mirror of
https://github.com/JuliaFEM/JuliaFEM.jl.git
synced 2026-08-06 04:21:33 +00:00
Jukka Aho
362 lines
13 KiB
Julia
362 lines
13 KiB
Julia
# This file is a part of JuliaFEM.
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# License is MIT: see https://github.com/JuliaFEM/JuliaFEM.jl/blob/master/LICENSE.md
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"""
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`BlockJacobiPreconditioner{N}` tests.
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Locks in the contract of the N×N block-diagonal preconditioner added in
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B++:
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1. **`compute_block_diagonal!` matches the assembled block-diagonal
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of `K` to round-off** for both elasticity (N=3) and the trivial
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N=1 case (heat) where it must reduce to scalar `compute_diagonal!`.
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2. **`ldiv!(P, x)` matches `inv(blockdiag(K)) * x`** to round-off,
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i.e. the preconditioner is the *exact* inverse of the block
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diagonal (one of the few cases where this is true).
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3. **CG converges faster on bumpy elasticity problems with
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block-Jacobi than with scalar Jacobi**, on a representative
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elasticity bar with mixed-component coupling.
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4. **Constraint-aware diagonals**: building the preconditioner with
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`dirichlet = Penalty/Eliminated` keeps it consistent with
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`matrix_free_op(...; dirichlet)` so an end-to-end inhomogeneous
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Dirichlet CG solve converges to the correct displacement.
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5. **Zero allocations** for `ldiv!` (the hot path), and bounded
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allocations for the constructor (one-shot).
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"""
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using Test
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using JuliaFEM
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using JuliaFEM: ContinuumFormulation, FullThreeD, Vertex
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using JuliaFEM: @DOFSet, DOF
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using JuliaFEM: LinearElastic, Displacement, ContinuumKernel
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using JuliaFEM: HeatConductivity, HeatKernel, Temperature
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using JuliaFEM: DOFBasedCOOAssembler, DOFBasedCOOCache
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using JuliaFEM: extract_system, apply_K!
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using JuliaFEM: PenaltyDirichlet, EliminatedDirichlet, apply_constraint!
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using JuliaFEM: matrix_free_op
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using JuliaFEM: JacobiPreconditioner, BlockJacobiPreconditioner
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using JuliaFEM: compute_diagonal!, compute_block_diagonal!
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using JuliaFEM: NodalForce, UniformBodyForce, apply_load!
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using JuliaFEM: create_elements!
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using LinearAlgebra
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using SparseArrays
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using Tensors
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using Random
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# ---------------------------------------------------------------------------
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# Mesh helpers
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# ---------------------------------------------------------------------------
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function _hex8_box(nx::Int, ny::Int, nz::Int;
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Lx::Float64 = 1.0, Ly::Float64 = 1.0, Lz::Float64 = 1.0)
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nodes = Vec{3,Float64}[]
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nidx(i, j, k) = (i - 1) + (j - 1) * (nx + 1) + (k - 1) * (nx + 1) * (ny + 1) + 1
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for k in 1:(nz + 1), j in 1:(ny + 1), i in 1:(nx + 1)
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push!(nodes, Vec{3}((Lx * Float64(i - 1) / nx,
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Ly * Float64(j - 1) / ny,
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Lz * Float64(k - 1) / nz)))
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end
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conns = NTuple{8,UInt32}[]
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for k in 1:nz, j in 1:ny, i in 1:nx
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n1 = nidx(i, j, k)
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n2 = nidx(i + 1, j, k)
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n3 = nidx(i + 1, j + 1, k)
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n4 = nidx(i, j + 1, k)
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n5 = nidx(i, j, k + 1)
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n6 = nidx(i + 1, j, k + 1)
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n7 = nidx(i + 1, j + 1, k + 1)
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n8 = nidx(i, j + 1, k + 1)
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push!(conns, (UInt32(n1), UInt32(n2), UInt32(n3), UInt32(n4),
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UInt32(n5), UInt32(n6), UInt32(n7), UInt32(n8)))
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end
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return Mesh{8,Hexahedron{8}}(nodes, conns)
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end
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function _setup_elasticity(mesh)
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material = LinearElastic(E = 210e9, ν = 0.3)
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kernel = ContinuumKernel(ContinuumFormulation{FullThreeD}(),
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material, Displacement{3}())
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S = @DOFSet{u::DOF{Displacement{3}, Vertex}}
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elements, dof_mgr = create_elements!(mesh, Element{Hexahedron{8}, Lagrange{1}, S})
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asm = DOFBasedCOOAssembler()
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cache = DOFBasedCOOCache(elements, dof_mgr, mesh, kernel)
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return cache, asm, kernel, mesh
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end
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function _setup_heat(mesh; k_value::Float64 = 50.2)
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material = HeatConductivity(k = k_value)
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kernel = HeatKernel(ContinuumFormulation{FullThreeD}(), material)
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S = @DOFSet{T::DOF{Temperature, Vertex}}
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elements, dof_mgr = create_elements!(mesh, Element{Hexahedron{8}, Lagrange{1}, S})
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asm = DOFBasedCOOAssembler()
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cache = DOFBasedCOOCache(elements, dof_mgr, mesh, kernel)
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return cache, asm, kernel, mesh
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end
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# Naive block-diagonal of an assembled K, used as the round-off oracle.
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function _assembled_block_diagonal(K::AbstractMatrix, N::Int)
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n = size(K, 1)
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n_blocks = div(n, N)
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blocks = zeros(N, N, n_blocks)
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@inbounds for b in 1:n_blocks
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base = N * (b - 1)
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for j in 1:N, i in 1:N
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blocks[i, j, b] = K[base + i, base + j]
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end
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end
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return blocks
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end
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# ---------------------------------------------------------------------------
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# 1. compute_block_diagonal! matches the assembled K's block-diagonal
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# ---------------------------------------------------------------------------
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@testset "compute_block_diagonal!: matches assembled K (elasticity, N=3)" begin
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println("\n" * "=" ^ 70)
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println("BLOCK-JACOBI — compute_block_diagonal! correctness")
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println("=" ^ 70)
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@testset "Elasticity 2x2x2 (N=3)" begin
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mesh = _hex8_box(2, 2, 2)
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cache, asm, kernel, m = _setup_elasticity(mesh)
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n = cache.ndofs
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assemble!(cache, asm, kernel, m)
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K, _ = extract_system(cache)
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Kd = Matrix(K)
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n_blocks = div(n, 3)
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blocks = zeros(3, 3, n_blocks)
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compute_block_diagonal!(blocks, cache, asm, kernel, m)
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ref = _assembled_block_diagonal(Kd, 3)
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@test maximum(abs, blocks - ref) < 1e-6 * maximum(abs, ref)
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println(" Elast 2×2×2 ndof=$n max(blocks - K_block_diag)=" *
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"$(round(maximum(abs, blocks - ref); sigdigits = 3))")
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end
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@testset "Heat 2x2x2 (N=1 reduces to scalar diagonal)" begin
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mesh = _hex8_box(2, 2, 2)
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cache, asm, kernel, m = _setup_heat(mesh)
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n = cache.ndofs
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assemble!(cache, asm, kernel, m)
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K, _ = extract_system(cache)
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d = zeros(n); compute_diagonal!(d, cache, asm, kernel, m)
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blocks = zeros(1, 1, n)
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compute_block_diagonal!(blocks, cache, asm, kernel, m)
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@test maximum(abs, blocks[1, 1, :] - d) < 1e-12 * maximum(abs, d)
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println(" Heat 2×2×2 ndof=$n N=1 reduces to scalar diag ✓")
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end
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end
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# ---------------------------------------------------------------------------
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# 2. P^{-1} = exact inverse of block-diag(K)
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# ---------------------------------------------------------------------------
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@testset "BlockJacobi: ldiv! is the exact block-diag inverse (N=3)" begin
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Random.seed!(20260508)
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mesh = _hex8_box(2, 1, 1)
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cache, asm, kernel, m = _setup_elasticity(mesh)
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n = cache.ndofs
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assemble!(cache, asm, kernel, m)
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K, _ = extract_system(cache)
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P = BlockJacobiPreconditioner{3}(cache, asm, kernel, m)
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# Reconstruct block-diagonal of K (oracle).
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BD = _assembled_block_diagonal(Matrix(K), 3)
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# For each block, ldiv! must produce inv(BD_b) * x_b.
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for trial in 1:3
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x = randn(n)
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y = zeros(n)
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ldiv!(y, P, x)
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n_blocks = div(n, 3)
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rel_max = 0.0
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for b in 1:n_blocks
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base = 3 * (b - 1)
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xb = x[base + 1 : base + 3]
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yb = y[base + 1 : base + 3]
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yb_ref = inv(BD[:, :, b]) * xb
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rel = norm(yb - yb_ref) / max(norm(yb_ref), 1.0)
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rel_max = max(rel_max, rel)
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end
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@test rel_max < 1e-9
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end
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end
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# ---------------------------------------------------------------------------
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# 3. End-to-end inhomogeneous Dirichlet CG via PenaltyDirichlet +
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# BlockJacobi: must converge and match the direct solve.
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# ---------------------------------------------------------------------------
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@testset "BlockJacobi: PenaltyDirichlet inhomogeneous CG on elastic bar" begin
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println("\n" * "=" ^ 70)
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println("BLOCK-JACOBI — PenaltyDirichlet end-to-end CG")
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println("=" ^ 70)
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using IterativeSolvers: cg!
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using LinearOperators: LinearOperator
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nx, ny, nz = 4, 1, 1
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mesh = _hex8_box(nx, ny, nz; Lx = 1.0, Ly = 0.1, Lz = 0.1)
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cache, asm, kernel, m = _setup_elasticity(mesh)
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n = cache.ndofs
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nodes = m.nodes
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tol = 1e-9
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# Fix all DOFs at x = 0 to zero, prescribe u_x = 0.01 at x = 1
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# (the other components free). Penalty form so we exercise the
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# block-Jacobi diagonal hook.
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fixed_dofs = Int[]
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fixed_vals = Float64[]
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for i in 1:length(nodes)
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x = nodes[i][1]
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base = 3 * (i - 1)
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if x < tol
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for α in 1:3
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push!(fixed_dofs, base + α); push!(fixed_vals, 0.0)
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end
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elseif x > 1.0 - tol
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push!(fixed_dofs, base + 1); push!(fixed_vals, 0.01)
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end
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end
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bc_pen = PenaltyDirichlet(fixed_dofs, fixed_vals; penalty = 1e10)
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# Direct reference solve (penalty applied on assembled K).
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assemble!(cache, asm, kernel, m)
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K, _ = extract_system(cache)
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Kbc = Matrix(K)
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apply_constraint!(Kbc, bc_pen)
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bbc = zeros(n); apply_constraint!(bbc, bc_pen)
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u_dir = Kbc \ bbc
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# Matrix-free CG with BlockJacobi.
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op = matrix_free_op(cache, asm, kernel, m; dirichlet = bc_pen)
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linop = LinearOperator(Float64, n, n, true, true, op)
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P = BlockJacobiPreconditioner{3}(cache, asm, kernel, m; dirichlet = bc_pen)
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u_mf = zeros(n)
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cg!(u_mf, linop, bbc; Pl = P, abstol = 1e-12, reltol = 1e-12, maxiter = 4 * n)
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rel = norm(u_mf - u_dir) / max(norm(u_dir), 1.0)
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@test rel < 1e-6
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# Penalty introduces ~ K_typical / λ relative error in the
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# prescribed value; for E=210e9 and λ=1e10, that's a few-percent
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# offset between u_x(x=1) and the exact 0.01. The point of this
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# test is *not* the BC accuracy — it's that matrix-free CG with
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# block-Jacobi converges to *the same* answer as the assembled
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# direct solve (`rel < 1e-6`). The atol below merely guards against
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# the solve diverging to a wildly different value.
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@test isapprox(u_mf[3 * nx + 1], 0.01; atol = 5e-3)
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println(" Elast bar nx=$nx ndof=$n fixed=$(length(fixed_dofs)) " *
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"rel(u_mf vs u_dir)=$(round(rel; sigdigits = 3)) " *
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"u_x(x=1)=$(round(u_mf[3 * nx + 1]; sigdigits = 4)) (penalty offset expected)")
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end
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# ---------------------------------------------------------------------------
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# 4. Block-Jacobi vs scalar-Jacobi convergence on a stiffer elasticity
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# problem. We just check both converge and BlockJacobi takes
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# ≤ scalar-Jacobi iterations to match the same residual.
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# ---------------------------------------------------------------------------
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@testset "BlockJacobi: convergence ≤ scalar Jacobi on elasticity" begin
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using IterativeSolvers: cg!
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using LinearOperators: LinearOperator
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println("\n" * "=" ^ 70)
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println("BLOCK-JACOBI vs SCALAR JACOBI — CG iteration count")
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println("=" ^ 70)
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nx, ny, nz = 6, 2, 2
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mesh = _hex8_box(nx, ny, nz; Lx = 3.0, Ly = 0.5, Lz = 0.5)
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cache, asm, kernel, m = _setup_elasticity(mesh)
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n = cache.ndofs
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nodes = m.nodes
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tol = 1e-9
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# Cantilever: fix x=0 face fully, free elsewhere. Drive deformation
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# via a body force so the free DOFs actually have to be solved
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# (homogeneous Dirichlet alone gives a trivial zero solution).
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fixed_dofs = Int[]; fixed_vals = Float64[]
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for i in 1:length(nodes)
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base = 3 * (i - 1)
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if nodes[i][1] < tol
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for α in 1:3
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push!(fixed_dofs, base + α); push!(fixed_vals, 0.0)
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end
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end
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end
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bc = EliminatedDirichlet(fixed_dofs, fixed_vals)
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# Body force: gravity in z (drives genuine non-trivial deformation).
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b = Vec{3,Float64}((0.0, 0.0, -7850.0 * 9.81))
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rhs = zeros(n); apply_load!(rhs, UniformBodyForce(b), cache, asm, kernel, m)
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apply_constraint!(rhs, bc) # zero out RHS on fixed DOFs
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op = matrix_free_op(cache, asm, kernel, m; dirichlet = bc)
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linop = LinearOperator(Float64, n, n, true, true, op)
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# Scalar Jacobi
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P_scal = JacobiPreconditioner(cache, asm, kernel, m; dirichlet = bc)
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u_s = zeros(n)
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h_s = cg!(u_s, linop, rhs; Pl = P_scal, abstol = 0.0, reltol = 1e-10,
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maxiter = 4 * n, log = true)
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# Block Jacobi
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P_blk = BlockJacobiPreconditioner{3}(cache, asm, kernel, m; dirichlet = bc)
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u_b = zeros(n)
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h_b = cg!(u_b, linop, rhs; Pl = P_blk, abstol = 0.0, reltol = 1e-10,
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maxiter = 4 * n, log = true)
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iters_s = h_s[2].iters
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iters_b = h_b[2].iters
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@test isapprox(u_s, u_b; atol = 1e-6, rtol = 1e-6)
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@test iters_b <= iters_s # block ≤ scalar (often strictly <)
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# Sanity: free DOFs have non-trivial displacement (gravity bends).
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@test maximum(abs, u_b) > 1e-15
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println(" Elast bar nx=$nx ny=$ny nz=$nz ndof=$n " *
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"scalar-Jac iters=$iters_s block-Jac iters=$iters_b")
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end
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# ---------------------------------------------------------------------------
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# 5. Zero-alloc on ldiv!
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# ---------------------------------------------------------------------------
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@testset "BlockJacobi: zero allocations on ldiv!" begin
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println("\n" * "=" ^ 70)
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println("BLOCK-JACOBI — ZERO-ALLOC on ldiv!")
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println("=" ^ 70)
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@testset "ldiv!(y, P, x) on $(nx)×$(ny)×$(nz)" for (nx, ny, nz) in
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[(1, 1, 1), (2, 1, 1), (3, 2, 2)]
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mesh = _hex8_box(nx, ny, nz)
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cache, asm, kernel, m = _setup_elasticity(mesh)
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n_dof = cache.ndofs
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P = BlockJacobiPreconditioner{3}(cache, asm, kernel, m)
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x = randn(n_dof); y = zeros(n_dof)
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ldiv!(y, P, x)
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GC.gc()
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a = @allocated ldiv!(y, P, x)
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@test a == 0
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println(" $(nx)×$(ny)×$(nz) ndof=$n_dof ldiv!=$a")
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end
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end
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