Actual source code: ex9.c

      1: static const char help[] = "Solves obstacle problem in 2D as a variational inequality\n\
      2: or nonlinear complementarity problem.  This is a form of the Laplace equation in\n\
      3: which the solution u is constrained to be above a given function psi.  In the\n\
      4: problem here an exact solution is known.\n";

      6: /*  On a square S = {-2<x<2,-2<y<2}, the PDE
      7:     u_{xx} + u_{yy} = 0
      8: is solved on the set where membrane is above obstacle (u(x,y) >= psi(x,y)).
      9: Here psi is the upper hemisphere of the unit ball.  On the boundary of S
     10: we have Dirichlet boundary conditions from the exact solution.  Uses centered
     11: FD scheme.  This example contributed by Ed Bueler.

     13: Example usage:
     14:   * get help:
     15:     ./ex9 -help
     16:   * monitor run:
     17:     ./ex9 -da_refine 2 -snes_vi_monitor
     18:   * use other SNESVI type (default is SNESVINEWTONRSLS):
     19:     ./ex9 -da_refine 2 -snes_vi_monitor -snes_type vinewtonssls
     20:   * use FD evaluation of Jacobian by coloring, instead of analytical:
     21:     ./ex9 -da_refine 2 -snes_fd_color
     22:   * X windows visualizations:
     23:     ./ex9 -snes_monitor_solution draw -draw_pause 1 -da_refine 4
     24:     ./ex9 -snes_vi_monitor_residual -draw_pause 1 -da_refine 4
     25:   * serial convergence evidence:
     26:     for M in 3 4 5 6 7; do ./ex9 -snes_grid_sequence $M -pc_type mg; done
     27:   * parallel full-cycle multigrid from enlarged coarse mesh:
     28:     mpiexec -n 4 ./ex9 -da_grid_x 12 -da_grid_y 12 -snes_converged_reason -snes_grid_sequence 4 -pc_type mg
     29: */

     31: #include <petsc.h>

     33: /* z = psi(x,y) is the hemispherical obstacle, but made C^1 with "skirt" at r=r0 */
     34: PetscReal psi(PetscReal x, PetscReal y)
     35: {
     36:   const PetscReal r = x * x + y * y, r0 = 0.9, psi0 = PetscSqrtReal(1.0 - r0 * r0), dpsi0 = -r0 / psi0;
     37:   if (r <= r0) {
     38:     return PetscSqrtReal(1.0 - r);
     39:   } else {
     40:     return psi0 + dpsi0 * (r - r0);
     41:   }
     42: }

     44: /*  This exact solution solves a 1D radial free-boundary problem for the
     45: Laplace equation, on the interval 0 < r < 2, with above obstacle psi(x,y).
     46: The Laplace equation applies where u(r) > psi(r),
     47:     u''(r) + r^-1 u'(r) = 0
     48: with boundary conditions including free b.c.s at an unknown location r = a:
     49:     u(a) = psi(a),  u'(a) = psi'(a),  u(2) = 0
     50: The solution is  u(r) = - A log(r) + B   on  r > a.  The boundary conditions
     51: can then be reduced to a root-finding problem for a:
     52:     a^2 (log(2) - log(a)) = 1 - a^2
     53: The solution is a = 0.697965148223374 (giving residual 1.5e-15).  Then
     54: A = a^2*(1-a^2)^(-0.5) and B = A*log(2) are as given below in the code.  */
     55: PetscReal u_exact(PetscReal x, PetscReal y)
     56: {
     57:   const PetscReal afree = 0.697965148223374, A = 0.680259411891719, B = 0.471519893402112;
     58:   PetscReal       r;
     59:   r = PetscSqrtReal(x * x + y * y);
     60:   return (r <= afree) ? psi(x, y)                 /* active set; on the obstacle */
     61:                       : -A * PetscLogReal(r) + B; /* solves laplace eqn */
     62: }

     64: extern PetscErrorCode FormExactSolution(DMDALocalInfo *, Vec);
     65: extern PetscErrorCode FormBounds(SNES, Vec, Vec);
     66: extern PetscErrorCode FormFunctionLocal(DMDALocalInfo *, PetscReal **, PetscReal **, void *);
     67: extern PetscErrorCode FormJacobianLocal(DMDALocalInfo *, PetscReal **, Mat, Mat, void *);

     69: int main(int argc, char **argv)
     70: {
     71:   SNES          snes;
     72:   DM            da, da_after;
     73:   Vec           u, u_exact;
     74:   DMDALocalInfo info;
     75:   PetscReal     error1, errorinf;

     77:   PetscFunctionBeginUser;
     78:   PetscCall(PetscInitialize(&argc, &argv, NULL, help));

     80:   PetscCall(DMDACreate2d(PETSC_COMM_WORLD, DM_BOUNDARY_NONE, DM_BOUNDARY_NONE, DMDA_STENCIL_STAR, 5, 5, /* 5x5 coarse grid; override with -da_grid_x,_y */
     81:                          PETSC_DECIDE, PETSC_DECIDE, 1, 1,                                              /* dof=1 and s = 1 (stencil extends out one cell) */
     82:                          NULL, NULL, &da));
     83:   PetscCall(DMSetFromOptions(da));
     84:   PetscCall(DMSetUp(da));
     85:   PetscCall(DMDASetUniformCoordinates(da, -2.0, 2.0, -2.0, 2.0, 0.0, 1.0));

     87:   PetscCall(DMCreateGlobalVector(da, &u));
     88:   PetscCall(VecSet(u, 0.0));

     90:   PetscCall(SNESCreate(PETSC_COMM_WORLD, &snes));
     91:   PetscCall(SNESSetDM(snes, da));
     92:   PetscCall(SNESSetType(snes, SNESVINEWTONRSLS));
     93:   PetscCall(SNESVISetComputeVariableBounds(snes, &FormBounds));
     94:   PetscCall(DMDASNESSetFunctionLocal(da, INSERT_VALUES, (DMDASNESFunctionFn *)FormFunctionLocal, NULL));
     95:   PetscCall(DMDASNESSetJacobianLocal(da, (DMDASNESJacobianFn *)FormJacobianLocal, NULL));
     96:   PetscCall(SNESSetFromOptions(snes));

     98:   /* solve nonlinear system */
     99:   PetscCall(SNESSolve(snes, NULL, u));
    100:   PetscCall(VecDestroy(&u));
    101:   PetscCall(DMDestroy(&da));
    102:   /* DMDA after solve may be different, e.g. with -snes_grid_sequence */
    103:   PetscCall(SNESGetDM(snes, &da_after));
    104:   PetscCall(SNESGetSolution(snes, &u)); /* do not destroy u */
    105:   PetscCall(DMDAGetLocalInfo(da_after, &info));
    106:   PetscCall(VecDuplicate(u, &u_exact));
    107:   PetscCall(FormExactSolution(&info, u_exact));
    108:   PetscCall(VecAXPY(u, -1.0, u_exact)); /* u <-- u - u_exact */
    109:   PetscCall(VecNorm(u, NORM_1, &error1));
    110:   error1 /= (PetscReal)info.mx * (PetscReal)info.my; /* average error */
    111:   PetscCall(VecNorm(u, NORM_INFINITY, &errorinf));
    112:   PetscCall(PetscPrintf(PETSC_COMM_WORLD, "errors on %" PetscInt_FMT " x %" PetscInt_FMT " grid:  av |u-uexact|  = %.3e,  |u-uexact|_inf = %.3e\n", info.mx, info.my, (double)error1, (double)errorinf));
    113:   PetscCall(VecDestroy(&u_exact));
    114:   PetscCall(SNESDestroy(&snes));
    115:   PetscCall(DMDestroy(&da));
    116:   PetscCall(PetscFinalize());
    117:   return 0;
    118: }

    120: PetscErrorCode FormExactSolution(DMDALocalInfo *info, Vec u)
    121: {
    122:   PetscInt    i, j;
    123:   PetscReal **au, dx, dy, x, y;

    125:   PetscFunctionBeginUser;
    126:   dx = 4.0 / (PetscReal)(info->mx - 1);
    127:   dy = 4.0 / (PetscReal)(info->my - 1);
    128:   PetscCall(DMDAVecGetArray(info->da, u, &au));
    129:   for (j = info->ys; j < info->ys + info->ym; j++) {
    130:     y = -2.0 + j * dy;
    131:     for (i = info->xs; i < info->xs + info->xm; i++) {
    132:       x        = -2.0 + i * dx;
    133:       au[j][i] = u_exact(x, y);
    134:     }
    135:   }
    136:   PetscCall(DMDAVecRestoreArray(info->da, u, &au));
    137:   PetscFunctionReturn(PETSC_SUCCESS);
    138: }

    140: PetscErrorCode FormBounds(SNES snes, Vec Xl, Vec Xu)
    141: {
    142:   DM            da;
    143:   DMDALocalInfo info;
    144:   PetscInt      i, j;
    145:   PetscReal   **aXl, dx, dy, x, y;

    147:   PetscFunctionBeginUser;
    148:   PetscCall(SNESGetDM(snes, &da));
    149:   PetscCall(DMDAGetLocalInfo(da, &info));
    150:   dx = 4.0 / (PetscReal)(info.mx - 1);
    151:   dy = 4.0 / (PetscReal)(info.my - 1);
    152:   PetscCall(DMDAVecGetArray(da, Xl, &aXl));
    153:   for (j = info.ys; j < info.ys + info.ym; j++) {
    154:     y = -2.0 + j * dy;
    155:     for (i = info.xs; i < info.xs + info.xm; i++) {
    156:       x         = -2.0 + i * dx;
    157:       aXl[j][i] = psi(x, y);
    158:     }
    159:   }
    160:   PetscCall(DMDAVecRestoreArray(da, Xl, &aXl));
    161:   PetscCall(VecSet(Xu, PETSC_INFINITY));
    162:   PetscFunctionReturn(PETSC_SUCCESS);
    163: }

    165: PetscErrorCode FormFunctionLocal(DMDALocalInfo *info, PetscScalar **au, PetscScalar **af, void *user)
    166: {
    167:   PetscInt  i, j;
    168:   PetscReal dx, dy, x, y, ue, un, us, uw;

    170:   PetscFunctionBeginUser;
    171:   dx = 4.0 / (PetscReal)(info->mx - 1);
    172:   dy = 4.0 / (PetscReal)(info->my - 1);
    173:   for (j = info->ys; j < info->ys + info->ym; j++) {
    174:     y = -2.0 + j * dy;
    175:     for (i = info->xs; i < info->xs + info->xm; i++) {
    176:       x = -2.0 + i * dx;
    177:       if (i == 0 || j == 0 || i == info->mx - 1 || j == info->my - 1) {
    178:         af[j][i] = 4.0 * (au[j][i] - u_exact(x, y));
    179:       } else {
    180:         uw       = (i - 1 == 0) ? u_exact(x - dx, y) : au[j][i - 1];
    181:         ue       = (i + 1 == info->mx - 1) ? u_exact(x + dx, y) : au[j][i + 1];
    182:         us       = (j - 1 == 0) ? u_exact(x, y - dy) : au[j - 1][i];
    183:         un       = (j + 1 == info->my - 1) ? u_exact(x, y + dy) : au[j + 1][i];
    184:         af[j][i] = -(dy / dx) * (uw - 2.0 * au[j][i] + ue) - (dx / dy) * (us - 2.0 * au[j][i] + un);
    185:       }
    186:     }
    187:   }
    188:   PetscCall(PetscLogFlops(12.0 * info->ym * info->xm));
    189:   PetscFunctionReturn(PETSC_SUCCESS);
    190: }

    192: PetscErrorCode FormJacobianLocal(DMDALocalInfo *info, PetscScalar **au, Mat A, Mat jac, void *user)
    193: {
    194:   PetscInt   i, j, n;
    195:   MatStencil col[5], row;
    196:   PetscReal  v[5], dx, dy, oxx, oyy;

    198:   PetscFunctionBeginUser;
    199:   dx  = 4.0 / (PetscReal)(info->mx - 1);
    200:   dy  = 4.0 / (PetscReal)(info->my - 1);
    201:   oxx = dy / dx;
    202:   oyy = dx / dy;
    203:   for (j = info->ys; j < info->ys + info->ym; j++) {
    204:     for (i = info->xs; i < info->xs + info->xm; i++) {
    205:       row.j = j;
    206:       row.i = i;
    207:       if (i == 0 || j == 0 || i == info->mx - 1 || j == info->my - 1) { /* boundary */
    208:         v[0] = 4.0;
    209:         PetscCall(MatSetValuesStencil(jac, 1, &row, 1, &row, v, INSERT_VALUES));
    210:       } else { /* interior grid points */
    211:         v[0]     = 2.0 * (oxx + oyy);
    212:         col[0].j = j;
    213:         col[0].i = i;
    214:         n        = 1;
    215:         if (i - 1 > 0) {
    216:           v[n]       = -oxx;
    217:           col[n].j   = j;
    218:           col[n++].i = i - 1;
    219:         }
    220:         if (i + 1 < info->mx - 1) {
    221:           v[n]       = -oxx;
    222:           col[n].j   = j;
    223:           col[n++].i = i + 1;
    224:         }
    225:         if (j - 1 > 0) {
    226:           v[n]       = -oyy;
    227:           col[n].j   = j - 1;
    228:           col[n++].i = i;
    229:         }
    230:         if (j + 1 < info->my - 1) {
    231:           v[n]       = -oyy;
    232:           col[n].j   = j + 1;
    233:           col[n++].i = i;
    234:         }
    235:         PetscCall(MatSetValuesStencil(jac, 1, &row, n, col, v, INSERT_VALUES));
    236:       }
    237:     }
    238:   }

    240:   /* Assemble matrix, using the 2-step process: */
    241:   PetscCall(MatAssemblyBegin(jac, MAT_FINAL_ASSEMBLY));
    242:   PetscCall(MatAssemblyEnd(jac, MAT_FINAL_ASSEMBLY));
    243:   if (A != jac) {
    244:     PetscCall(MatAssemblyBegin(A, MAT_FINAL_ASSEMBLY));
    245:     PetscCall(MatAssemblyEnd(A, MAT_FINAL_ASSEMBLY));
    246:   }
    247:   PetscCall(PetscLogFlops(2.0 * info->ym * info->xm));
    248:   PetscFunctionReturn(PETSC_SUCCESS);
    249: }

    251: /*TEST

    253:    build:
    254:       requires: !complex

    256:    test:
    257:       suffix: 1
    258:       requires: !single
    259:       nsize: 1
    260:       args: -da_refine 1 -snes_monitor_short -snes_type vinewtonrsls

    262:    test:
    263:       suffix: 2
    264:       requires: !single
    265:       nsize: 2
    266:       args: -da_refine 1 -snes_monitor_short -snes_type vinewtonssls

    268:    test:
    269:       suffix: 3
    270:       requires: !single
    271:       nsize: 2
    272:       args: -snes_grid_sequence 2 -snes_vi_monitor -snes_type vinewtonrsls

    274:    test:
    275:       suffix: mg
    276:       requires: !single
    277:       nsize: 4
    278:       args: -snes_grid_sequence 3 -snes_converged_reason -pc_type mg

    280:    test:
    281:       suffix: 4
    282:       nsize: 1
    283:       args: -mat_is_symmetric

    285:    test:
    286:       suffix: 5
    287:       nsize: 1
    288:       args: -ksp_converged_reason -snes_fd_color

    290:    test:
    291:       suffix: 6
    292:       requires: !single
    293:       nsize: 2
    294:       args: -snes_grid_sequence 2 -pc_type mg -snes_monitor_short -ksp_converged_reason

    296:    test:
    297:       suffix: 7
    298:       nsize: 2
    299:       args: -da_refine 1 -snes_monitor_short -snes_type composite -snes_composite_type multiplicative -snes_composite_sneses vinewtonrsls,vinewtonssls -sub_0_snes_vi_monitor -sub_1_snes_vi_monitor
    300:       TODO: fix nasty memory leak in SNESCOMPOSITE

    302:    test:
    303:       suffix: 8
    304:       nsize: 2
    305:       args: -da_refine 1 -snes_monitor_short -snes_type composite -snes_composite_type additive -snes_composite_sneses vinewtonrsls -sub_0_snes_vi_monitor
    306:       TODO: fix nasty memory leak in SNESCOMPOSITE

    308:    test:
    309:       suffix: 9
    310:       nsize: 2
    311:       args: -da_refine 1 -snes_monitor_short -snes_type composite -snes_composite_type additiveoptimal -snes_composite_sneses vinewtonrsls -sub_0_snes_vi_monitor
    312:       TODO: fix nasty memory leak in SNESCOMPOSITE

    314: TEST*/