prints a nicely formatted table of all the options that have been + modified from their defaults + """ + if self.comm.rank == 0: + print("\n") + self._info("Modified options", box=True) + for opt in self.defaultOptions: + defaultValue = self.defaultOptions[opt][1] + actualValue = self.getOption(opt) + if defaultValue != actualValue: + print(f"{opt}: {actualValue} (default: {defaultValue})") + print("\n", flush=True) + @classmethod def printDefaultOptions(cls): """ From 44471e741d07a249adc592db776e41190f4b9153 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 10 Aug 2023 11:07:11 -0400 Subject: [PATCH 139/174] Rename solver in static problem --- examples/nonlinear_cantilever/analysis.py | 4 ++-- tacs/problems/static.py | 24 +++++++++---------- .../test_shell_hemisphere_nonlinear.py | 2 +- 3 files changed, 15 insertions(+), 15 deletions(-) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index c269a62dd..87273ef8c 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -101,9 +101,9 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg for problem in problems: problem.newtonSolver.setOptions(newtonOptions) - problem.nonlinearSolver.setOptions(continuationOptions) + problem.continuationSolver.setOptions(continuationOptions) -forceProblem.nonlinearSolver.printModifiedOptions() +forceProblem.continuationSolver.printModifiedOptions() forceProblem.newtonSolver.printModifiedOptions() # ============================================================================== diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 3140b4e07..1c5fd5628 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -159,11 +159,11 @@ def __init__( # Problem name self.name = name - # Set linear solver to None, until we set it up later + # Set solvers to None, until we set them up later self.KSM = None self.history = None self.newtonSolver = None - self.nonlinearSolver = None + self.continuationSolver = None # Default setup for common problem class objects, sets up comm and options TACSProblem.__init__( @@ -189,7 +189,7 @@ def __init__( ) # And now create the continuation solver - self.nonlinearSolver = tacs.solvers.ContinuationSolver( + self.continuationSolver = tacs.solvers.ContinuationSolver( jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, linearSolver=self.KSM, @@ -198,7 +198,7 @@ def __init__( innerSolver=self.newtonSolver, comm=self.comm, ) - self.nonlinearSolver.setCallback(self._nonlinearCallback) + self.continuationSolver.setCallback(self._nonlinearCallback) def _createSolverHistory(self): """Setup the solver history object based on the current options @@ -207,7 +207,7 @@ def _createSolverHistory(self): """ monitorVars = [s.lower() for s in self.getOption("nonlinearSolverMonitorVars")] numType = float if self.dtype == np.float64 else complex - if self.nonlinearSolver is not None and self.comm.rank == 0: + if self.continuationSolver is not None and self.comm.rank == 0: history = SolverHistory() # Define the variables to be stored in the history @@ -383,7 +383,7 @@ def _createVariables(self): self._preconditionerUpdateRequired = True # Give new vectors and linear solver to nonlinear solver - for solver in [self.newtonSolver, self.nonlinearSolver]: + for solver in [self.newtonSolver, self.continuationSolver]: if solver is not None: solver.linearSolver = self.KSM solver.stateVec = self.u @@ -414,8 +414,8 @@ def setOption(self, name, value): self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence"), ) - if self.nonlinearSolver is not None: - self.nonlinearSolver.setOption( + if self.continuationSolver is not None: + self.continuationSolver.setOption( "newtonSolverRelLinTol", self.getOption("L2ConvergenceRel") ) @@ -987,10 +987,10 @@ def solveNonlinear(self, Fext=None): def resFunc(res): self.getResidual(res, Fext=Fext) - self.nonlinearSolver.resFunc = resFunc + self.continuationSolver.resFunc = resFunc self.newtonSolver.resFunc = resFunc - self.nonlinearSolver.setRefNorm(self.initNorm) - self.nonlinearSolver.solve() + self.continuationSolver.setRefNorm(self.initNorm) + self.continuationSolver.solve() # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve self._preconditionerUpdateRequired = True @@ -1003,7 +1003,7 @@ def resFunc(res): ) # Finally return a bool indicating whether the solve was successful - return self.nonlinearSolver.hasConverged + return self.continuationSolver.hasConverged def _nonlinearCallback(self, solver, u, res, monitorVars): """Callback function to be called by the nonlinear solver at each iteration diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index 07e97e1ba..5edacf54b 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -129,7 +129,7 @@ def elemCallBack( "ForceFirstIter": True, "MaxLinIters": 10,} problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) - problem.nonlinearSolver.setOptions(continuationOptions) + problem.continuationSolver.setOptions(continuationOptions) problem.newtonSolver.setOptions(newtonOptions) # ============================================================================== From 4405bdbe1e518753ab79ed43b31f926e55a7c57e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 10 Aug 2023 11:16:14 -0400 Subject: [PATCH 140/174] Add section on nonlinear solvers to static problem docs --- docs/source/pytacs/static.rst | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/docs/source/pytacs/static.rst b/docs/source/pytacs/static.rst index ec029be4e..61b569478 100644 --- a/docs/source/pytacs/static.rst +++ b/docs/source/pytacs/static.rst @@ -12,6 +12,13 @@ The following options, their default values and descriptions are listed below: .. program-output:: python -c "from tacs.problems import StaticProblem; StaticProblem.printDefaultOptions()" +Nonlinear solvers +^^^^^^^^^^^^^^^^^ +When you create an assembler using a nonlinear element type or constitutive model, any static problems you create will automatically setup a nonlinear solver. +A continuation solver is used to control an adaptive load incrementation process, and a Newton solver is used to solve the nonlinear system of equations at each load increment. +The options for these solvers should be set directly to ``problem.continuationSolver`` and ``problem.newtonSolver``. +See :class:`~tacs.solvers.ContinuationSolver` and :class:`~tacs.solvers.NewtonSolver` for more information. + API Reference ^^^^^^^^^^^^^ .. autoclass:: tacs.problems.StaticProblem From d344ace6d3e5dab4735d57dc9f9424f87cc2f94a Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 16 Aug 2023 16:04:18 -0400 Subject: [PATCH 141/174] Add validation data to nonlinear cantilever example --- examples/nonlinear_cantilever/README.md | 21 ++++ .../TipForceReferenceResults.py | 53 ++++++++ .../nonlinear_cantilever/ValidationPlots.py | 78 ++++++++++++ examples/nonlinear_cantilever/analysis.py | 117 +++++++++--------- .../analytic_displacement.py | 12 +- .../benchmark/benchmark_analysis.py | 45 ------- 6 files changed, 218 insertions(+), 108 deletions(-) create mode 100644 examples/nonlinear_cantilever/README.md create mode 100755 examples/nonlinear_cantilever/TipForceReferenceResults.py create mode 100644 examples/nonlinear_cantilever/ValidationPlots.py delete mode 100644 examples/nonlinear_cantilever/benchmark/benchmark_analysis.py diff --git a/examples/nonlinear_cantilever/README.md b/examples/nonlinear_cantilever/README.md new file mode 100644 index 000000000..0047d7ae2 --- /dev/null +++ b/examples/nonlinear_cantilever/README.md @@ -0,0 +1,21 @@ +# Nonlinear cantilever beam example + +This example runs an analysis of a cantilever beam modeled with shell elements subject to a vertical tip force. +The problem is taken from section 3.1 of ["Popular benchmark problems for geometric nonlinear analysis of shells" by Sze et al](https://doi.org/10.1016/j.finel.2003.11.001). + +The code in this directory can be used to run analyses using the different linear and nonlinear shell formulations available in TACS and then to generate plots comparing TACS with both Abaqus and analytic results. + +## How to run + +### Run analyses + +```bash +python analysis.py --strainType nonlinear --rotationType linear +python analysis.py --strainType nonlinear --rotationType quadratic +``` + +### Generate validation plot + +```bash +python ValidationPlots.py +``` diff --git a/examples/nonlinear_cantilever/TipForceReferenceResults.py b/examples/nonlinear_cantilever/TipForceReferenceResults.py new file mode 100755 index 000000000..00597b12e --- /dev/null +++ b/examples/nonlinear_cantilever/TipForceReferenceResults.py @@ -0,0 +1,53 @@ +import numpy as np + +AlphaS4R = 4.0 * np.arange(0.05, 1.05, 0.05) + +UtipS4R = np.array( + [ + 0.026, + 0.103, + 0.224, + 0.381, + 0.563, + 0.763, + 0.971, + 1.184, + 1.396, + 1.604, + 1.807, + 2.002, + 2.190, + 2.370, + 2.541, + 2.705, + 2.861, + 3.010, + 3.151, + 3.286, + ] +) + +WtipS4R = np.array( + [ + 0.663, + 1.309, + 1.922, + 2.493, + 3.015, + 3.488, + 3.912, + 4.292, + 4.631, + 4.933, + 5.202, + 5.444, + 5.660, + 5.855, + 6.031, + 6.190, + 6.335, + 6.467, + 6.588, + 6.698, + ] +) diff --git a/examples/nonlinear_cantilever/ValidationPlots.py b/examples/nonlinear_cantilever/ValidationPlots.py new file mode 100644 index 000000000..233eff647 --- /dev/null +++ b/examples/nonlinear_cantilever/ValidationPlots.py @@ -0,0 +1,78 @@ +""" +============================================================================== +Nonlinear cantilever under tip force - Validation plots +============================================================================== +@File : ValidationPlots.py +@Date : 2023/06/08 +@Author : Alasdair Christison Gray +@Description : +""" + +# ============================================================================== +# Standard Python modules +# ============================================================================== +import pickle + +# ============================================================================== +# External Python modules +# ============================================================================== +import numpy as np +# import niceplots +import matplotlib.pyplot as plt + +# ============================================================================== +# Extension modules +# ============================================================================== +from analytic_displacement import analyticCantileverDisplacement +from TipForceReferenceResults import AlphaS4R, WtipS4R + +LENGTH = 10.0 + +# plt.style.use(niceplots.get_style()) +# colours = niceplots.get_colors() + +alphaTest = np.arange(0.05, 1.01, 0.05) * 4 +alphaPlot = np.linspace(0.0, 1.0, 101) * 4 + +thetaTip, XDispNorm, ZDispNorm = analyticCantileverDisplacement(alphaPlot) + +# ============================================================================== +# Z displacement plot +# ============================================================================== + +fig, ax = plt.subplots(figsize=(9, 5), layout="constrained") + +ax.plot(alphaPlot, ZDispNorm, label="Analytic", clip_on=False, c="gray", lw=4) +ax.plot( + AlphaS4R, WtipS4R / LENGTH, "o", label="Abaqus S4R", clip_on=False, markersize=10 +) + +for strainType in ["nonlinear"]: # "linear" + for rotationType in ["linear", "quadratic"]: + try: + with open(f"TACS-Disps-{strainType}_{rotationType}.pkl", "rb") as f: + TACSDisps = pickle.load(f) + ax.plot( + TACSDisps["tipForce"] * 4, + TACSDisps["zDisp"] / LENGTH, + "o", + label=f"TACS, {strainType} strain, {rotationType} rotation", + clip_on=False, + markersize=10, + ) + except FileNotFoundError: + pass + +ax.set_xlabel(r"$\frac{F_{tip}L^2}{EI}$", fontsize=24) +ax.set_ylabel( + r"$\frac{\Delta Z_{tip}}{L}$", rotation="horizontal", ha="right", fontsize=24 +) +ax.set_xticks(np.arange(0, 5, 1)) +ax.set_xticklabels([str(int(s)) for s in np.arange(0, 5, 1)]) + +ax.set_yticks(np.arange(0, 0.7, 0.1)) +ax.set_yticklabels([f"{str(int(s*100))} %" for s in np.arange(0, 0.7, 0.1)]) +ax.legend(labelcolor="linecolor") + +plt.savefig("TipForceZDispValidation.png", bbox_inches="tight") +plt.show() diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index 87273ef8c..df23088f3 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -5,41 +5,59 @@ @File : analysis.py @Date : 2023/01/24 @Author : Alasdair Christison Gray -@Description : +@Description : This code runs an analysis of a cantilever beam modeled with +shell elements subject to a vertical tip force. The problem is taken from +section 3.1 of "Popular benchmark problems for geometric nonlinear analysis of +shells" by Sze et al (https://doi.org/10.1016/j.finel.2003.11.001). """ # ============================================================================== # Standard Python modules # ============================================================================== import os +import pickle +import argparse # ============================================================================== # External Python modules # ============================================================================== import numpy as np from mpi4py import MPI -from pprint import pprint # ============================================================================== # Extension modules # ============================================================================== -from tacs import pyTACS, constitutive, elements, functions +from tacs import pyTACS, constitutive, elements +# ============================================================================== +# Parse command line arguments +# ============================================================================== +parser = argparse.ArgumentParser() +parser.add_argument( + "--strainType", type=str, default="nonlinear", choices=["linear", "nonlinear"] +) +parser.add_argument( + "--rotationType", + type=str, + default="quadratic", + choices=["linear", "quadratic", "quaternion"], +) +args = parser.parse_args() # ============================================================================== # Constants # ============================================================================== COMM = MPI.COMM_WORLD -BDF_FILE = os.path.join(os.path.dirname(__file__), "Beam.bdf") +PWD = os.path.dirname(__file__) +BDF_FILE = os.path.join(PWD, "Beam.bdf") E = 1.2e6 # Young's modulus NU = 0.0 # Poisson's ratio RHO = 1.0 # density YIELD_STRESS = 1.0 # yield stress THICKNESS = 0.1 # Shell thickness -FORCE_MULTIPLIER = 1.0 # Multiplier applied to the baseline force of EI/L^2 -MOMENT_MULTIPLIER = 0.1 # Multiplier applied to the baseline moment of 2pi * EI/L (which results in a full rotation) -STRAIN_TYPE = "nonlinear" -ROTATION_TYPE = "quadratic" +FORCE_MULTIPLIER = 4.0 # Multiplier applied to the baseline force of EI/L^2 +STRAIN_TYPE = args.strainType +ROTATION_TYPE = args.rotationType elementType = None if STRAIN_TYPE == "linear": @@ -84,30 +102,23 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "printTiming": True, - "writeNLIterSolutions": True, } -newtonOptions = { - "SkipFirstNLineSearch": 1 - } +newtonOptions = {"useEW": True, "MaxLinIters": 10} continuationOptions = { "CoarseRelTol": 1e-3, - "InitialStep": 0.05, + "InitialStep": 0.2, "UsePredictor": True, "NumPredictorStates": 7, - } +} forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) -momentProblem = FEAAssembler.createStaticProblem("TipMoment", options=probOptions) -problems = [forceProblem, momentProblem] - -for problem in problems: - problem.newtonSolver.setOptions(newtonOptions) - problem.continuationSolver.setOptions(continuationOptions) - -forceProblem.continuationSolver.printModifiedOptions() -forceProblem.newtonSolver.printModifiedOptions() +try: + forceProblem.newtonSolver.setOptions(newtonOptions) + forceProblem.continuationSolver.setOptions(continuationOptions) +except AttributeError: + pass # ============================================================================== -# Determine beam dimensions and other properties +# Determine beam dimensions and other properties based on node coordinates # ============================================================================== bdfInfo = FEAAssembler.getBDFInfo() # cross-reference bdf object to use some of pynastrans advanced features @@ -115,13 +126,12 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg nodeCoords = bdfInfo.get_xyz_in_coord() beamLength = np.max(nodeCoords[:, 0]) - np.min(nodeCoords[:, 0]) beamWidth = np.max(nodeCoords[:, 1]) - np.min(nodeCoords[:, 1]) -I = beamWidth * THICKNESS**3 / 12.0 +Izz = beamWidth * THICKNESS**3 / 12.0 # ============================================================================== # Add tip loads for each case # ============================================================================== -tipForce = FORCE_MULTIPLIER * E * I / beamLength**2 -tipMoment = MOMENT_MULTIPLIER * -2 * np.pi * E * I / beamLength +tipForce = FORCE_MULTIPLIER * E * Izz / beamLength**2 # In order to work for different mesh sizes, we need to find the tip node IDs # ourselves, we do this by finding the indices of the nodes whose x coordinate @@ -134,41 +144,32 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg forceProblem.addLoadToNodes( tipNodeIDs, [0, 0, tipForce / numTipNodes, 0, 0, 0], nastranOrdering=True ) -momentProblem.addLoadToNodes( - tipNodeIDs, [0, 0, 0, 0, tipMoment / numTipNodes, 0], nastranOrdering=True -) # ============================================================================== -# Add functions for each problem +# Run analysis with load scales in 5% increments from 5% to 100% # ============================================================================== +forceFactor = np.arange(0.05, 1.01, 0.05) +ForceVec = np.copy(forceProblem.F_array) -for problem in problems: - # KS approximation of the maximum failure value - problem.addFunction( - "KSFailure", functions.KSFailure, ksWeight=80.0, ftype="discrete" - ) +results = {"zDisp": [0.0], "xDisp": [0.0], "yRot": [0.0], "tipForce": [0.0]} - # Maximum displacement in the z-direction (KS with a very large weight to get a true max) - problem.addFunction( - "MaxZDisp", - functions.KSDisplacement, - direction=np.array([0.0, 0.0, 1.0]), - ksWeight=1e20, - ftype="discrete", - ) - # Compliance - problem.addFunction("Compliance", functions.Compliance) +for scale in forceFactor: + Fext = (scale - 1.0) * ForceVec + forceProblem.solve(Fext=Fext) -# ============================================================================== -# Solve all problems and evaluate functions -# ============================================================================== -funcs = {} -funcsSens = {} -for problem in problems: - problem.solve() - problem.evalFunctions(funcs) - problem.evalFunctionsSens(funcsSens) - problem.writeSolution(outputDir=os.path.dirname(__file__)) + fileName = f"{STRAIN_TYPE}_{ROTATION_TYPE}" + forceProblem.writeSolution(outputDir=PWD, baseName=fileName) + disps = forceProblem.u_array + xDisps = disps[0::6] + zDisps = disps[2::6] + yRot = disps[4::6] + results["tipForce"].append(scale) + results["xDisp"].append(xDisps[-1]) + results["zDisp"].append(zDisps[-1]) + results["yRot"].append(yRot[-1]) + +for key in results: + results[key] = np.array(results[key]) -if COMM.rank == 0: - pprint(funcs) +with open(os.path.join(PWD, f"TACS-Disps-{fileName}.pkl"), "wb") as f: + pickle.dump(results, f) diff --git a/examples/nonlinear_cantilever/analytic_displacement.py b/examples/nonlinear_cantilever/analytic_displacement.py index 4bf4e0cf5..211a48a2e 100644 --- a/examples/nonlinear_cantilever/analytic_displacement.py +++ b/examples/nonlinear_cantilever/analytic_displacement.py @@ -1,8 +1,5 @@ """ -============================================================================== - -============================================================================== -@Description : Functions for computing the geometrically exact tip displacement +Functions for computing the geometrically exact tip displacement of a cantilever beam with an applied tip force """ @@ -13,6 +10,9 @@ # ============================================================================== # External Python modules # ============================================================================== +import numpy as np +from scipy.optimize import root_scalar +from scipy.special import ellipe, ellipeinc, ellipk, ellipkinc # ============================================================================== # Extension modules @@ -29,7 +29,9 @@ def analyticCantileverDisplacement(alpha): for a in range(len(alpha)): if alpha[a] != 0.0: # Use the linear cantilever tip rotation as a good starting guess for the nonlinear rotation - ResidualFun = lambda theta: tipRotationResidual(theta, alpha[a]) + def ResidualFun(theta): + return tipRotationResidual(theta, alpha[a]) + sol = root_scalar( ResidualFun, x0=1e-4, diff --git a/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py b/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py deleted file mode 100644 index 010f736c0..000000000 --- a/examples/nonlinear_cantilever/benchmark/benchmark_analysis.py +++ /dev/null @@ -1,45 +0,0 @@ -""" -This script is used to regression test the example against historical values. -""" - -import numpy as np -import unittest -import sys -import os - -# Set the path to the example script we're testing -example_path = os.path.join(os.path.dirname(__file__), "..") -sys.path.append(example_path) - -# Reference values for eval functions -FUNC_REF = { - "TipForce_Compliance": 3.330278124467099, - "TipForce_KSFailure": 0.05892862309836616, - "TipForce_MaxZDisp": 3.264365445199943, - "TipMoment_Compliance": 3.947841759347387, - "TipMoment_KSFailure": 0.05893147298160939, - "TipMoment_MaxZDisp": 3.0611989186632727, -} - - -class ExampleBenchmark(unittest.TestCase): - N_PROCS = 1 # this is how many MPI processes to use for this TestCase. - - def setUp(self): - # Import the example to automatically run the script - import analysis - - self.example = analysis - - def benchmark_funcs(self): - """ - Test the example eval functions against reference values - """ - func_dict = self.example.funcs - - # Test functions values against historical values - for func_name in func_dict: - with self.subTest(function=func_name): - np.testing.assert_allclose( - func_dict[func_name], FUNC_REF[func_name], rtol=1e-6, atol=1e-6 - ) From d066c091e180bdbf525a38756226e8a0174b0e08 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 1 Sep 2023 18:33:28 -0400 Subject: [PATCH 142/174] Fix local node ID conversion in `getLocalNodeIDsForComps` --- tacs/pymeshloader.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/tacs/pymeshloader.py b/tacs/pymeshloader.py index 02ee353ca..41388eb7f 100644 --- a/tacs/pymeshloader.py +++ b/tacs/pymeshloader.py @@ -552,11 +552,7 @@ def getLocalNodeIDsForComps(self, componentIDs): componentIDs, nastranOrdering=False ) - # convert global nodeIDs to local numbering on this processor if requested - rank = self.comm.rank - ownerRange = self.assembler.getOwnerRange() - allNodesOnProc = list(range(ownerRange[rank], ownerRange[rank + 1])) - nodes = [i for i, v in enumerate(allNodesOnProc) if v in globalNodeIDs] + nodes = self.getLocalNodeIDsFromGlobal(globalNodeIDs, nastranOrdering=False) return nodes From 3b6d135acce39bc4f9910e56904e96c0148f17b3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 8 Sep 2023 09:33:19 -0400 Subject: [PATCH 143/174] Add `linearityTol` option to pyTACS --- tacs/pytacs.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/tacs/pytacs.py b/tacs/pytacs.py index daeb30747..2ddfd8889 100755 --- a/tacs/pytacs.py +++ b/tacs/pytacs.py @@ -151,6 +151,11 @@ class pyTACS(BaseUI): False, "Flag for printing out timing information for class procedures.", ], + "linearityTol": [ + float, + 1e-14, + "When created, pyTACS will check if the model is linear or nonlinear by checking whether (res(2*u) - res(0)) - 2 * (res(u) - res(0)) == 0 this tolerance controls how close to zero the residual must be to be considered linear.", + ], } def __init__(self, fileName, comm=None, dvNum=0, scaleList=None, options=None): @@ -813,7 +818,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, def _checkNonlinearity(self) -> bool: """Check if the finite element model is nonlinear - This check works by checking whether the residual is nonlinear w.r.t the states using 2 residual evaluations. + This check works by checking whether the residual is nonlinear w.r.t the states using 3 residual evaluations. Returns ------- @@ -851,7 +856,7 @@ def _checkNonlinearity(self) -> bool: # Check if (res2-res0) - 2 * (res1 - res0) is zero (or very close to it) resNorm = np.real(res1.norm()) res2.axpy(-2.0, res1) - return (np.real(res2.norm()) / resNorm) > 1e-14 + return (np.real(res2.norm()) / resNorm) > self.getOption("linearityTol") def _elemCallBackFromBDF(self): """ From 4dcc2ec426c1c3a62b98545a9ab2b84c2472b493 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 8 Sep 2023 09:47:11 -0400 Subject: [PATCH 144/174] Rename benchmarks --- .../benchmark/{benchmark_analysis.py => benchmark_annulus.py} | 0 .../benchmark/{benchmark_analysis.py => benchmark_hemisphere.py} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename examples/nonlinear_annulus/benchmark/{benchmark_analysis.py => benchmark_annulus.py} (100%) rename examples/nonlinear_hemisphere/benchmark/{benchmark_analysis.py => benchmark_hemisphere.py} (100%) diff --git a/examples/nonlinear_annulus/benchmark/benchmark_analysis.py b/examples/nonlinear_annulus/benchmark/benchmark_annulus.py similarity index 100% rename from examples/nonlinear_annulus/benchmark/benchmark_analysis.py rename to examples/nonlinear_annulus/benchmark/benchmark_annulus.py diff --git a/examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py b/examples/nonlinear_hemisphere/benchmark/benchmark_hemisphere.py similarity index 100% rename from examples/nonlinear_hemisphere/benchmark/benchmark_analysis.py rename to examples/nonlinear_hemisphere/benchmark/benchmark_hemisphere.py From 692fe88e945385709cef6e28ffcf74d2dcfb0a04 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 8 Sep 2023 09:47:24 -0400 Subject: [PATCH 145/174] `black .` --- tacs/pymeshloader.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tacs/pymeshloader.py b/tacs/pymeshloader.py index 7646e4af6..77ddbf26f 100644 --- a/tacs/pymeshloader.py +++ b/tacs/pymeshloader.py @@ -553,7 +553,9 @@ def getLocalNodeIDsForComps(self, componentIDs): ) # get the corresponding local IDs on each proc - localNodeIDs = self.getLocalNodeIDsFromGlobal(globalNodeIDs, nastranOrdering=False) + localNodeIDs = self.getLocalNodeIDsFromGlobal( + globalNodeIDs, nastranOrdering=False + ) # If the returned index is > 0 then it is owned by this proc, otherwise remove it localNodeIDs = [localID for localID in localNodeIDs if localID >= 0] From e6382e632c98e42e128c739b1c47839652bdf92a Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 4 Oct 2023 19:50:51 -0400 Subject: [PATCH 146/174] Make final section of `solve` consistent for linear and nonlinear staticProblems --- tacs/problems/static.py | 71 +++++++++++++++-------------------------- 1 file changed, 26 insertions(+), 45 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 1c5fd5628..574e0a545 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -898,6 +898,7 @@ def solve(self, Fext=None): if self.isNonlinear: hasConverged = self.solveNonlinear(Fext) + solveTime = time.time() else: # Get current residual self.getResidual(self.res, Fext=Fext) @@ -912,8 +913,6 @@ def solve(self, Fext=None): # Starting Norm for this computation self.startNorm = np.real(self.res.norm()) - initNormTime = time.time() - # Solve Linear System for the update hasConverged = self._solveLinear(self.res, self.update) @@ -926,51 +925,33 @@ def solve(self, Fext=None): self.u.axpy(1.0, self.update) self.assembler.setVariables(self.u) - stateUpdateTime = time.time() - - # Get updated residual - self.getResidual(self.res, Fext) - self.finalNorm = np.real(self.res.norm()) + # Get updated residual + self.getResidual(self.res, Fext) + self.finalNorm = np.real(self.res.norm()) - finalNormTime = time.time() + finalNormTime = time.time() - # If timing was was requested print it, if the solution is nonlinear - # print this information automatically if prinititerations was requested. - if self.getOption("printTiming"): - self._pp("+--------------------------------------------------+") - self._pp("|") - self._pp("| TACS Solve Times:") - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Setup Time", setupProblemTime - startTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Solve Init Time", initSolveTime - setupProblemTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Init Norm Time", initNormTime - initSolveTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Solve Time", solveTime - initNormTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS State Update Time", stateUpdateTime - solveTime) - ) - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Final Norm Time", finalNormTime - stateUpdateTime) - ) - self._pp("|") - self._pp( - "| %-30s: %10.3f sec" - % ("TACS Total Solution Time", finalNormTime - startTime) - ) - self._pp("+--------------------------------------------------+") + # If timing was was requested print it, if the solution is nonlinear + # print this information automatically if prinititerations was requested. + if self.getOption("printTiming"): + self._pp("+--------------------------------------------------+") + self._pp("|") + self._pp("| TACS Solve Times:") + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Solve Init Time", initSolveTime - startTime) + ) + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Solve Time", solveTime - initSolveTime) + ) + self._pp("|") + self._pp( + "| %-30s: %10.3f sec" + % ("TACS Total Solution Time", finalNormTime - startTime) + ) + self._pp("+--------------------------------------------------+") return hasConverged From 2b6a396fc60ea93f257df68008ae65370636b152 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 4 Oct 2023 19:51:43 -0400 Subject: [PATCH 147/174] Rename `solveNonlinear` to `_solveNonlinearProblem` --- tacs/problems/static.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 574e0a545..1eb54ae5b 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -897,7 +897,7 @@ def solve(self, Fext=None): initSolveTime = time.time() if self.isNonlinear: - hasConverged = self.solveNonlinear(Fext) + hasConverged = self._solveNonlinearProblem(Fext) solveTime = time.time() else: # Get current residual @@ -955,7 +955,7 @@ def solve(self, Fext=None): return hasConverged - def solveNonlinear(self, Fext=None): + def _solveNonlinearProblem(self, Fext=None): # Compute the internal and external force components of the residual at the current point self.getForces( externalForceVec=self.externalForce, From 6ff93f01af18d7143551ec4597e0003f887939d3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 4 Oct 2023 19:59:47 -0400 Subject: [PATCH 148/174] Add `_solveLinearProblem` method --- tacs/problems/static.py | 84 +++++++++++++++++++++++++++-------------- 1 file changed, 56 insertions(+), 28 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 1eb54ae5b..8b7420eb5 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -876,11 +876,9 @@ def solve(self, Fext=None): Parameters ---------- - Optional Arguments: - - Fext : numpy.ndarray or tacs.TACS.Vec + Fext : numpy.ndarray or tacs.TACS.Vec, optional Distributed array containing additional loads (ex. aerodynamic forces for aerostructural coupling) - to applied to RHS of the static problem. + to applied to RHS of the static problem, by default None """ startTime = time.time() @@ -898,32 +896,10 @@ def solve(self, Fext=None): if self.isNonlinear: hasConverged = self._solveNonlinearProblem(Fext) - solveTime = time.time() else: - # Get current residual - self.getResidual(self.res, Fext=Fext) - - # Get rhs vector - self.K.mult(self.u, self.rhs) - self.rhs.axpy(-1.0, self.res) - - # Set initnorm as the norm of rhs - self.initNorm = np.real(self.rhs.norm()) - - # Starting Norm for this computation - self.startNorm = np.real(self.res.norm()) + hasConverged = self._solveLinearProblem(Fext) - # Solve Linear System for the update - hasConverged = self._solveLinear(self.res, self.update) - - self.update.scale(-1.0) - - solveTime = time.time() - - # Update State Variables - self.assembler.getVariables(self.u) - self.u.axpy(1.0, self.update) - self.assembler.setVariables(self.u) + solveTime = time.time() # Get updated residual self.getResidual(self.res, Fext) @@ -955,7 +931,59 @@ def solve(self, Fext=None): return hasConverged + def _solveLinearProblem(self, Fext=None): + """Solve a linear StaticProblem for a given external force vector + + Parameters + ---------- + Fext : numpy.ndarray or tacs.TACS.Vec, optional + Distributed array containing additional loads (ex. aerodynamic forces for aerostructural coupling) + to applied to RHS of the static problem, by default None + + Returns + ------- + bool + Flag indicating whether the solver converged + """ + # Get current residual + self.getResidual(self.res, Fext=Fext) + + # Get rhs vector + self.K.mult(self.u, self.rhs) + self.rhs.axpy(-1.0, self.res) + + # Set initnorm as the norm of rhs + self.initNorm = np.real(self.rhs.norm()) + + # Starting Norm for this computation + self.startNorm = np.real(self.res.norm()) + + # Solve Linear System for the update + hasConverged = self._solveLinear(self.res, self.update) + + self.update.scale(-1.0) + + # Update State Variables + self.assembler.getVariables(self.u) + self.u.axpy(1.0, self.update) + self.assembler.setVariables(self.u) + + return hasConverged + def _solveNonlinearProblem(self, Fext=None): + """Solve a nonlinear StaticProblem for a given external force vector + + Parameters + ---------- + Fext : numpy.ndarray or tacs.TACS.Vec, optional + Distributed array containing additional loads (ex. aerodynamic forces for aerostructural coupling) + to applied to RHS of the static problem, by default None + + Returns + ------- + bool + Flag indicating whether the solver converged + """ # Compute the internal and external force components of the residual at the current point self.getForces( externalForceVec=self.externalForce, From 0abab319a556020db5ea03a5737337f0017232fb Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Wed, 4 Oct 2023 20:00:24 -0400 Subject: [PATCH 149/174] Rename `res` to `rhs` in `_solveLinear` --- tacs/problems/static.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 8b7420eb5..ad756cb5d 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1048,12 +1048,12 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): baseName=f"{self.name}-{self.callCounter:03d}-NLIter", number=iteration ) - def _solveLinear(self, res, sol): - """Solve the linear system J * sol = res using the current Jacobian matrix + def _solveLinear(self, rhs, sol): + """Solve the linear system J * sol = rhs using the current Jacobian matrix Parameters ---------- - res : tacs.TACS.Vec + rhs : tacs.TACS.Vec Right hand side of the linear system sol : tacs.TACS.Vec Vector to store the solution in @@ -1063,7 +1063,7 @@ def _solveLinear(self, res, sol): bool Whether the linear solve converged """ - success = self.KSM.solve(res, sol) + success = self.KSM.solve(rhs, sol) success = success == 1 if not success: From 53eb0a47ce2b264ba658b815e72753f408a895cf Mon Sep 17 00:00:00 2001 From: Tim Brooks <41971846+timryanb@users.noreply.github.com> Date: Thu, 5 Oct 2023 09:19:15 -0400 Subject: [PATCH 150/174] Fixing typo in yield strain --- examples/nonlinear_annulus/analysis.py | 2 +- examples/nonlinear_cantilever/analysis.py | 2 +- examples/nonlinear_hemisphere/analysis.py | 2 +- examples/nonlinear_skin_buckle/analysis.py | 2 +- tests/integration_tests/test_shell_hemisphere_nonlinear.py | 7 +++++-- 5 files changed, 9 insertions(+), 6 deletions(-) diff --git a/examples/nonlinear_annulus/analysis.py b/examples/nonlinear_annulus/analysis.py index bc2cd83f6..b31b8e72b 100644 --- a/examples/nonlinear_annulus/analysis.py +++ b/examples/nonlinear_annulus/analysis.py @@ -74,7 +74,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): - matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, ys=YIELD_STRESS) con = constitutive.IsoShellConstitutive( matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS ) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index df23088f3..707f1b3e7 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -88,7 +88,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): - matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, ys=YIELD_STRESS) con = constitutive.IsoShellConstitutive( matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS ) diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py index cdc761940..d2af7cddd 100644 --- a/examples/nonlinear_hemisphere/analysis.py +++ b/examples/nonlinear_hemisphere/analysis.py @@ -73,7 +73,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): - matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, ys=YIELD_STRESS) con = constitutive.IsoShellConstitutive( matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS ) diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index 3af474b2b..48cd28a64 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -74,7 +74,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs): - matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, YS=YIELD_STRESS) + matProps = constitutive.MaterialProperties(rho=RHO, E=E, nu=NU, ys=YIELD_STRESS) con = constitutive.IsoShellConstitutive( matProps, t=THICKNESS, tNum=dvNum, tlb=1e-2 * THICKNESS, tub=1e2 * THICKNESS ) diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index 5edacf54b..890d857f1 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -101,7 +101,7 @@ def elemCallBack( dvNum, compID, compDescript, elemDescripts, specialDVs, **kwargs ): matProps = constitutive.MaterialProperties( - rho=RHO, E=E, nu=NU, YS=YIELD_STRESS + rho=RHO, E=E, nu=NU, ys=YIELD_STRESS ) con = constitutive.IsoShellConstitutive( matProps, @@ -127,7 +127,8 @@ def elemCallBack( "MaxIter": 50, "UseEW": True, "ForceFirstIter": True, - "MaxLinIters": 10,} + "MaxLinIters": 10, + } problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) problem.continuationSolver.setOptions(continuationOptions) problem.newtonSolver.setOptions(newtonOptions) @@ -188,6 +189,8 @@ def elemCallBack( return [problem], FEAAssembler + if __name__ == "__main__": import unittest + unittest.main() From 0a6d3ee5a4cc1d955f3be08dcfa0bdc5d90d5d34 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 5 Oct 2023 09:53:30 -0400 Subject: [PATCH 151/174] update nonlinear solver name in examples and test --- examples/nonlinear_cantilever/analysis.py | 2 +- tests/integration_tests/test_shell_hemisphere_nonlinear.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index df23088f3..482eec6ce 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -113,7 +113,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) try: forceProblem.newtonSolver.setOptions(newtonOptions) - forceProblem.continuationSolver.setOptions(continuationOptions) + forceProblem.nonlinearSolver.setOptions(continuationOptions) except AttributeError: pass diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index 5edacf54b..07e97e1ba 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -129,7 +129,7 @@ def elemCallBack( "ForceFirstIter": True, "MaxLinIters": 10,} problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) - problem.continuationSolver.setOptions(continuationOptions) + problem.nonlinearSolver.setOptions(continuationOptions) problem.newtonSolver.setOptions(newtonOptions) # ============================================================================== From 5255c5c7e9b000f023af704e2278c36759107ffd Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 5 Oct 2023 09:58:43 -0400 Subject: [PATCH 152/174] Fix reference failure function value --- tests/integration_tests/test_shell_hemisphere_nonlinear.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index 6d5e5cf93..4d97fc9dc 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -39,7 +39,7 @@ class ProblemTest(PyTACSTestCase.PyTACSTest): FUNC_REFS = { "RadialForces_Compliance": 121.37975434927841, - "RadialForces_KSFailure": 0.09375588756570011, + "RadialForces_KSFailure": 312113.1779703602, "RadialForces_MaxYDisp": 0.23012106687058378, "RadialForces_MaxZDisp": 2.3202346529634763, } From a79a0b16e3c005ce75201a5577c83be5abecab5c Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Thu, 5 Oct 2023 10:00:05 -0400 Subject: [PATCH 153/174] Rename nonlinear solver in static problem --- tacs/problems/static.py | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index ad756cb5d..29c54714d 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -163,7 +163,7 @@ def __init__( self.KSM = None self.history = None self.newtonSolver = None - self.continuationSolver = None + self.nonlinearSolver = None # Default setup for common problem class objects, sets up comm and options TACSProblem.__init__( @@ -189,7 +189,7 @@ def __init__( ) # And now create the continuation solver - self.continuationSolver = tacs.solvers.ContinuationSolver( + self.nonlinearSolver = tacs.solvers.ContinuationSolver( jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, linearSolver=self.KSM, @@ -198,7 +198,7 @@ def __init__( innerSolver=self.newtonSolver, comm=self.comm, ) - self.continuationSolver.setCallback(self._nonlinearCallback) + self.nonlinearSolver.setCallback(self._nonlinearCallback) def _createSolverHistory(self): """Setup the solver history object based on the current options @@ -207,7 +207,7 @@ def _createSolverHistory(self): """ monitorVars = [s.lower() for s in self.getOption("nonlinearSolverMonitorVars")] numType = float if self.dtype == np.float64 else complex - if self.continuationSolver is not None and self.comm.rank == 0: + if self.nonlinearSolver is not None and self.comm.rank == 0: history = SolverHistory() # Define the variables to be stored in the history @@ -383,7 +383,7 @@ def _createVariables(self): self._preconditionerUpdateRequired = True # Give new vectors and linear solver to nonlinear solver - for solver in [self.newtonSolver, self.continuationSolver]: + for solver in [self.newtonSolver, self.nonlinearSolver]: if solver is not None: solver.linearSolver = self.KSM solver.stateVec = self.u @@ -414,8 +414,8 @@ def setOption(self, name, value): self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence"), ) - if self.continuationSolver is not None: - self.continuationSolver.setOption( + if self.nonlinearSolver is not None: + self.nonlinearSolver.setOption( "newtonSolverRelLinTol", self.getOption("L2ConvergenceRel") ) @@ -996,10 +996,10 @@ def _solveNonlinearProblem(self, Fext=None): def resFunc(res): self.getResidual(res, Fext=Fext) - self.continuationSolver.resFunc = resFunc + self.nonlinearSolver.resFunc = resFunc self.newtonSolver.resFunc = resFunc - self.continuationSolver.setRefNorm(self.initNorm) - self.continuationSolver.solve() + self.nonlinearSolver.setRefNorm(self.initNorm) + self.nonlinearSolver.solve() # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve self._preconditionerUpdateRequired = True @@ -1012,7 +1012,7 @@ def resFunc(res): ) # Finally return a bool indicating whether the solve was successful - return self.continuationSolver.hasConverged + return self.nonlinearSolver.hasConverged def _nonlinearCallback(self, solver, u, res, monitorVars): """Callback function to be called by the nonlinear solver at each iteration From d3c8340dea4142987fbde4a9263b0e7a5220bcba Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Thu, 19 Oct 2023 23:17:19 -0400 Subject: [PATCH 154/174] Rename self.KSM to self.linearSolver, remove self.newtonSolver --- tacs/problems/static.py | 49 ++++++++++++++++-------------------- tacs/solvers/continuation.py | 8 ++++++ 2 files changed, 30 insertions(+), 27 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 29c54714d..ec0dc8339 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -160,9 +160,7 @@ def __init__( self.name = name # Set solvers to None, until we set them up later - self.KSM = None - self.history = None - self.newtonSolver = None + self.linearSolver = None self.nonlinearSolver = None # Default setup for common problem class objects, sets up comm and options @@ -176,13 +174,13 @@ def __init__( # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: # Create Newton solver, the inner solver for the continuation solver - self.newtonSolver = tacs.solvers.NewtonSolver( + newtonSolver = tacs.solvers.NewtonSolver( assembler=self.assembler, setStateFunc=self.setVariables, resFunc=self.getResidual, jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=self.KSM, + linearSolver=self.linearSolver, stateVec=self.u, resVec=self.res, comm=self.comm, @@ -192,10 +190,10 @@ def __init__( self.nonlinearSolver = tacs.solvers.ContinuationSolver( jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=self.KSM, + linearSolver=self.linearSolver, setLambdaFunc=self.setLoadScale, getLambdaFunc=self.getLoadScale, - innerSolver=self.newtonSolver, + innerSolver=newtonSolver, comm=self.comm, ) self.nonlinearSolver.setCallback(self._nonlinearCallback) @@ -350,7 +348,7 @@ def _createVariables(self): # Operator, fill level, fill ratio, msub, rtol, ataol if opt("KSMSolver").upper() == "GMRES": - self.KSM = tacs.TACS.KSM( + self.linearSolver = tacs.TACS.KSM( self.K, self.PC, opt("subSpaceSize"), @@ -367,12 +365,12 @@ def _createVariables(self): "Unknown KSMSolver option. Valid options are " "'GMRES' or 'GCROT'" ) - self.KSM.setTolerances( + self.linearSolver.setTolerances( self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") ) if opt("useMonitor"): - self.KSM.setMonitor( + self.linearSolver.setMonitor( self.comm, _descript=opt("KSMSolver").upper(), freq=opt("monitorFrequency"), @@ -383,11 +381,15 @@ def _createVariables(self): self._preconditionerUpdateRequired = True # Give new vectors and linear solver to nonlinear solver - for solver in [self.newtonSolver, self.nonlinearSolver]: - if solver is not None: - solver.linearSolver = self.KSM - solver.stateVec = self.u - solver.resVec = self.res + if self.nonlinearSolver is not None: + self.nonlinearSolver.linearSolver = self.linearSolver + self.nonlinearSolver.innerSolver.linearSolver = self.linearSolver + + self.nonlinearSolver.stateVec = self.u + self.nonlinearSolver.innerSolver.stateVec = self.u + + self.nonlinearSolver.resVec = self.res + self.nonlinearSolver.innerSolver.resVec = self.res def setOption(self, name, value): """ @@ -406,18 +408,14 @@ def setOption(self, name, value): createVariables = True - if self.KSM is not None: + if self.linearSolver is not None: # Update tolerances if "l2convergence" in name.lower(): createVariables = False - self.KSM.setTolerances( + self.linearSolver.setTolerances( self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence"), ) - if self.nonlinearSolver is not None: - self.nonlinearSolver.setOption( - "newtonSolverRelLinTol", self.getOption("L2ConvergenceRel") - ) # No need to reset solver for output options if name.lower() in [ @@ -884,7 +882,6 @@ def solve(self, Fext=None): startTime = time.time() self.callCounter += 1 - setupProblemTime = time.time() # Set problem vars to assembler self._updateAssemblerVars() @@ -919,8 +916,7 @@ def solve(self, Fext=None): % ("TACS Solve Init Time", initSolveTime - startTime) ) self._pp( - "| %-30s: %10.3f sec" - % ("TACS Solve Time", solveTime - initSolveTime) + "| %-30s: %10.3f sec" % ("TACS Solve Time", solveTime - initSolveTime) ) self._pp("|") self._pp( @@ -997,7 +993,6 @@ def resFunc(res): self.getResidual(res, Fext=Fext) self.nonlinearSolver.resFunc = resFunc - self.newtonSolver.resFunc = resFunc self.nonlinearSolver.setRefNorm(self.initNorm) self.nonlinearSolver.solve() @@ -1006,7 +1001,7 @@ def resFunc(res): self._jacobianUpdateRequired = True # We should also reset the linear solver convergence so that any loosening of the linear convergence criteria are undone before a possible adjoint solve - self.KSM.setTolerances( + self.linearSolver.setTolerances( self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence"), ) @@ -1063,7 +1058,7 @@ def _solveLinear(self, rhs, sol): bool Whether the linear solve converged """ - success = self.KSM.solve(rhs, sol) + success = self.linearSolver.solve(rhs, sol) success = success == 1 if not success: diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index 905374694..0b21438c7 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -184,6 +184,14 @@ def __init__( self.predictorStep = self.assembler.createVec() self.incStartState = self.assembler.createVec() + @property + def resFunc(self) -> Callable: + return self.innerSolver.resFunc + + @resFunc.setter + def resFunc(self, resFunc: Callable) -> None: + self.innerSolver.resFunc = resFunc + def _setupPredictorVectors(self) -> None: """Setup the structures containing the data for computing the predictor steps""" self.equilibriumPathStates = [] From b4b1a03faa75540cda1f737f3bf2f4a2202156fe Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Thu, 19 Oct 2023 23:46:26 -0400 Subject: [PATCH 155/174] Move solver history from static problem to solvers --- tacs/problems/static.py | 96 ++---------------------------------- tacs/solvers/base.py | 45 +++++++++++++++-- tacs/solvers/continuation.py | 41 +++++++++++---- tacs/solvers/newton.py | 83 +++++++++++++++++++++++++++++-- tacs/utilities.py | 3 +- 5 files changed, 159 insertions(+), 109 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index ec0dc8339..56a3e12fd 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -23,7 +23,6 @@ import tacs.elements import tacs.solvers from tacs.problems.base import TACSProblem -from tacs.utilities import SolverHistory class StaticProblem(TACSProblem): @@ -87,16 +86,6 @@ class StaticProblem(TACSProblem): 10, "Print frequency for sub iterations of linear solver.", ], - "nonlinearSolverMonitorVars": [ - list, - [ - "linSolverIters", - "linSolverRes", - "lineSearchStep", - "lineSearchIters", - ], - "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'loadScale', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", - ], # Output Options "writeSolution": [ bool, @@ -198,58 +187,6 @@ def __init__( ) self.nonlinearSolver.setCallback(self._nonlinearCallback) - def _createSolverHistory(self): - """Setup the solver history object based on the current options - - The solver history is only created on the root processor. - """ - monitorVars = [s.lower() for s in self.getOption("nonlinearSolverMonitorVars")] - numType = float if self.dtype == np.float64 else complex - if self.nonlinearSolver is not None and self.comm.rank == 0: - history = SolverHistory() - - # Define the variables to be stored in the history - # Continuation increment - history.addVariable("Increment", int, printVar=True) - # Load scale - history.addVariable("Lambda", float, printVar=True) - # Newton solve iteration number - history.addVariable("SubIter", int, printVar=True) - # Einstat walker linear solver tolerance - if self.newtonSolver.getOption("UseEW"): - history.addVariable("EW Tol", float, printVar="ewtol" in monitorVars) - # Number of linear solver iterations - history.addVariable( - "Lin iters", int, printVar="linsolveriters" in monitorVars - ) - # Linear solver residual norm - history.addVariable( - "Lin res", numType, printVar="linsolverres" in monitorVars - ) - # Residual norm (absolute and relative) - history.addVariable("Res norm", numType, printVar=True) - history.addVariable("Rel res norm", numType, printVar=True) - # state norm - history.addVariable("U norm", numType, printVar=True) - # Line search step size - history.addVariable( - "LS step", - float, - printVar="linesearchstep" in monitorVars - and self.newtonSolver.getOption("UseLineSearch"), - ) - # Num line search iterations - history.addVariable( - "LS iters", - int, - printVar="linesearchiters" in monitorVars - and self.newtonSolver.getOption("UseLineSearch"), - ) - # Flags - history.addVariable("Flags", str, printVar=True) - - self.history = history - def _createVariables(self): """Internal to create the variable required by TACS""" @@ -427,15 +364,6 @@ def setOption(self, name, value): ]: createVariables = False - if self.isNonlinear: - # We need to create a new solver history object if the monitor variables have updated - if ( - name.lower() == "nonlinearsolvermonitorvars" - and self.history is not None - ): - createVariables = False - self._createSolverHistory() - # Reset solver for all other option changes if createVariables: self._createVariables() @@ -857,16 +785,6 @@ def _initializeSolve(self): self.updateJacobian() self.updatePreconditioner() - if self.isNonlinear: - if self.comm.rank == 0: - # Create the solver history if we don't have one yet, otherwise reset it - if self.history is None: - self._createSolverHistory() - else: - self.history.reset(clearMetadata=True) - self.history.addMetadata("Options", self.options) - self.history.addMetadata("Name", self.name) - def solve(self, Fext=None): """ Solution of the static problem for current load set. The @@ -1027,18 +945,14 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): iteration = 0 if self.rank == 0: # Figure out the iteration number - iteration = self.history.getIter() + iteration = self.nonlinearSolver.history.getIter() - 1 if iteration % 50 == 0: - self.history.printHeader() - self.history.write(monitorVars) - self.history.printData() + self.nonlinearSolver.history.printHeader() + self.nonlinearSolver.history.printData() self.comm.bcast(iteration, root=0) if self.getOption("writeNLIterSolutions"): - # import pdb - - # pdb.set_trace() self.writeSolution( baseName=f"{self.name}-{self.callCounter:03d}-NLIter", number=iteration ) @@ -1917,8 +1831,8 @@ def writeSolutionHistory(self, outputDir=None, baseName=None, number=None): """ # Figure out the output file base name baseName = self.getOutputFileName(outputDir, baseName, number) - if self.history is not None: - self.history.save(baseName) + if self.nonlinearSolver.history is not None: + self.nonlinearSolver.history.save(baseName) def writeLoadToBDF(self, bdfFile, loadCaseID): """ diff --git a/tacs/solvers/base.py b/tacs/solvers/base.py index 4cd5b6118..f3b6b2bc2 100644 --- a/tacs/solvers/base.py +++ b/tacs/solvers/base.py @@ -11,7 +11,7 @@ # Standard Python modules # ============================================================================== import abc -from typing import Optional, Callable +from typing import Optional, Callable, Dict # ============================================================================== # External Python modules @@ -22,7 +22,7 @@ # Extension modules # ============================================================================== import tacs.TACS -from tacs.utilities import BaseUI +from tacs.utilities import BaseUI, SolverHistory class BaseSolver(BaseUI): @@ -65,9 +65,37 @@ def __init__( self._hasConverged = False self._fatalFailure = False self._iterationCount = 0 - self.callback = None BaseUI.__init__(self, options, comm) + # No solver history for now + self.history = None + self.userCallback = None + + def _createSolverHistory(self): + """Setup the solver history object based on the current options + + The solver history is only created on the root processor. + """ + histVars = self.getHistoryVariables() + if self.comm.rank == 0: + self.history = SolverHistory() + for varName, variable in histVars.items(): + self.history.addVariable( + varName, variable["type"], printVar=variable["print"] + ) + + @abc.abstractmethod + def getHistoryVariables(self) -> Dict[str, Dict]: + """Get the variables to be stored in the solver history + + This method allows for implementation of any logic that dictates any changes in the stored variables depending on the current options. + + Returns + ------- + Dict[str, Dict] + Dictionary of solver variables, keys are the variable names, value is another dictionary with keys "type" and "print", where "type" is the data type of the variable and "print" is a boolean indicating whether or not to print the variable to the screen + """ + @property def hasConverged(self) -> bool: """Whether the solver has converged, set as a property rather than an attribute so that it is read-only""" @@ -124,6 +152,15 @@ def initializeSolve(self) -> None: self._hasConverged = False self._fatalFailure = False + # Reset the solver history and store the solver options as metadata + if self.rank == 0: + if self.history is None: + self._createSolverHistory() + else: + self.history.reset() + if "options" not in self.history.getMetadata(): + self.history.addMetadata("options", self.options) + def reset(self) -> None: """Reset the solver @@ -156,4 +193,4 @@ def setCallback(self, callback: Callable) -> None: - ``res`` is the current residual vector - ``monitorVars`` is a dictionary of variables to monitor, which can be specified through the ``"nonlinearSolverMonitorVars"`` option """ - self.callback = callback + self.userCallback = callback diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index 0b21438c7..b33cac9f4 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -13,7 +13,7 @@ # ============================================================================== # Standard Python modules # ============================================================================== -from typing import Optional, Callable, Any +from typing import Optional, Callable, Any, Dict # ============================================================================== # External Python modules @@ -192,6 +192,26 @@ def resFunc(self) -> Callable: def resFunc(self, resFunc: Callable) -> None: self.innerSolver.resFunc = resFunc + def getHistoryVariables(self) -> Dict[str, Dict]: + """Get the variables to be stored in the solver history + + This method allows for implementation of any logic that dictates any changes in the stored variables depending on the current options. + + Returns + ------- + Dict[str, Dict] + Dictionary of solver variables, keys are the variable names, value is another dictionary with keys "type" and "print", where "type" is the data type of the variable and "print" is a boolean indicating whether or not to print the variable to the screen + """ + variables = {} + variables["Increment"] = {"type": int, "print": True} + variables["Lambda"] = {"type": float, "print": True} + variables["SubIter"] = {"type": int, "print": True} + + # Add the variables from the inner solver + variables.update(self.innerSolver.getHistoryVariables()) + + return variables + def _setupPredictorVectors(self) -> None: """Setup the structures containing the data for computing the predictor steps""" self.equilibriumPathStates = [] @@ -363,16 +383,19 @@ def solve( atol = COARSE_ABS_TOL self.innerSolver.setConvergenceTolerance(absTol=atol, relTol=rtol) - # Before calling the inner solver we need to create a wrapper around the user's callback function so that we can add some continuation information to the monitor variables - if self.callback is not None: + # Before calling the inner solver we need to create a callback function so that we can store data in this solver's history file at every iteration of the inner solver + def continuationcallBack(solver, u, res, monitorVars): + monitorVars["SubIter"] = solver.iterationCount + monitorVars["Increment"] = increment + monitorVars["Lambda"] = currentLambda + + if self.rank == 0: + self.history.write(monitorVars) - def continuationcallBack(solver, u, res, monitorVars): - monitorVars["SubIter"] = solver.iterationCount - monitorVars["Increment"] = increment - monitorVars["Lambda"] = currentLambda - self.callback(solver, u, res, monitorVars) + if self.userCallback is not None: + self.userCallback(solver, u, res, monitorVars) - self.innerSolver.setCallback(continuationcallBack) + self.innerSolver.setCallback(continuationcallBack) self.innerSolver.setRefNorm(self.refNorm * currentLambda) self.innerSolver.solve() diff --git a/tacs/solvers/newton.py b/tacs/solvers/newton.py index 91cf3d393..a4e6ca155 100644 --- a/tacs/solvers/newton.py +++ b/tacs/solvers/newton.py @@ -13,7 +13,7 @@ # ============================================================================== # Standard Python modules # ============================================================================== -from typing import Optional, Callable +from typing import Optional, Callable, Dict # ============================================================================== # External Python modules @@ -124,6 +124,16 @@ class NewtonSolver(BaseSolver): 0.9, "Often, the value of the merit function at the Newton step (alpha = 1.0), is orders of magnitude greater than at the start point. In these situations, the linesearch then tries to evaluate a point with a very small step size, which usually meets the expected decrease criteria but results in very slow progress of the Newton solver. To combat this, this value limits how far the linesearch can backtrack on the first iteration after evaluating alpha = 1. This has the effect of encouraging the linesearch to find larger steps that meet the expected decrease criterion, which results in faster convergence of the Newton solver.", ], + "monitorVars": [ + list, + [ + "linSolverIters", + "linSolverRes", + "lineSearchStep", + "lineSearchIters", + ], + "List of variables to include in nonlinear solver monitor output. Choose from 'linSolverIters', 'linSolverRes', 'lineSearchStep', 'EWTol', and 'lineSearchIters'.", + ], } def __init__( @@ -181,6 +191,68 @@ def __init__( # Create additional vectors self.update = self.assembler.createVec() + def setOption(self, name, value): + """A thin wrapper around the base setOption method that makes necessary changes when certain options are changed + + Parameters + ---------- + name : str + Name of option to modify + value : depends on option + New option value to set + """ + BaseSolver.setOption(self, name, value) + + # May need to re-create the solver history if the monitor variables have changed, if not then we still need to clear the options we set as metadata + if self.history is not None: + if name.lower() == "monitorvars": + self._createSolverHistory() + else: + self.history.reset(clearMetadata=True) + + def getHistoryVariables(self) -> Dict[str, Dict]: + """Get the variables to be stored in the solver history + + This method allows for implementation of any logic that dictates any changes in the stored variables depending on the current options. + + Returns + ------- + Dict[str, Dict] + Dictionary of solver variables, keys are the variable names, value is another dictionary with keys "type" and "print", where "type" is the data type of the variable and "print" is a boolean indicating whether or not to print the variable to the screen + """ + variables = {} + numType = float if self.dtype == np.float64 else complex + + monitorVars = [var.lower() for var in self.getOption("monitorVars")] + + # Einstat walker linear solver tolerance + if self.getOption("UseEW"): + variables["EW Tol"] = {"type": float, "print": "ewtol" in monitorVars} + # Number of linear solver iterations + variables["Lin iters"] = {"type": int, "print": "linsolveriters" in monitorVars} + # Linear solver residual norm + variables["Lin res"] = {"type": numType, "print": "linsolverres" in monitorVars} + # Residual norm (absolute and relative) + variables["Res norm"] = {"type": numType, "print": True} + variables["Rel res norm"] = {"type": numType, "print": True} + # state norm + variables["U norm"] = {"type": numType, "print": True} + if self.getOption("UseLineSearch"): + # Line search step size + variables["LS step"] = { + "type": float, + "print": "linesearchstep" in monitorVars, + } + # Num line search iterations + variables["LS iters"] = { + "type": int, + "print": "linesearchiters" in monitorVars, + } + # Flags + variables["Flags"] = {"type": str, "print": True} + + return variables + def setConvergenceTolerance( self, absTol: Optional[float] = None, relTol: Optional[float] = None ) -> None: @@ -262,7 +334,6 @@ def solve( # Write data to history monitorVars = { - "SubIter": iteration, "Res norm": resNorm, "Rel res norm": resNorm / self.refNorm, "U norm": uNorm, @@ -275,8 +346,12 @@ def solve( monitorVars["LS iters"] = lineSearchIters if USE_EW: monitorVars["EW Tol"] = prevLinCovergenceRel - if self.callback is not None: - self.callback(self, self.stateVec, self.resVec, monitorVars) + + if self.rank == 0: + self.history.write(monitorVars) + + if self.userCallback is not None: + self.userCallback(self, self.stateVec, self.resVec, monitorVars) flags = "" diff --git a/tacs/utilities.py b/tacs/utilities.py index 808e940c6..83e899892 100644 --- a/tacs/utilities.py +++ b/tacs/utilities.py @@ -60,7 +60,6 @@ def setOption(self, name, value): ---------- name : str Name of option to modify - value : depends on option New option value to set """ @@ -663,6 +662,8 @@ def write(self, data: dict) -> None: Dictionary of values to record, with variable names as keys """ + data = copy.deepcopy(data) + # Store time if self._includeTime: if self._startTime < 0.0: From b3a8d5e4e993e3bde0d647c8ed7ee2244bb74741 Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Thu, 19 Oct 2023 23:53:01 -0400 Subject: [PATCH 156/174] Don't write history file if don't have a nonlinear Solver --- tacs/problems/static.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 56a3e12fd..c8c81e309 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1830,9 +1830,10 @@ def writeSolutionHistory(self, outputDir=None, baseName=None, number=None): typically used from an external solver """ # Figure out the output file base name - baseName = self.getOutputFileName(outputDir, baseName, number) - if self.nonlinearSolver.history is not None: - self.nonlinearSolver.history.save(baseName) + if self.nonlinearSolver is not None: + baseName = self.getOutputFileName(outputDir, baseName, number) + if self.nonlinearSolver.history is not None: + self.nonlinearSolver.history.save(baseName) def writeLoadToBDF(self, bdfFile, loadCaseID): """ From db41ba6bf4aca93284c96b2c46b19109500221ee Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Fri, 20 Oct 2023 00:02:42 -0400 Subject: [PATCH 157/174] Update uses of old solver names --- docs/source/pytacs/static.rst | 2 +- examples/nonlinear_annulus/analysis.py | 31 +++++++++---------- examples/nonlinear_cantilever/analysis.py | 2 +- examples/nonlinear_hemisphere/analysis.py | 23 +++++++------- examples/nonlinear_skin_buckle/analysis.py | 16 +++++++--- .../test_shell_hemisphere_nonlinear.py | 2 +- 6 files changed, 39 insertions(+), 37 deletions(-) diff --git a/docs/source/pytacs/static.rst b/docs/source/pytacs/static.rst index 61b569478..fb43697c8 100644 --- a/docs/source/pytacs/static.rst +++ b/docs/source/pytacs/static.rst @@ -16,7 +16,7 @@ Nonlinear solvers ^^^^^^^^^^^^^^^^^ When you create an assembler using a nonlinear element type or constitutive model, any static problems you create will automatically setup a nonlinear solver. A continuation solver is used to control an adaptive load incrementation process, and a Newton solver is used to solve the nonlinear system of equations at each load increment. -The options for these solvers should be set directly to ``problem.continuationSolver`` and ``problem.newtonSolver``. +The options for these solvers should be set directly to ``problem.nonlinearSolver`` and ``problem.nonlinearSolver.innerSolver``. See :class:`~tacs.solvers.ContinuationSolver` and :class:`~tacs.solvers.NewtonSolver` for more information. API Reference diff --git a/examples/nonlinear_annulus/analysis.py b/examples/nonlinear_annulus/analysis.py index b31b8e72b..573f0b280 100644 --- a/examples/nonlinear_annulus/analysis.py +++ b/examples/nonlinear_annulus/analysis.py @@ -87,28 +87,25 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) probOptions = { - "continuationInitialStep": 0.01, - "continuationTargetIter": 6, - "newtonSolverMaxIter": 50, - "continuationRelTol": 1e-7, - "newtonSolverMaxLinIters": 5, - "continuationUsePredictor": True, - "continuationNumPredictorStates": 8, - # "newtonSolverUseEW": True, "nRestarts": 3, "subSpaceSize": 20, - "nonlinearSolverMonitorVars": [ - "lambda", - "linsolveriters", - "linsolverres", - "EWTol", - "linesearchstep", - "linesearchiters", - ], "writeNLIterSolutions": True, } +newtonOptions = { + "MaxIter": 50, + "MaxLinIters": 5, + "UseEW": True, +} +continuationOptions = { + "InitialStep": 0.01, + "TargetIter": 6, + "RelTol": 1e-7, + "UsePredictor": True, + "NumPredictorStates": 8, +} problem = FEAAssembler.createStaticProblem("Annulus", options=probOptions) - +problem.nonlinearSolver.setOptions(continuationOptions) +problem.nonlinearSolver.innerSolver.setOptions(newtonOptions) # ============================================================================== # Find tip force points diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index 3355dc7d6..d335d9ac9 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -112,7 +112,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg } forceProblem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) try: - forceProblem.newtonSolver.setOptions(newtonOptions) + forceProblem.nonlinearSolver.innerSolver.setOptions(newtonOptions) forceProblem.nonlinearSolver.setOptions(continuationOptions) except AttributeError: pass diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py index d2af7cddd..5b43fa06b 100644 --- a/examples/nonlinear_hemisphere/analysis.py +++ b/examples/nonlinear_hemisphere/analysis.py @@ -86,23 +86,22 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg FEAAssembler.initialize(elemCallBack) probOptions = { - "continuationInitialStep": 1.0, - "newtonSolverMaxIter": 50, - "newtonSolverUseEW": True, "nRestarts": 3, "subSpaceSize": 20, - "nonlinearSolverMonitorVars": [ - "lambda", - "linsolveriters", - "linsolverres", - "EWTol", - "linesearchstep", - "linesearchiters", - ], - "newtonSolverMaxLinIters": 10, "printTiming": True, } +continuationOptions = { + "InitialStep": 1.0, +} +newtonOptions = { + "newtonSolverMaxIter": 50, + "newtonSolverUseEW": True, + "newtonSolverMaxLinIters": 10, +} + problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) +problem.nonlinearSolver.setOptions(continuationOptions) +problem.nonlinearSolver.innerSolver.setOptions(newtonOptions) # ============================================================================== # Find tip force points diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index 48cd28a64..9a24644ab 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -88,16 +88,22 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "printTiming": True, - "continuationInitialStep": 0.25, - "newtonSolverMaxLinIters": 0, - "newtonSolverSkipFirstNLineSearch": 0, - "newtonSolverMaxIter": 100, "nRestarts": 3, "subSpaceSize": 20, "writeNLIterSolutions": True, } -problem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) +continuationOptions = { + "InitialStep": 0.25, +} +newtonOptions = { + "MaxLinIters": 0, + "SkipFirstNLineSearch": 0, + "MaxIter": 100, +} +problem = FEAAssembler.createStaticProblem("TipForce", options=probOptions) +problem.nonlinearSolver.setOptions(continuationOptions) +problem.nonlinearSolver.innerSolver.setOptions(newtonOptions) # ============================================================================== # Find tip force points diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index 4d97fc9dc..b81310dc8 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -131,7 +131,7 @@ def elemCallBack( } problem = FEAAssembler.createStaticProblem("RadialForces", options=probOptions) problem.nonlinearSolver.setOptions(continuationOptions) - problem.newtonSolver.setOptions(newtonOptions) + problem.nonlinearSolver.innerSolver.setOptions(newtonOptions) # ============================================================================== # Find tip force points From 72111652a5950c54de20067fc439fff1184a004d Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Fri, 20 Oct 2023 00:27:56 -0400 Subject: [PATCH 158/174] Fix some linter complaints --- tacs/problems/static.py | 8 ++++---- tacs/system.py | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index c8c81e309..51c3b07ea 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -469,17 +469,17 @@ def setDesignVars(self, x): TACSProblem.setDesignVars(self, x) self._jacobianUpdateRequired = True - def setNodes(self, coords): + def setNodes(self, Xpts): """ Set the mesh coordinates of the structure. Parameters ---------- - coords : numpy.ndarray + Xpts : numpy.ndarray Structural coordinate in array of size (N * 3) where N is the number of structural nodes on this processor. """ - TACSProblem.setNodes(self, coords) + TACSProblem.setNodes(self, Xpts) self._jacobianUpdateRequired = True ####### Load adding methods ######## @@ -1878,7 +1878,7 @@ def writeLoadToBDF(self, bdfFile, loadCaseID): loadCaseID, f"SUBTITLE={self.name}" ) newBDFInfo.case_control_deck.add_parameter_to_local_subcase( - loadCaseID, f"ANALYSIS=STATICS" + loadCaseID, "ANALYSIS=STATICS" ) newBDFInfo.case_control_deck.add_parameter_to_local_subcase( loadCaseID, f"LOAD={loadCaseID}" diff --git a/tacs/system.py b/tacs/system.py index 970b4d61d..b8aa0d182 100644 --- a/tacs/system.py +++ b/tacs/system.py @@ -190,7 +190,7 @@ def setNodes(self, Xpts): Parameters ---------- - coords : numpy.ndarray + Xpts : numpy.ndarray Structural coordinate in array of size (N * 3) where N is the number of structural nodes on this processor. """ From bec98c97cb82243d4536b2d6d687c25d01ed1804 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 13:47:55 -0400 Subject: [PATCH 159/174] Add `printLevel` option to `StaticProblem` --- tacs/problems/static.py | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 51c3b07ea..e84c92aa6 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -107,6 +107,14 @@ class StaticProblem(TACSProblem): False, "Flag for printing out timing information for class procedures.", ], + "printLevel": [ + int, + 0, + "Print level for nonlinear solver.\n" + "\t Accepts:\n" + "\t\t 0 : No printing.\n" + "\t\t 1 : Print nonlinear iterations.\n" + ], } def __init__( @@ -946,9 +954,10 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): if self.rank == 0: # Figure out the iteration number iteration = self.nonlinearSolver.history.getIter() - 1 - if iteration % 50 == 0: - self.nonlinearSolver.history.printHeader() - self.nonlinearSolver.history.printData() + if self.getOption("printLevel") > 0: + if iteration % 50 == 0: + self.nonlinearSolver.history.printHeader() + self.nonlinearSolver.history.printData() self.comm.bcast(iteration, root=0) From c5c297464ec1ac883845ece9a036d24d1b53c234 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 13:51:09 -0400 Subject: [PATCH 160/174] rename `_solveLinearProblem` and `_solveNonlinearProblem` --- tacs/problems/static.py | 44 ++++++++++++----------------------------- 1 file changed, 13 insertions(+), 31 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index e84c92aa6..696414d8f 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -818,9 +818,9 @@ def solve(self, Fext=None): initSolveTime = time.time() if self.isNonlinear: - hasConverged = self._solveNonlinearProblem(Fext) + hasConverged = self._solveNonlinear(Fext) else: - hasConverged = self._solveLinearProblem(Fext) + hasConverged = self._solveLinear(Fext) solveTime = time.time() @@ -853,7 +853,7 @@ def solve(self, Fext=None): return hasConverged - def _solveLinearProblem(self, Fext=None): + def _solveLinear(self, Fext=None): """Solve a linear StaticProblem for a given external force vector Parameters @@ -881,7 +881,15 @@ def _solveLinearProblem(self, Fext=None): self.startNorm = np.real(self.res.norm()) # Solve Linear System for the update - hasConverged = self._solveLinear(self.res, self.update) + hasConverged = self.linearSolver.solve(self.res, self.update) + hasConverged = hasConverged == 1 + + if not hasConverged: + self._TACSWarning( + "Linear solver failed to converge. " + "This is likely a sign that the problem is ill-conditioned. " + "Check that the model is properly restrained." + ) self.update.scale(-1.0) @@ -892,7 +900,7 @@ def _solveLinearProblem(self, Fext=None): return hasConverged - def _solveNonlinearProblem(self, Fext=None): + def _solveNonlinear(self, Fext=None): """Solve a nonlinear StaticProblem for a given external force vector Parameters @@ -966,32 +974,6 @@ def _nonlinearCallback(self, solver, u, res, monitorVars): baseName=f"{self.name}-{self.callCounter:03d}-NLIter", number=iteration ) - def _solveLinear(self, rhs, sol): - """Solve the linear system J * sol = rhs using the current Jacobian matrix - - Parameters - ---------- - rhs : tacs.TACS.Vec - Right hand side of the linear system - sol : tacs.TACS.Vec - Vector to store the solution in - - Returns - ------- - bool - Whether the linear solve converged - """ - success = self.linearSolver.solve(rhs, sol) - success = success == 1 - - if not success: - self._TACSWarning( - "Linear solver failed to converge. " - "This is likely a sign that the problem is ill-conditioned. " - "Check that the model is properly restrained." - ) - return success - def updateJacobian(self, res=None): """Update the Jacobian (a.k.a stiffness) matrix From 92a9f5daf017cc5fbbdfc471a20e6251a59f454d Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 14:26:57 -0400 Subject: [PATCH 161/174] Give nonlinear solvers their own vectors and linear solvers --- tacs/problems/static.py | 47 ++++++++++++++++++++++------------------- 1 file changed, 25 insertions(+), 22 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 696414d8f..d93c3ac50 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -170,6 +170,28 @@ def __init__( # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: + # Give the nonlinear solvers their own linear solvers + newtonLinearSolver = tacs.TACS.KSM( + self.K, + self.PC, + self.getOption("subSpaceSize"), + self.getOption("nRestarts"), + self.getOption("flexible"), + ) + newtonLinearSolver.setTolerances( + self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") + ) + continuationLinearSolver = tacs.TACS.KSM( + self.K, + self.PC, + self.getOption("subSpaceSize"), + self.getOption("nRestarts"), + self.getOption("flexible"), + ) + continuationLinearSolver.setTolerances( + self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") + ) + # Create Newton solver, the inner solver for the continuation solver newtonSolver = tacs.solvers.NewtonSolver( assembler=self.assembler, @@ -177,9 +199,7 @@ def __init__( resFunc=self.getResidual, jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=self.linearSolver, - stateVec=self.u, - resVec=self.res, + linearSolver=newtonLinearSolver, comm=self.comm, ) @@ -187,7 +207,7 @@ def __init__( self.nonlinearSolver = tacs.solvers.ContinuationSolver( jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=self.linearSolver, + linearSolver=continuationLinearSolver, setLambdaFunc=self.setLoadScale, getLambdaFunc=self.getLoadScale, innerSolver=newtonSolver, @@ -325,17 +345,6 @@ def _createVariables(self): self._jacobianUpdateRequired = True self._preconditionerUpdateRequired = True - # Give new vectors and linear solver to nonlinear solver - if self.nonlinearSolver is not None: - self.nonlinearSolver.linearSolver = self.linearSolver - self.nonlinearSolver.innerSolver.linearSolver = self.linearSolver - - self.nonlinearSolver.stateVec = self.u - self.nonlinearSolver.innerSolver.stateVec = self.u - - self.nonlinearSolver.resVec = self.res - self.nonlinearSolver.innerSolver.resVec = self.res - def setOption(self, name, value): """ Set a solver option value. The name is not case sensitive. @@ -928,18 +937,12 @@ def resFunc(res): self.nonlinearSolver.resFunc = resFunc self.nonlinearSolver.setRefNorm(self.initNorm) - self.nonlinearSolver.solve() + self.nonlinearSolver.solve(u0=self.u, result=self.u) # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve self._preconditionerUpdateRequired = True self._jacobianUpdateRequired = True - # We should also reset the linear solver convergence so that any loosening of the linear convergence criteria are undone before a possible adjoint solve - self.linearSolver.setTolerances( - self.getOption("L2ConvergenceRel"), - self.getOption("L2Convergence"), - ) - # Finally return a bool indicating whether the solve was successful return self.nonlinearSolver.hasConverged From 31e5340b92a85165b89bcc97684359f9b9bec37a Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 14:27:15 -0400 Subject: [PATCH 162/174] Update options used in nonlinear examples --- examples/nonlinear_annulus/analysis.py | 2 +- examples/nonlinear_cantilever/analysis.py | 1 + examples/nonlinear_hemisphere/analysis.py | 2 +- examples/nonlinear_skin_buckle/analysis.py | 2 +- 4 files changed, 4 insertions(+), 3 deletions(-) diff --git a/examples/nonlinear_annulus/analysis.py b/examples/nonlinear_annulus/analysis.py index 573f0b280..0f0e75c2f 100644 --- a/examples/nonlinear_annulus/analysis.py +++ b/examples/nonlinear_annulus/analysis.py @@ -89,7 +89,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "nRestarts": 3, "subSpaceSize": 20, - "writeNLIterSolutions": True, + "printLevel": 1, } newtonOptions = { "MaxIter": 50, diff --git a/examples/nonlinear_cantilever/analysis.py b/examples/nonlinear_cantilever/analysis.py index d335d9ac9..0fe981cd4 100644 --- a/examples/nonlinear_cantilever/analysis.py +++ b/examples/nonlinear_cantilever/analysis.py @@ -102,6 +102,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg probOptions = { "printTiming": True, + "printLevel": 1, } newtonOptions = {"useEW": True, "MaxLinIters": 10} continuationOptions = { diff --git a/examples/nonlinear_hemisphere/analysis.py b/examples/nonlinear_hemisphere/analysis.py index 5b43fa06b..7a28fe2de 100644 --- a/examples/nonlinear_hemisphere/analysis.py +++ b/examples/nonlinear_hemisphere/analysis.py @@ -67,7 +67,6 @@ # ============================================================================== structOptions = { "printtiming": True, - "isNonlinear": STRAIN_TYPE != "linear" or ROTATION_TYPE != "linear", } FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) @@ -89,6 +88,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "nRestarts": 3, "subSpaceSize": 20, "printTiming": True, + "printLevel": 1, } continuationOptions = { "InitialStep": 1.0, diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index 9a24644ab..c0054ac5e 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -90,7 +90,7 @@ def elemCallBack(dvNum, compID, compDescript, elemDescripts, specialDVs, **kwarg "printTiming": True, "nRestarts": 3, "subSpaceSize": 20, - "writeNLIterSolutions": True, + "printLevel": 1, } continuationOptions = { "InitialStep": 0.25, From 7ce785ef4944967f379521331da3dd4b2a18bba3 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 14:27:42 -0400 Subject: [PATCH 163/174] black formatting --- tacs/problems/static.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index d93c3ac50..86b6f7206 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -113,7 +113,7 @@ class StaticProblem(TACSProblem): "Print level for nonlinear solver.\n" "\t Accepts:\n" "\t\t 0 : No printing.\n" - "\t\t 1 : Print nonlinear iterations.\n" + "\t\t 1 : Print nonlinear iterations.\n", ], } From 5627c85564a67233e04e442dd963e3b846400172 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 14:50:54 -0400 Subject: [PATCH 164/174] Fix linear solve call in adjoint solve --- tacs/problems/static.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 86b6f7206..f9f8159c4 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -1687,7 +1687,7 @@ def solveAdjoint(self, rhs, phi): bcTerms.axpy(-1.0, self.adjRHS) # Solve Linear System - self._solveLinear(self.adjRHS, self.phi) + self.linearSolver.solve(self.adjRHS, self.phi) self.assembler.applyBCs(self.phi) # Add bc terms back in self.phi.axpy(1.0, bcTerms) From 92aeba939efe1b4d288c87855510f1a8d126b41c Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 14:57:54 -0400 Subject: [PATCH 165/174] Add numNodes in new element type docstrings --- tacs/elements.pyx | 50 ++++++++++++++++++++++++++++++++++------------- 1 file changed, 36 insertions(+), 14 deletions(-) diff --git a/tacs/elements.pyx b/tacs/elements.pyx index aa8f628e9..fb3858187 100644 --- a/tacs/elements.pyx +++ b/tacs/elements.pyx @@ -766,7 +766,7 @@ cdef class Quad4ShellModRot(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 6 + **varsPerNode**: 6 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -796,7 +796,7 @@ cdef class Quad4ShellQuaternion(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 8 + **varsPerNode**: 8 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -826,7 +826,9 @@ cdef class Quad4NonlinearShellModRot(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 6 + **varsPerNode**: 6 + + **numNodes**: 4 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -856,7 +858,9 @@ cdef class Quad4NonlinearShellQuaternion(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 8 + **varsPerNode**: 8 + + **numNodes**: 4 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -948,7 +952,9 @@ cdef class Quad9ShellModRot(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 6 + **varsPerNode**: 6 + + **numNodes**: 4 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -978,7 +984,9 @@ cdef class Quad9ShellQuaternion(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 8 + **varsPerNode**: 8 + + **numNodes**: 9 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1008,7 +1016,9 @@ cdef class Quad9NonlinearShellModRot(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 6 + **varsPerNode**: 6 + + **numNodes**: 9 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1038,7 +1048,9 @@ cdef class Quad9NonlinearShellQuaternion(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 8 + **varsPerNode**: 8 + + **numNodes**: 9 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1130,7 +1142,9 @@ cdef class Quad16ShellModRot(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 6 + **varsPerNode**: 6 + + **numNodes**: 16 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1160,7 +1174,9 @@ cdef class Quad16ShellQuaternion(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 8 + **varsPerNode**: 8 + + **numNodes**: 16 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1190,7 +1206,9 @@ cdef class Quad16NonlinearShellModRot(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 6 + **varsPerNode**: 6 + + **numNodes**: 16 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1220,7 +1238,9 @@ cdef class Quad16NonlinearShellQuaternion(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 8 + **varsPerNode**: 8 + + **numNodes**: 16 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1313,7 +1333,7 @@ cdef class Tri3ShellModRot(Element): .. note:: **varsPerNode**: 6 - + **numNodes**: 3 **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` @@ -1470,7 +1490,9 @@ cdef class Quad4NonlinearThermalShell(Element): .. seealso:: :ref:`theory/shell_element:Mixed Interpolation of Tensorial Components` .. note:: - varsPerNode: 7 + **varsPerNode**: 7 + + **numNodes**: 4 outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` From 1fac5b69fa6b5430cd5eaf9f5caf72931e3f6b6e Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 17:17:26 -0400 Subject: [PATCH 166/174] Revert "Give nonlinear solvers their own vectors and linear solvers" This reverts commit 92a9f5daf017cc5fbbdfc471a20e6251a59f454d. --- tacs/problems/static.py | 47 +++++++++++++++++++---------------------- 1 file changed, 22 insertions(+), 25 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index f9f8159c4..1da8c8bda 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -170,28 +170,6 @@ def __init__( # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: - # Give the nonlinear solvers their own linear solvers - newtonLinearSolver = tacs.TACS.KSM( - self.K, - self.PC, - self.getOption("subSpaceSize"), - self.getOption("nRestarts"), - self.getOption("flexible"), - ) - newtonLinearSolver.setTolerances( - self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") - ) - continuationLinearSolver = tacs.TACS.KSM( - self.K, - self.PC, - self.getOption("subSpaceSize"), - self.getOption("nRestarts"), - self.getOption("flexible"), - ) - continuationLinearSolver.setTolerances( - self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") - ) - # Create Newton solver, the inner solver for the continuation solver newtonSolver = tacs.solvers.NewtonSolver( assembler=self.assembler, @@ -199,7 +177,9 @@ def __init__( resFunc=self.getResidual, jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=newtonLinearSolver, + linearSolver=self.linearSolver, + stateVec=self.u, + resVec=self.res, comm=self.comm, ) @@ -207,7 +187,7 @@ def __init__( self.nonlinearSolver = tacs.solvers.ContinuationSolver( jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=continuationLinearSolver, + linearSolver=self.linearSolver, setLambdaFunc=self.setLoadScale, getLambdaFunc=self.getLoadScale, innerSolver=newtonSolver, @@ -345,6 +325,17 @@ def _createVariables(self): self._jacobianUpdateRequired = True self._preconditionerUpdateRequired = True + # Give new vectors and linear solver to nonlinear solver + if self.nonlinearSolver is not None: + self.nonlinearSolver.linearSolver = self.linearSolver + self.nonlinearSolver.innerSolver.linearSolver = self.linearSolver + + self.nonlinearSolver.stateVec = self.u + self.nonlinearSolver.innerSolver.stateVec = self.u + + self.nonlinearSolver.resVec = self.res + self.nonlinearSolver.innerSolver.resVec = self.res + def setOption(self, name, value): """ Set a solver option value. The name is not case sensitive. @@ -937,12 +928,18 @@ def resFunc(res): self.nonlinearSolver.resFunc = resFunc self.nonlinearSolver.setRefNorm(self.initNorm) - self.nonlinearSolver.solve(u0=self.u, result=self.u) + self.nonlinearSolver.solve() # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve self._preconditionerUpdateRequired = True self._jacobianUpdateRequired = True + # We should also reset the linear solver convergence so that any loosening of the linear convergence criteria are undone before a possible adjoint solve + self.linearSolver.setTolerances( + self.getOption("L2ConvergenceRel"), + self.getOption("L2Convergence"), + ) + # Finally return a bool indicating whether the solve was successful return self.nonlinearSolver.hasConverged From 25666cfb127a75678e310dc6c2ba8c9647caa094 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 21:07:08 -0400 Subject: [PATCH 167/174] Make nonlinear solvers apply boundary conditions to initial state --- tacs/solvers/base.py | 13 +++++++++++-- tacs/solvers/continuation.py | 4 ++-- tacs/solvers/newton.py | 5 +---- 3 files changed, 14 insertions(+), 8 deletions(-) diff --git a/tacs/solvers/base.py b/tacs/solvers/base.py index f3b6b2bc2..86db036bb 100644 --- a/tacs/solvers/base.py +++ b/tacs/solvers/base.py @@ -143,15 +143,24 @@ def setConvergenceTolerance( Relative tolerance, not changed if no value is provided """ - def initializeSolve(self) -> None: + def initializeSolve(self, u0: Optional[tacs.TACS.Vec] = None) -> None: """Perform any initialization required before the solve - In the base solver class, this simply involves resetting the iteration counter and convergence flags + Parameters + ---------- + u0 : TACS vector, optional + Initial guess, by default uses the current state """ self._iterationCount = 0 self._hasConverged = False self._fatalFailure = False + # Initialize the state vector and set the boundary conditions + if u0 is not None: + self.stateVec.copyValues(u0) + self.assembler.setBCs(self.stateVec) + self.setStateFunc(self.stateVec) + # Reset the solver history and store the solver options as metadata if self.rank == 0: if self.history is None: diff --git a/tacs/solvers/continuation.py b/tacs/solvers/continuation.py index b33cac9f4..e63734944 100644 --- a/tacs/solvers/continuation.py +++ b/tacs/solvers/continuation.py @@ -250,9 +250,9 @@ def setConvergenceTolerance( return - def initializeSolve(self) -> None: + def initializeSolve(self, u0: Optional[tacs.TACS.Vec] = None) -> None: """Perform any initialization required before the solve""" - BaseSolver.initializeSolve(self) + BaseSolver.initializeSolve(self, u0) if self.getOption("UsePredictor"): for ii in range(self.getOption("NumPredictorStates")): self.equilibriumPathLoadScales[ii] = None diff --git a/tacs/solvers/newton.py b/tacs/solvers/newton.py index a4e6ca155..c6f451861 100644 --- a/tacs/solvers/newton.py +++ b/tacs/solvers/newton.py @@ -302,13 +302,10 @@ def solve( ABS_TOL = self.getOption("AbsTol") REL_TOL = self.getOption("RelTol") - self.initializeSolve() + self.initializeSolve(u0) flags = "" - if u0 is not None: - self.stateVec.copyValues(u0) - for iteration in range(MAX_ITERS): self._iterationCount = iteration prevLinCovergenceRel = linCovergenceRel From ed23ae08f8a12f17359d590378860355c7669c67 Mon Sep 17 00:00:00 2001 From: Alasdair Gray Date: Fri, 20 Oct 2023 21:07:53 -0400 Subject: [PATCH 168/174] Give nonlinear solvers their own vectors and linear solvers --- tacs/problems/static.py | 47 ++++++++++++++++++++++------------------- 1 file changed, 25 insertions(+), 22 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index 1da8c8bda..f9f8159c4 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -170,6 +170,28 @@ def __init__( # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: + # Give the nonlinear solvers their own linear solvers + newtonLinearSolver = tacs.TACS.KSM( + self.K, + self.PC, + self.getOption("subSpaceSize"), + self.getOption("nRestarts"), + self.getOption("flexible"), + ) + newtonLinearSolver.setTolerances( + self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") + ) + continuationLinearSolver = tacs.TACS.KSM( + self.K, + self.PC, + self.getOption("subSpaceSize"), + self.getOption("nRestarts"), + self.getOption("flexible"), + ) + continuationLinearSolver.setTolerances( + self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") + ) + # Create Newton solver, the inner solver for the continuation solver newtonSolver = tacs.solvers.NewtonSolver( assembler=self.assembler, @@ -177,9 +199,7 @@ def __init__( resFunc=self.getResidual, jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=self.linearSolver, - stateVec=self.u, - resVec=self.res, + linearSolver=newtonLinearSolver, comm=self.comm, ) @@ -187,7 +207,7 @@ def __init__( self.nonlinearSolver = tacs.solvers.ContinuationSolver( jacFunc=self.updateJacobian, pcUpdateFunc=self.updatePreconditioner, - linearSolver=self.linearSolver, + linearSolver=continuationLinearSolver, setLambdaFunc=self.setLoadScale, getLambdaFunc=self.getLoadScale, innerSolver=newtonSolver, @@ -325,17 +345,6 @@ def _createVariables(self): self._jacobianUpdateRequired = True self._preconditionerUpdateRequired = True - # Give new vectors and linear solver to nonlinear solver - if self.nonlinearSolver is not None: - self.nonlinearSolver.linearSolver = self.linearSolver - self.nonlinearSolver.innerSolver.linearSolver = self.linearSolver - - self.nonlinearSolver.stateVec = self.u - self.nonlinearSolver.innerSolver.stateVec = self.u - - self.nonlinearSolver.resVec = self.res - self.nonlinearSolver.innerSolver.resVec = self.res - def setOption(self, name, value): """ Set a solver option value. The name is not case sensitive. @@ -928,18 +937,12 @@ def resFunc(res): self.nonlinearSolver.resFunc = resFunc self.nonlinearSolver.setRefNorm(self.initNorm) - self.nonlinearSolver.solve() + self.nonlinearSolver.solve(u0=self.u, result=self.u) # Since the state has changed, we need to flag that the jacobian and preconditioner should be before the next primal or adjoint solve self._preconditionerUpdateRequired = True self._jacobianUpdateRequired = True - # We should also reset the linear solver convergence so that any loosening of the linear convergence criteria are undone before a possible adjoint solve - self.linearSolver.setTolerances( - self.getOption("L2ConvergenceRel"), - self.getOption("L2Convergence"), - ) - # Finally return a bool indicating whether the solve was successful return self.nonlinearSolver.hasConverged From 31f22d99f44c19270a76fed9afc373941ff2b002 Mon Sep 17 00:00:00 2001 From: Tim Brooks <41971846+timryanb@users.noreply.github.com> Date: Mon, 23 Oct 2023 09:54:51 -0400 Subject: [PATCH 169/174] Minor formatting fix --- tacs/elements.pyx | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/tacs/elements.pyx b/tacs/elements.pyx index fb3858187..92a247bb8 100644 --- a/tacs/elements.pyx +++ b/tacs/elements.pyx @@ -768,7 +768,7 @@ cdef class Quad4ShellModRot(Element): .. note:: **varsPerNode**: 6 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -798,7 +798,7 @@ cdef class Quad4ShellQuaternion(Element): .. note:: **varsPerNode**: 8 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -830,7 +830,7 @@ cdef class Quad4NonlinearShellModRot(Element): **numNodes**: 4 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -862,7 +862,7 @@ cdef class Quad4NonlinearShellQuaternion(Element): **numNodes**: 4 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -956,7 +956,7 @@ cdef class Quad9ShellModRot(Element): **numNodes**: 4 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -988,7 +988,7 @@ cdef class Quad9ShellQuaternion(Element): **numNodes**: 9 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1020,7 +1020,7 @@ cdef class Quad9NonlinearShellModRot(Element): **numNodes**: 9 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1052,7 +1052,7 @@ cdef class Quad9NonlinearShellQuaternion(Element): **numNodes**: 9 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1146,7 +1146,7 @@ cdef class Quad16ShellModRot(Element): **numNodes**: 16 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1178,7 +1178,7 @@ cdef class Quad16ShellQuaternion(Element): **numNodes**: 16 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1210,7 +1210,7 @@ cdef class Quad16NonlinearShellModRot(Element): **numNodes**: 16 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1242,7 +1242,7 @@ cdef class Quad16NonlinearShellQuaternion(Element): **numNodes**: 16 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1400,7 +1400,7 @@ cdef class Tri3NonlinearShellModRot(Element): **numNodes**: 3 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. @@ -1494,7 +1494,7 @@ cdef class Quad4NonlinearThermalShell(Element): **numNodes**: 4 - outputElement: ``TACS.BEAM_OR_SHELL_ELEMENT`` + **outputElement**: ``TACS.BEAM_OR_SHELL_ELEMENT`` Args: transform (ShellTransform or None): Shell transform object. From 58ab5ecbc3ce6a5d59403cefd3fbf9f5513b392f Mon Sep 17 00:00:00 2001 From: Tim Brooks <41971846+timryanb@users.noreply.github.com> Date: Mon, 23 Oct 2023 10:07:22 -0400 Subject: [PATCH 170/174] Removing `isNonlinear` option from examples --- examples/nonlinear_annulus/analysis.py | 1 - examples/nonlinear_skin_buckle/analysis.py | 1 - 2 files changed, 2 deletions(-) diff --git a/examples/nonlinear_annulus/analysis.py b/examples/nonlinear_annulus/analysis.py index 0f0e75c2f..3a0c204ad 100644 --- a/examples/nonlinear_annulus/analysis.py +++ b/examples/nonlinear_annulus/analysis.py @@ -68,7 +68,6 @@ # ============================================================================== structOptions = { "printtiming": True, - "isNonlinear": STRAIN_TYPE != "linear" or ROTATION_TYPE != "linear", } FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) diff --git a/examples/nonlinear_skin_buckle/analysis.py b/examples/nonlinear_skin_buckle/analysis.py index c0054ac5e..c5546af62 100644 --- a/examples/nonlinear_skin_buckle/analysis.py +++ b/examples/nonlinear_skin_buckle/analysis.py @@ -68,7 +68,6 @@ # ============================================================================== structOptions = { "printtiming": True, - "isNonlinear": STRAIN_TYPE != "linear" or ROTATION_TYPE != "linear", } FEAAssembler = pyTACS(BDF_FILE, options=structOptions, comm=COMM) From 9e964a7e9d13cc25d4dbb008057caa9cda7d3a18 Mon Sep 17 00:00:00 2001 From: Tim Brooks <41971846+timryanb@users.noreply.github.com> Date: Mon, 23 Oct 2023 11:14:18 -0400 Subject: [PATCH 171/174] add `nonlinerSolver` option to staticproblem --- tacs/problems/static.py | 119 ++++++++++++++++++++++++---------------- 1 file changed, 71 insertions(+), 48 deletions(-) diff --git a/tacs/problems/static.py b/tacs/problems/static.py index f9f8159c4..3a4c8ebe2 100644 --- a/tacs/problems/static.py +++ b/tacs/problems/static.py @@ -15,6 +15,7 @@ import os import time from collections import OrderedDict +import warnings import numpy as np import pyNastran.bdf as pn @@ -30,11 +31,16 @@ class StaticProblem(TACSProblem): defaultOptions = { "outputDir": [str, "./", "Output directory for F5 file writer."], # Solution Options - "KSMSolver": [ + "linearSolver": [ str, "GMRES", "Krylov subspace method to use for linear solver. Currently only supports 'GMRES'", ], + "nonlinearSolver": [ + str, + "Continuation", + "Convergence method to use for nonlinear solver. Currently only supports 'Continuation'", + ], "orderingType": [ int, tacs.TACS.ND_ORDER, @@ -170,50 +176,57 @@ def __init__( # Setup solver and solver history objects for nonlinear problems if self.isNonlinear: - # Give the nonlinear solvers their own linear solvers - newtonLinearSolver = tacs.TACS.KSM( - self.K, - self.PC, - self.getOption("subSpaceSize"), - self.getOption("nRestarts"), - self.getOption("flexible"), - ) - newtonLinearSolver.setTolerances( - self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") - ) - continuationLinearSolver = tacs.TACS.KSM( - self.K, - self.PC, - self.getOption("subSpaceSize"), - self.getOption("nRestarts"), - self.getOption("flexible"), - ) - continuationLinearSolver.setTolerances( - self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") - ) + # TODO: I'd like to have an option to specify other NL solvers in future + if self.getOption("nonlinearSolver") == "Continuation": + # Give the nonlinear solvers their own linear solvers + newtonLinearSolver = tacs.TACS.KSM( + self.K, + self.PC, + self.getOption("subSpaceSize"), + self.getOption("nRestarts"), + self.getOption("flexible"), + ) + newtonLinearSolver.setTolerances( + self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") + ) + continuationLinearSolver = tacs.TACS.KSM( + self.K, + self.PC, + self.getOption("subSpaceSize"), + self.getOption("nRestarts"), + self.getOption("flexible"), + ) + continuationLinearSolver.setTolerances( + self.getOption("L2ConvergenceRel"), self.getOption("L2Convergence") + ) - # Create Newton solver, the inner solver for the continuation solver - newtonSolver = tacs.solvers.NewtonSolver( - assembler=self.assembler, - setStateFunc=self.setVariables, - resFunc=self.getResidual, - jacFunc=self.updateJacobian, - pcUpdateFunc=self.updatePreconditioner, - linearSolver=newtonLinearSolver, - comm=self.comm, - ) + # Create Newton solver, the inner solver for the continuation solver + newtonSolver = tacs.solvers.NewtonSolver( + assembler=self.assembler, + setStateFunc=self.setVariables, + resFunc=self.getResidual, + jacFunc=self.updateJacobian, + pcUpdateFunc=self.updatePreconditioner, + linearSolver=newtonLinearSolver, + comm=self.comm, + ) - # And now create the continuation solver - self.nonlinearSolver = tacs.solvers.ContinuationSolver( - jacFunc=self.updateJacobian, - pcUpdateFunc=self.updatePreconditioner, - linearSolver=continuationLinearSolver, - setLambdaFunc=self.setLoadScale, - getLambdaFunc=self.getLoadScale, - innerSolver=newtonSolver, - comm=self.comm, - ) - self.nonlinearSolver.setCallback(self._nonlinearCallback) + # And now create the continuation solver + self.nonlinearSolver = tacs.solvers.ContinuationSolver( + jacFunc=self.updateJacobian, + pcUpdateFunc=self.updatePreconditioner, + linearSolver=continuationLinearSolver, + setLambdaFunc=self.setLoadScale, + getLambdaFunc=self.getLoadScale, + innerSolver=newtonSolver, + comm=self.comm, + ) + self.nonlinearSolver.setCallback(self._nonlinearCallback) + else: + raise self._TACSError( + "Unknown nonlinearSolver option. Valid options are " + "'Continuation'" + ) def _createVariables(self): """Internal to create the variable required by TACS""" @@ -312,7 +325,7 @@ def _createVariables(self): ) # Operator, fill level, fill ratio, msub, rtol, ataol - if opt("KSMSolver").upper() == "GMRES": + if opt("linearSolver").upper() == "GMRES": self.linearSolver = tacs.TACS.KSM( self.K, self.PC, @@ -321,13 +334,13 @@ def _createVariables(self): opt("flexible"), ) # TODO: Fix this - # elif opt('KSMSolver').upper() == 'GCROT': + # elif opt('linearSolver').upper() == 'GCROT': # self.KSM = tacs.TACS.GCROT( # self.K, self.PC, opt('subSpaceSize'), opt('subSpaceSize'), # opt('nRestarts'), opt('flexible')) else: raise self._TACSError( - "Unknown KSMSolver option. Valid options are " "'GMRES' or 'GCROT'" + "Unknown linearSolver option. Valid options are " "'GMRES' or 'GCROT'" ) self.linearSolver.setTolerances( @@ -337,7 +350,7 @@ def _createVariables(self): if opt("useMonitor"): self.linearSolver.setMonitor( self.comm, - _descript=opt("KSMSolver").upper(), + _descript=opt("linearSolver").upper(), freq=opt("monitorFrequency"), ) @@ -357,6 +370,15 @@ def setOption(self, name, value): value : depends on option New option value to set """ + # Updated deprecated option + if name.lower() == "ksmsolver": + name = "linearSolver" + warnings.warn( + "'KSMSolver' option will be deprecated starting in tacs 3.7.0. " + "Please use `linearSolver` option instead.", + DeprecationWarning, + ) + # Default setOption for common problem class objects TACSProblem.setOption(self, name, value) @@ -891,7 +913,8 @@ def _solveLinear(self, Fext=None): # Solve Linear System for the update hasConverged = self.linearSolver.solve(self.res, self.update) - hasConverged = hasConverged == 1 + # Convert from int to bool + hasConverged = bool(hasConverged) if not hasConverged: self._TACSWarning( From cae54488a57f4b088cd4264d8d1c57f26abf4a36 Mon Sep 17 00:00:00 2001 From: Tim Brooks <41971846+timryanb@users.noreply.github.com> Date: Mon, 23 Oct 2023 11:14:56 -0400 Subject: [PATCH 172/174] Reducing tol on locally failing test --- tests/integration_tests/test_shell_hemisphere_nonlinear.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/integration_tests/test_shell_hemisphere_nonlinear.py b/tests/integration_tests/test_shell_hemisphere_nonlinear.py index b81310dc8..a3878110c 100644 --- a/tests/integration_tests/test_shell_hemisphere_nonlinear.py +++ b/tests/integration_tests/test_shell_hemisphere_nonlinear.py @@ -51,7 +51,7 @@ def setup_tacs_problems(self, comm): # Overwrite default check values if self.dtype == complex: - self.rtol = 1e-8 + self.rtol = 1e-7 self.atol = 1e-13 self.dh = 1e-200 else: From 4b22e3fcb3e524cab0e9a86d5ff7c7b8d19b4b0a Mon Sep 17 00:00:00 2001 From: Tim Brooks <41971846+timryanb@users.noreply.github.com> Date: Mon, 23 Oct 2023 12:08:19 -0400 Subject: [PATCH 173/174] Remove BaseSolver from UI documentation --- docs/source/pytacs/solvers.rst | 1 - 1 file changed, 1 deletion(-) diff --git a/docs/source/pytacs/solvers.rst b/docs/source/pytacs/solvers.rst index 626320a30..d58f60e5d 100644 --- a/docs/source/pytacs/solvers.rst +++ b/docs/source/pytacs/solvers.rst @@ -4,6 +4,5 @@ Solver classes .. toctree:: :maxdepth: 1 - base_solver continuation_solver newton_solver From 1534480925526a4df03a198506c313f6ff2cd8da Mon Sep 17 00:00:00 2001 From: A-Gray-94 Date: Mon, 23 Oct 2023 16:40:54 -0400 Subject: [PATCH 174/174] Fix some mistakes in solver options documentation --- docs/source/pytacs/continuation_solver.rst | 6 ++---- docs/source/pytacs/newton_solver.rst | 6 ++---- docs/source/pytacs/static.rst | 3 ++- 3 files changed, 6 insertions(+), 9 deletions(-) diff --git a/docs/source/pytacs/continuation_solver.rst b/docs/source/pytacs/continuation_solver.rst index b80273284..66c1e11f1 100644 --- a/docs/source/pytacs/continuation_solver.rst +++ b/docs/source/pytacs/continuation_solver.rst @@ -4,10 +4,8 @@ ContinuationSolver Options ^^^^^^^ -Options can be set for :class:`~tacs.solvers.ContinuationSolver` at time of creation for the class in the -:meth:`pyTACS.createStaticProblem ` method or using the -:meth:`ContinuationSolver.setOption ` method. Current option values for a class -instance can be printed out using the :meth:`ContinuationSolver.printOption ` method. +Options can be set using the :meth:`ContinuationSolver.setOption ` and :meth:`ContinuationSolver.setOptions ` methods. +Current option values for a class instance can be printed out using the :meth:`ContinuationSolver.printOptions ` method. The following options, their default values and descriptions are listed below: .. program-output:: python -c "from tacs.solvers import ContinuationSolver; ContinuationSolver.printDefaultOptions()" diff --git a/docs/source/pytacs/newton_solver.rst b/docs/source/pytacs/newton_solver.rst index 4cd99d2d2..eb4b5142c 100644 --- a/docs/source/pytacs/newton_solver.rst +++ b/docs/source/pytacs/newton_solver.rst @@ -4,10 +4,8 @@ NewtonSolver Options ^^^^^^^ -Options can be set for :class:`~tacs.solvers.NewtonSolver` at time of creation for the class in the -:meth:`pyTACS.createStaticProblem ` method or using the -:meth:`NewtonSolver.setOption ` method. Current option values for a class -instance can be printed out using the :meth:`NewtonSolver.printOption ` method. +Options can be set using the :meth:`NewtonSolver.setOption ` and :meth:`NewtonSolver.setOptions ` methods. +Current option values for a class instance can be printed out using the :meth:`NewtonSolver.printOptions ` method. The following options, their default values and descriptions are listed below: .. program-output:: python -c "from tacs.solvers import NewtonSolver; NewtonSolver.printDefaultOptions()" diff --git a/docs/source/pytacs/static.rst b/docs/source/pytacs/static.rst index fb43697c8..2165df76c 100644 --- a/docs/source/pytacs/static.rst +++ b/docs/source/pytacs/static.rst @@ -17,7 +17,8 @@ Nonlinear solvers When you create an assembler using a nonlinear element type or constitutive model, any static problems you create will automatically setup a nonlinear solver. A continuation solver is used to control an adaptive load incrementation process, and a Newton solver is used to solve the nonlinear system of equations at each load increment. The options for these solvers should be set directly to ``problem.nonlinearSolver`` and ``problem.nonlinearSolver.innerSolver``. -See :class:`~tacs.solvers.ContinuationSolver` and :class:`~tacs.solvers.NewtonSolver` for more information. +See :ref:`ContinuationSolver ` and :ref:`NewtonSolver ` for more information. + API Reference ^^^^^^^^^^^^^