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dom.c
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/*
* dom.c
* Copyright (C) 2008, Tomasz Koziara (t.koziara AT gmail.com)
* ---------------------------------------------------------------
* a domain gathers bodies and constraints
*/
/* This file is part of Solfec.
* Solfec is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* Solfec is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public
* License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Solfec. If not, see <http://www.gnu.org/licenses/>. */
#include <string.h>
#include <limits.h>
#include <float.h>
#include "sol.h"
#include "alg.h"
#include "msh.h"
#include "cvx.h"
#include "set.h"
#include "dom.h"
#include "goc.h"
#include "tmr.h"
#include "pck.h"
#include "err.h"
#include "dio.h"
#include "cra.h"
#include "fra.h"
#include "psc.h"
#include "lng.h"
#if MPI
#include "put.h"
#include "com.h"
#endif
#define CONBLK 128 /* constraints memory block size */
#define MAPBLK 128 /* map items memory block size */
#define SETBLK 128 /* set items memory block size */
/* excluded surface pairs comparison */
static int pair_compare (int *a, int *b)
{
if (a[0] < b[0]) return -1;
else if (a[0] == b[0] && a[1] < b[1]) return -1;
else if (a[0] == b[0] && a[1] == b[1]) return 0;
else return 1;
}
/* create aabb data */
static AABB_DATA* aabb_create_data (void)
{
AABB_DATA *data;
double part;
ERRMEM (data = malloc (sizeof (AABB_DATA)));
part = 1.0 / (double) BOXALG_COUNT;
data->aabb_limits [0] = 0.0;
data->aabb_counter = 0;
data->aabb_algo = 0;
return data;
}
/* free aabb data */
static void aabb_destroy_data (AABB_DATA *data)
{
free (data);
}
/* fastest box overlap algorithm */
static BOXALG aabb_algorithm (DOM *dom)
{
#if 0
AABB_DATA *data = dom->aabb_data;
double num, *tim, *lim;
int i;
if (data->aabb_counter < BOXALG_COUNT)
{
data->aabb_algo = data->aabb_counter ++; /* at first test all algorithms */
}
else /* when all have been tested */
{
tim = data->aabb_timings;
lim = data->aabb_limits;
for (i = 0; i < BOXALG_COUNT; i ++) lim [i+1] = lim [i] + tim [i]; /* sum up */
for (i = 1; i <= BOXALG_COUNT; i ++) lim [i] /= lim [BOXALG_COUNT]; /* normalize */
num = DRAND(); /* random in [0, 1] */
for (i = 0; i < BOXALG_COUNT; i ++)
{
if (num >= lim [i] && num < lim [i+1])
{
data->aabb_algo = i;
return i;
}
}
}
return data->aabb_algo;
#else
return HYBRID; /* TODO: remove when the above proves robust */
#endif
}
/* update aabb timing related data */
static void aabb_timing (DOM *dom, double timing)
{
AABB_DATA *data = dom->aabb_data;
data->aabb_timings [data->aabb_algo] = timing;
}
/* calculate orthonormal
* base storing it in column-wise manner
* in 'loc' with 'n' as the last column */
static void localbase (double *n, double *loc)
{
double len,
e [2][3] = { {1., 0., 0.},
{0., 1., 0.} };
loc [6] = n [0];
loc [7] = n [1];
loc [8] = n [2];
PRODUCT (e [0], n, loc);
if ((len = LEN (loc)) < GEOMETRIC_EPSILON)
{
PRODUCT (e [1], n, loc);
len = LEN (loc);
}
loc [0] /= len;
loc [1] /= len;
loc [2] /= len;
PRODUCT (loc, n, (loc + 3));
}
/* compare two constraints */
#define CONCMP ((SET_Compare) constraint_compare)
static int constraint_compare (CON *one, CON *two)
{
short oc = (one->kind == CONTACT), tc = (two->kind == CONTACT);
BODY *onebod [2], *twobod [2];
SGP *onesgp [2], *twosgp [2];
if (oc > tc) return -1; /* contacts are smaller than non-contacts */
else if (oc < tc) return 1; /* -||- */
else if ((oc + tc) == 0) return (one->id < two->id ? -1 : (one->id == two->id ? 0 : 1)); /* non-contacts: compare IDs */
if (one->master < one->slave) /* contacts: order pointers before comparing */
{
onebod [0] = one->master;
onesgp [0] = one->msgp;
onebod [1] = one->slave;
onesgp [1] = one->ssgp;
}
else if (one->master > one->slave)
{
onebod [0] = one->slave;
onesgp [0] = one->ssgp;
onebod [1] = one->master;
onesgp [1] = one->msgp;
}
else
{
onebod [0] = onebod [1] = one->master;
if (one->msgp < one->ssgp)
{
onesgp [0] = one->msgp;
onesgp [1] = one->ssgp;
}
else
{
onesgp [0] = one->ssgp;
onesgp [1] = one->msgp;
}
}
if (two->master < two->slave)
{
twobod [0] = two->master;
twosgp [0] = two->msgp;
twobod [1] = two->slave;
twosgp [1] = two->ssgp;
}
else if (two->master > two->slave)
{
twobod [0] = two->slave;
twosgp [0] = two->ssgp;
twobod [1] = two->master;
twosgp [1] = two->msgp;
}
else
{
twobod [0] = twobod [1] = two->master;
if (two->msgp < two->ssgp)
{
twosgp [0] = two->msgp;
twosgp [1] = two->ssgp;
}
else
{
twosgp [0] = two->ssgp;
twosgp [1] = two->msgp;
}
}
if (onebod [0] < twobod [0]) return -1; /* compare lexicographically by body pointers and sgps */
else if (onebod [0] == twobod [0])
{
if (onebod [1] < twobod [1]) return -1;
else if (onebod [1] == twobod [1])
{
if (onesgp [0] < twosgp [0]) return -1;
else if (onesgp [0] == twosgp [0])
{
if (onesgp [1] < twosgp [1]) return -1;
else if (onesgp [1] == twosgp [1]) return 0;
}
}
}
return 1;
}
/* insert a new constrait between two bodies */
static CON* insert (DOM *dom, BODY *master, BODY *slave, SGP *msgp, SGP *ssgp, short kind)
{
CON *con;
/* ensure that master pointer was passed;
* tollerate NULL slave pointers, as this indicates a single body constraint;
* note that msgp may be NULL for dummy bodies created in get_body function */
ASSERT_DEBUG (master, "At least master body pointers must be passed");
ERRMEM (con = MEM_Alloc (&dom->conmem));
con->kind = kind;
con->master = master;
con->slave = slave;
con->msgp = msgp;
con->ssgp = ssgp;
/* insert into list */
con->next = dom->con;
if (dom->con) dom->con->prev = con;
dom->con = con;
dom->ncon ++;
#if MPI
if (dom->noid == 0) /* if id generation is enabled */
{
#endif
SET *item = SET_First (dom->sparecid);
if (item)
{
con->id = (unsigned int) (long) item->data; /* use a previously freed id */
SET_Delete (&dom->setmem, &dom->sparecid, item->data, NULL);
}
else
{
con->id = dom->cid;
#if MPI
ASSERT (((unsigned long long) dom->cid) + ((unsigned long long) dom->ncpu) < UINT_MAX, ERR_DOM_TOO_MANY_CONSTRAINTS);
dom->cid += dom->ncpu; /* every ncpu number */
#else
ASSERT (((unsigned long long) dom->cid) + ((unsigned long long) 1) < UINT_MAX, ERR_DOM_TOO_MANY_CONSTRAINTS);
con->id = dom->cid ++;
#endif
}
#if MPI
}
else con->id = dom->noid; /* assign the 'noid' as it was imported with a constraint */
#endif
#if PARDEBUG
ASSERT_DEBUG (!SET_Contains (master->con, con, CONCMP), "Constraint %s with id %d already in body list", CON_Kind (con), con->id);
ASSERT_DEBUG (!slave || (slave && !SET_Contains (slave->con, con, CONCMP)), "Constraint %s with id %d already in body list", CON_Kind (con), con->id);
#endif
/* insert into body constraint adjacency */
SET_Insert (&dom->setmem, &master->con, con, CONCMP);
if (slave) SET_Insert (&dom->setmem, &slave->con, con, CONCMP);
#if PARDEBUG
ASSERT_DEBUG (SET_Contains (master->con, con, CONCMP), "Failed to insert constraint %s with id %d into body list", CON_Kind (con), con->id);
ASSERT_DEBUG (!slave || (slave && SET_Contains (slave->con, con, CONCMP)), "Failed to insert constraint %s with id %d already into body list", CON_Kind (con), con->id);
#endif
/* map by id */
MAP_Insert (&dom->mapmem, &dom->idc, (void*) (long) con->id, con, NULL);
return con;
}
/* insert a contact into the constraints set */
static CON* insert_contact (DOM *dom, BODY *master, BODY *slave, SGP *msgp, SGP *ssgp, double *mpntspa,
double *spntspa, double *normal, double area , double gap, SURFACE_MATERIAL *mat, short paircode)
{
CON *con;
con = insert (dom, master, slave, msgp, ssgp, CONTACT); /* do not insert into LOCDYN yet, only after sparsification */
COPY (mpntspa, con->point);
BODY_Ref_Point (master, msgp, mpntspa, con->mpnt); /* referential image */
BODY_Ref_Point (slave, ssgp, spntspa, con->spnt);
localbase (normal, con->base);
con->area = area;
con->gap = gap;
con->paircode = paircode;
con->state |= SURFACE_MATERIAL_Transfer (dom->time, mat, &con->mat); /* transfer surface pair data from the database to the local variable */
con->state |= CON_NEW; /* mark as newly created */
return con;
}
/* does a potential contact already exists ? */
static int contact_exists (BOX *one, BOX *two)
{
CON aux;
aux.kind = CONTACT;
aux.master = one->body;
aux.msgp = one->sgp;
aux.slave = two->body;
aux.ssgp = two->sgp;
return SET_Contains (one->body->con, &aux, CONCMP);
}
/* box overlap creation callback */
static void overlap_create (DOM *dom, BOX *one, BOX *two)
{
double onepnt [3], twopnt [3], normal [3], gap, area;
int state, spair [2], pair [2], ntri;
SURFACE_MATERIAL *mat;
short paircode;
CON *con;
TRI *tri;
if (contact_exists (one, two)) return;
state = gobjcontact (
CONTACT_DETECT, GOBJ_Pair_Code (one, two),
one->sgp->shp, one->sgp->gobj,
two->sgp->shp, two->sgp->gobj,
onepnt, twopnt, normal,
&gap, &area, spair, &tri, &ntri);
if (state)
{
ASSERT_DEBUG (gap <= 0, "A contact with positive gap (%g) was detected which indicates a bug in goc.c", gap);
if (gap <= dom->depth) dom->flags |= DOM_DEPTH_VIOLATED;
/* set surface pair data if there was a contact */
mat = SPSET_Find (dom->sps, spair [0], spair [1]);
if (dom->excluded)
{
if (spair [0] <= spair [1]) { pair [0] = spair [0]; pair [1] = spair [1]; }
else { pair [0] = spair [1]; pair [1] = spair [0]; }
if (SET_Contains (dom->excluded, pair, (SET_Compare) pair_compare))
{
free (tri);
return; /* exluded pair */
}
}
}
switch (state)
{
case 1: /* first body has outward normal => second body is the master */
{
paircode = GOBJ_Pair_Code (one, two);
con = insert_contact (dom, two->body, one->body, two->sgp, one->sgp, twopnt, onepnt, normal, area, gap, mat, paircode);
con->spair [0] = spair [0];
con->spair [1] = spair [1];
}
break;
case 2: /* second body has outward normal => first body is the master */
{
paircode = GOBJ_Pair_Code (two, one);
con = insert_contact (dom, one->body, two->body, one->sgp, two->sgp, onepnt, twopnt, normal, area, gap, mat, paircode);
con->spair [0] = spair [1];
con->spair [1] = spair [0];
}
break;
}
if (tri) free (tri);
}
#if MPI
/* schedule remote deletion of external constraints */
static void ext_to_remove (DOM *dom, CON *con)
{
for (SET *item = SET_First (con->ext); item; item = SET_Next (item))
{
SET_Insert (&dom->setmem, &dom->dbd [(int) (long) item->data].remove, (void*) (long) con->id, NULL);
}
}
#endif
/* update contact data */
static void update_contact (DOM *dom, CON *con)
{
double mpnt [3], spnt [3], normal [3];
void *mgobj = mgobj(con),
*sgobj = sgobj(con);
SHAPE *mshp = mshp(con),
*sshp = sshp(con);
int state, ntri;
TRI *tri;
/* current spatial points and normal */
BODY_Cur_Point (con->master, con->msgp, con->mpnt, mpnt);
BODY_Cur_Point (con->slave, con->ssgp, con->spnt, spnt);
COPY (con->base+6, normal);
/* update contact data => during an update 'master' and 'slave' relation does not change */
state = gobjcontact (
CONTACT_UPDATE, con->paircode,
sshp, sgobj, mshp, mgobj, /* the slave body holds the outward normal */
spnt, mpnt, normal, &con->gap, /* 'mpnt' and 'spnt' are updated here */
&con->area, con->spair, &tri, &ntri); /* surface pair might change though */
if (state || (con->state & CON_COHESIVE))
{
if (con->state & CON_COHESIVE) /* reuse original point */
{
BODY_Cur_Point (con->master, con->msgp, con->mpnt, con->point);
localbase (normal, con->base); /* but update normal (the interface might rotate) */
}
else
{
if (con->gap <= dom->depth) dom->flags |= DOM_DEPTH_VIOLATED;
COPY (mpnt, con->point);
BODY_Ref_Point (con->master, con->msgp, mpnt, con->mpnt);
BODY_Ref_Point (con->slave, con->ssgp, spnt, con->spnt);
localbase (normal, con->base);
if (state > 1) /* surface pair has changed */
{
SURFACE_MATERIAL *mat = SPSET_Find (dom->sps, con->spair [0], con->spair [1]); /* find new surface pair description */
con->state |= SURFACE_MATERIAL_Transfer (dom->time, mat, &con->mat); /* transfer surface pair data from the database to the local variable */
}
}
}
else
{
#if MPI
ext_to_remove (dom, con); /* schedule remote deletion of external constraints */
#endif
DOM_Remove_Constraint (dom, con); /* remove from the domain */
}
if (tri) free (tri);
}
/* update fixed point data */
static void update_fixpnt (DOM *dom, CON *con)
{
BODY_Cur_Point (con->master, con->msgp, con->mpnt, con->point);
}
/* update fixed direction data */
static void update_fixdir (DOM *dom, CON *con)
{
if (con->slave)
{
double n [3];
BODY_Cur_Point (con->slave, con->ssgp, con->spnt, con->point);
BODY_Ref_Point (con->master, con->msgp, con->point, con->mpnt);
BODY_Cur_Vector (con->master, con->msgp->gobj, con->mpnt, con->Z, n);
localbase (n, con->base);
}
else BODY_Cur_Point (con->master, con->msgp, con->mpnt, con->point);
}
/* update velocity direction data */
static void update_velodir (DOM *dom, CON *con)
{
VELODIR (con->Z) = TMS_Value (con->tms, dom->time + dom->step);
BODY_Cur_Point (con->master, con->msgp, con->mpnt, con->point);
}
/* update rigid link data */
static void update_riglnk (DOM *dom, CON *con)
{
double n [3],
m [3],
s [3],
len;
if (con->master && con->slave)
{
BODY_Cur_Point (con->master, con->msgp, con->mpnt, m);
BODY_Cur_Point (con->slave, con->ssgp, con->spnt, s);
}
else /* master point to a spatial point link */
{
BODY_Cur_Point (con->master, con->msgp, con->mpnt, m);
COPY (con->spnt, s);
}
COPY (m, con->point);
SUB (m, s, RIGLNK_VEC (con->Z));
SUB (m, s, n);
len = LEN (n);
con->gap = len - RIGLNK_LEN(con->Z);
len = 1.0 / len;
SCALE (n, len);
localbase (n, con->base);
}
/* update glue data */
static void update_spring (DOM *dom, CON *con)
{
double v [3],
n [3],
m [3],
s [3],
len,
inv;
BODY_Cur_Point (con->master, con->msgp, con->mpnt, m);
BODY_Cur_Point (con->slave, con->ssgp, con->spnt, s);
COPY (m, con->point);
SUB (m, s, v);
switch (con->spair[0])
{
case SPRING_FOLLOW:
{
COPY (v, n);
len = LEN (v);
if (len != 0.0)
{
inv = 1.0 / len;
SCALE (n, inv);
}
else /* avoid singularity */
{
VECTOR (n, 0, 0, 1);
}
}
break;
case SPRING_FIXED:
{
n[0] = con->Z[4];
n[1] = con->Z[5];
n[2] = con->Z[6];
len = DOT (v, n);
}
break;
case SPRING_CONV_MASTER:
{
BODY_Cur_Vector (con->master, con->msgp->gobj, con->mpnt, con->Z+4, n);
len = DOT (v, n);
}
break;
case SPRING_CONV_SLAVE:
{
BODY_Cur_Vector (con->slave, con->ssgp->gobj, con->spnt, con->Z+4, n);
len = DOT (v, n);
}
break;
}
con->Z[3] = len; /* useful for visualization */
con->gap = len - con->Z[2];
localbase (n, con->base);
}
/* tell whether the geometric objects are topologically adjacent */
static int gobj_adjacent (short paircode, void *aobj, void *bobj)
{
switch (paircode)
{
case AABB_ELEMENT_ELEMENT: return ELEMENT_Adjacent (aobj, bobj);
case AABB_CONVEX_CONVEX: return CONVEX_Adjacent (aobj, bobj);
}
return 0;
}
#if MPI
/* return an SGP index:
* semi-positive index indicates regular surface SGP */
static int SGP_index (BODY *bod, SGP *sgp)
{
long n = sgp - bod->sgp;
ASSERT_DEBUG (n >= 0 && n < bod->nsgp, "Error in SGP index");
return n;
}
/* recreate an SGP from an index returned by SGP_index */
static SGP* SGP_from_index (DOM *dom, BODY *bod, int n)
{
SGP *sgp;
ASSERT_DEBUG (n >= 0 && n < bod->nsgp, "Error in SGP index");
sgp = &bod->sgp [n];
return sgp;
}
/* constraint weight */
static int constraint_weight (CON *con)
{
int wgt0 = 1, /* default weight */
wgt1 = 0; /* weight of local dynamics row */
DOM *dom = con->master->dom;
if (con->dia)
{
OFFB *blk;
for (blk = con->dia->adjext; blk; blk = blk->n) wgt1 ++;
for (blk = con->dia->adj; blk; blk = blk->n) wgt1 ++;
}
wgt0 += (int) (dom->weight_factor * (double) wgt1);
return wgt0;
}
/* body weight */
static int body_weight (BODY *bod)
{
return bod->dofs + bod->nsgp; /* XXX: this is meant to represent the time integration and contact detection together */
}
/* domain weight */
static int domain_weight (DOM *dom)
{
int weight = 0;
BODY *bod;
CON *con;
for (bod = dom->bod; bod; bod = bod->next)
{
weight += body_weight (bod);
}
for (con = dom->con; con; con = con->next)
{
weight += constraint_weight (con);
}
return weight;
}
#if ZOLTAN
/* number of objects for balacing */
static int obj_count (DOM *dom, int *ierr)
{
*ierr = ZOLTAN_OK;
if (dom->ncon + dom->nbod == 0) return 1; /* XXX: Zoltan fails for 0 count */
else return dom->ncon + dom->nbod;
}
/* list of object identifiers for load balancing */
static void obj_list (DOM *dom, int num_gid_entries, int num_lid_entries,
ZOLTAN_ID_PTR global_ids, ZOLTAN_ID_PTR local_ids, int wgt_dim, float *obj_wgts, int *ierr)
{
BODY *bod;
CON *con;
int i;
for (con = dom->con, i = 0; con; con = con->next)
{
global_ids [i * num_gid_entries] = con->id;
obj_wgts [i * wgt_dim] = constraint_weight (con);
i ++;
}
for (bod = dom->bod; bod; i ++, bod = bod->next)
{
global_ids [i * num_gid_entries] = UINT_MAX - bod->id; /* XXX: vournable */
obj_wgts [i * wgt_dim] = body_weight (bod);
}
if (i == 0) /* XXX: Zoltan workaround */
{
global_ids [0] = UINT_MAX;
obj_wgts [0] = 1.0;
}
*ierr = ZOLTAN_OK;
}
/* number of spatial dimensions */
static int dimensions (DOM *dom, int *ierr)
{
*ierr = ZOLTAN_OK;
return 3;
}
/* list of object points exploited during load balancing */
static void obj_points (DOM *dom, int num_gid_entries, int num_lid_entries, int num_obj,
ZOLTAN_ID_PTR global_ids, ZOLTAN_ID_PTR local_ids, int num_dim, double *geom_vec, int *ierr)
{
unsigned int id;
double *e, *v;
BODY *bod;
CON *con;
int i;
if (num_obj == 1 && global_ids [0] == UINT_MAX) /* XXX: Zoltan workaround */
{
SET (geom_vec, 0.0);
}
else for (i = 0; i < num_obj; i ++)
{
id = global_ids [i * num_gid_entries];
v = &geom_vec [i* num_dim];
con = MAP_Find (dom->idc, (void*) (long) id, NULL);
if (con)
{
COPY (con->point, v);
}
else
{
ASSERT_DEBUG_EXT (bod = MAP_Find (dom->idb, (void*) (long) (UINT_MAX - id), NULL), "Invalid body id");
e = bod->extents;
MID (e, e+3, v);
}
}
*ierr = ZOLTAN_OK;
}
#endif
#if LOCAL_BODIES
/* create dummy body if needed */
static BODY* get_body (DOM *dom, int id)
{
BODY *bod;
bod = MAP_Find (dom->allbodies, (void*) (long) id, NULL);
if (!bod) /* create dummy */
{
ERRMEM (bod = MEM_CALLOC (sizeof (BODY)));
bod->nsgp = INT_MAX;
bod->id = id;
bod->dom = dom;
MAP_Insert (&dom->mapmem, &dom->allbodies, (void*) (long) id, bod, NULL);
}
return bod;
}
/* pack body if the child of this body was not previously on given rank */
static void pack_body (BODY *bod, int rank, int *dsize, double **d, int *doubles, int *isize, int **i, int *ints)
{
if (!SET_Contains (bod->prevchildren, (void*) (long) rank, NULL))
{
pack_int (isize, i, ints, 1);
BODY_Pack (bod, dsize, d, doubles, isize, i, ints);
}
else pack_int (isize, i, ints, 0);
}
/* unpack body in place of another body or a dummy */
static BODY* unpack_body (DOM *dom, int id, int *dpos, double *d, int doubles, int *ipos, int *i, int ints)
{
BODY *bod, *q;
MAP *item;
SET *jtem;
CON *con;
int flg;
flg = unpack_int (ipos, i, ints);
item = MAP_Find_Node (dom->allbodies, (void*) (long) id, NULL);
if (flg == 0) /* previous child is expected to exist here */
{
ASSERT_DEBUG (item, "Invalid body id");
return item->data;
}
bod = BODY_Unpack (dom->solfec, dpos, d, doubles, ipos, i, ints);
bod->dom = dom;
if (item == NULL) /* if not in the map simply insert it */
{
MAP_Insert (&dom->mapmem, &dom->allbodies, (void*) (long) bod->id, bod, NULL);
}
else /* already in the map */
{
q = item->data;
if (q->nsgp == INT_MAX) /* q is a dummy */
{
for (jtem = SET_First (q->con); jtem; jtem = SET_Next (jtem)) /* for every constraint */
{
con = jtem->data;
if (con->master == q) /* if master was the dummy */
{
if (con->slave) SET_Delete (&dom->setmem, &con->slave->con, con, CONCMP); /* remove constraint from slave's set */
con->master = bod; /* remap constraint to the new body */
con->msgp = SGP_from_index (dom, bod, con->msgp - q->sgp); /* remap SGP into the new body */
if (con->slave) SET_Insert (&dom->setmem, &con->slave->con, con, CONCMP); /* insert updated constraint into slave's set */
}
else /* slave was the dummy */
{
SET_Delete (&dom->setmem, &con->master->con, con, CONCMP); /* remove from master's set */
con->slave = bod; /* remap body */
con->ssgp = SGP_from_index (dom, bod, con->ssgp - q->sgp); /* remap SGP */
SET_Insert (&dom->setmem, &con->master->con, con, CONCMP); /* insert updated constraint into master's set */
}
SET_Insert (&dom->setmem, &bod->con, con, CONCMP); /* insert updated constraint into body set */
}
SET_Free (&dom->setmem, &q->con); /* free dummies constraint set */
free (q); /* free dummy */
item->data = bod; /* map new body */
}
else /* q is a valid body (formerly a child or a parent on this processor) */
{
BODY_Destroy (bod); /* destroy unpacked body */
bod = q; /* return q */
}
}
return bod;
}
#endif
/* pack constraint migrating out during */
static void pack_constraint (CON *con, int *dsize, double **d, int *doubles, int *isize, int **i, int *ints)
{
pack_int (isize, i, ints, con->id);
/* external ranks */
pack_int (isize, i, ints, SET_Size (con->ext));
for (SET *item = SET_First (con->ext); item; item = SET_Next (item))
pack_int (isize, i, ints, (int) (long) item->data);
pack_int (isize, i, ints, con->kind);
pack_int (isize, i, ints, con->master->id);
if (con->slave) pack_int (isize, i, ints, con->slave->id);
else pack_int (isize, i, ints, 0);
pack_int (isize, i, ints, SGP_index (con->master, con->msgp));
if (con->slave) pack_int (isize, i, ints, SGP_index (con->slave, con->ssgp));
pack_doubles (dsize, d, doubles, con->mpnt, 3);
if (con->slave) pack_doubles (dsize, d, doubles, con->spnt, 3);
pack_doubles (dsize, d, doubles, con->R, 3);
pack_doubles (dsize, d, doubles, con->U, 3);
pack_doubles (dsize, d, doubles, con->point, 3);
pack_doubles (dsize, d, doubles, con->base, 9);
pack_double (dsize, d, doubles, con->gap);
switch ((int) con->kind)
{
case CONTACT:
pack_double (dsize, d, doubles, con->area);
pack_int (isize, i, ints, con->paircode);
SURFACE_MATERIAL_Pack_State (&con->mat, dsize, d, doubles, isize, i, ints);
break;
case VELODIR:
TMS_Pack (con->tms, dsize, d, doubles, isize, i, ints);
pack_doubles (dsize, d, doubles, con->Z, DOM_Z_SIZE);
break;
case RIGLNK:
pack_doubles (dsize, d, doubles, con->Z, DOM_Z_SIZE);
break;
case SPRING:
{
int fid = lngcallback_id (NULL, con->tms);
ASSERT_TEXT (fid, "failed to obtain SPRING callback function ID");
pack_int (isize, i, ints, fid);
pack_int (isize, i, ints, con->spair[0]); /* direction update kind */
pack_doubles (dsize, d, doubles, con->Z, DOM_Z_SIZE);
}
break;
}
con->state |= CON_IDLOCK; /* prevent id deletion */
DOM_Remove_Constraint (con->master->dom, con); /* remove from the domain */
}
/* unpack constraint migrated in during load balancing */
static void unpack_constraint (DOM *dom, int *dpos, double *d, int doubles, int *ipos, int *i, int ints)
{
int kind, cid, mid, sid, n, j, k;
BODY *master, *slave;
SGP *msgp, *ssgp;
SET *ext;
CON *con;
cid = unpack_int (ipos, i, ints);
/* external ranks */
j = unpack_int (ipos, i, ints);
for (ext = NULL, n = 0; n < j; n ++)
{
k = unpack_int (ipos, i, ints);
if (k == dom->rank) /* migrated in plance of a previous external constraint */
{
ASSERT_DEBUG_EXT (con = MAP_Find (dom->conext, (void*) (long) cid, NULL), "Invalid constraint id");
DOM_Remove_Constraint (dom, con); /* ranks packing and this removal are before constraint creation not to mess up bod->con set comparisons */
}
else SET_Insert (&dom->setmem, &ext, (void*) (long) k, NULL);
}
kind = unpack_int (ipos, i, ints);
mid = unpack_int (ipos, i, ints);
sid = unpack_int (ipos, i, ints);
#if LOCAL_BODIES
master = get_body (dom, mid);
if (sid) slave = get_body (dom, sid); else slave = NULL;
#else
ASSERT_DEBUG_EXT (master = MAP_Find (dom->allbodies, (void*) (long) mid, NULL), "Invalid body id");
if (sid) ASSERT_DEBUG_EXT (slave = MAP_Find (dom->allbodies, (void*) (long) sid, NULL), "Invalid body id"); else slave = NULL;
#endif
n = unpack_int (ipos, i, ints);
msgp = SGP_from_index (dom, master, n);
if (slave) n = unpack_int (ipos, i, ints), ssgp = SGP_from_index (dom, slave, n); else ssgp = NULL;
dom->noid = cid; /* disable constraint ids generation and use 'noid' instead */
con = insert (dom, master, slave, msgp, ssgp, kind);
dom->noid = 0; /* enable constraint ids generation */
con->ext = ext; /* external ranks */
unpack_doubles (dpos, d, doubles, con->mpnt, 3);
if (slave) unpack_doubles (dpos, d, doubles, con->spnt, 3);
unpack_doubles (dpos, d, doubles, con->R, 3);
unpack_doubles (dpos, d, doubles, con->U, 3);
unpack_doubles (dpos, d, doubles, con->point, 3);
unpack_doubles (dpos, d, doubles, con->base, 9);
con->gap = unpack_double (dpos, d, doubles);
switch (kind)
{
case CONTACT:
con->area = unpack_double (dpos, d, doubles);
con->paircode = unpack_int (ipos, i, ints);
SURFACE_MATERIAL_Unpack_State (dom->sps, &con->mat, dpos, d, doubles, ipos, i, ints);
break;
case VELODIR:
con->tms = TMS_Unpack (dpos, d, doubles, ipos, i, ints);
unpack_doubles (dpos, d, doubles, con->Z, DOM_Z_SIZE);
break;
case RIGLNK:
unpack_doubles (dpos, d, doubles, con->Z, DOM_Z_SIZE);
break;
case SPRING:
{
int fid = unpack_int (ipos, i, ints); /* callback */
fid = lngcallback_set (fid, NULL, (void**) &con->tms);
ASSERT_TEXT (fid, "failed to set SPRING callback based on ID");
con->spair[0] = unpack_int (ipos, i, ints); /* direction update kind */
unpack_doubles (dpos, d, doubles, con->Z, DOM_Z_SIZE);
}