xref: /petsc/src/mat/interface/matnull.c (revision 4e8208cbcbc709572b8abe32f33c78b69c819375)

/*
    Routines to project vectors out of null spaces.
*/

#include <petsc/private/matimpl.h> /*I "petscmat.h" I*/

PetscClassId MAT_NULLSPACE_CLASSID;

/*@C
  MatNullSpaceSetFunction - set a function that removes a null space from a vector
  out of null spaces.

  Logically Collective

  Input Parameters:
+ sp  - the `MatNullSpace` null space object
. rem - the function that removes the null space
- ctx - context for the remove function

  Level: advanced

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `MatNullSpaceDestroy()`, `MatNullSpaceRemove()`, `MatSetNullSpace()`, `MatNullSpaceCreate()`, `MatNullSpaceRemoveFn`
@*/
PetscErrorCode MatNullSpaceSetFunction(MatNullSpace sp, MatNullSpaceRemoveFn *rem, PetscCtx ctx)
{
  PetscFunctionBegin;
  PetscValidHeaderSpecific(sp, MAT_NULLSPACE_CLASSID, 1);
  sp->remove = rem;
  sp->rmctx  = ctx;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@C
  MatNullSpaceGetVecs - get the vectors defining the null space

  Not Collective

  Input Parameter:
. sp - null space object

  Output Parameters:
+ has_const - `PETSC_TRUE` if the null space contains the constant vector, otherwise `PETSC_FALSE`
. n         - number of vectors (excluding constant vector) in the null space
- vecs      - returns array of length `n` containing the orthonormal vectors that span the null space (excluding the constant vector), `NULL` if `n` is 0

  Level: developer

  Note:
  These vectors and the array returned are owned by the `MatNullSpace` and should not be destroyed or freeded by the caller

  Fortran Note:
  Call `MatNullSpaceRestoreVecs()` when the array of `Vec` is no longer needed

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `MatNullSpaceCreate()`, `MatGetNullSpace()`, `MatGetNearNullSpace()`
@*/
PetscErrorCode MatNullSpaceGetVecs(MatNullSpace sp, PetscBool *has_const, PetscInt *n, const Vec *vecs[])
{
  PetscFunctionBegin;
  PetscValidHeaderSpecific(sp, MAT_NULLSPACE_CLASSID, 1);
  if (has_const) *has_const = sp->has_cnst;
  if (n) *n = sp->n;
  if (vecs) *vecs = sp->vecs;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  MatNullSpaceCreateRigidBody - create rigid body modes from coordinates

  Collective

  Input Parameter:
. coords - block of coordinates of each node, must have block size set

  Output Parameter:
. sp - the null space

  Level: advanced

  Notes:
  If you are solving an elasticity problem you should likely use this, in conjunction with `MatSetNearNullSpace()`, to provide information that
  the `PCGAMG` preconditioner can use to construct a much more efficient preconditioner.

  If you are solving an elasticity problem with pure Neumann boundary conditions you can use this in conjunction with `MatSetNullSpace()` to
  provide this information to the linear solver so it can handle the null space appropriately in the linear solution.

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `MatNullSpaceCreate()`, `MatSetNearNullSpace()`, `MatSetNullSpace()`, `PCGAMG`
@*/
PetscErrorCode MatNullSpaceCreateRigidBody(Vec coords, MatNullSpace *sp)
{
  const PetscScalar *x;
  PetscScalar       *v[6], dots[5];
  Vec                vec[6];
  PetscInt           n, N, dim, nmodes, i, j;
  PetscReal          sN;

  PetscFunctionBegin;
  PetscCall(VecGetBlockSize(coords, &dim));
  PetscCall(VecGetLocalSize(coords, &n));
  PetscCall(VecGetSize(coords, &N));
  n /= dim;
  N /= dim;
  sN = 1. / PetscSqrtReal((PetscReal)N);
  switch (dim) {
  case 1:
    PetscCall(MatNullSpaceCreate(PetscObjectComm((PetscObject)coords), PETSC_TRUE, 0, NULL, sp));
    break;
  case 2:
  case 3:
    nmodes = (dim == 2) ? 3 : 6;
    PetscCall(VecCreate(PetscObjectComm((PetscObject)coords), &vec[0]));
    PetscCall(VecSetSizes(vec[0], dim * n, dim * N));
    PetscCall(VecSetBlockSize(vec[0], dim));
    PetscCall(VecSetUp(vec[0]));
    for (i = 1; i < nmodes; i++) PetscCall(VecDuplicate(vec[0], &vec[i]));
    for (i = 0; i < nmodes; i++) PetscCall(VecGetArray(vec[i], &v[i]));
    PetscCall(VecGetArrayRead(coords, &x));
    for (i = 0; i < n; i++) {
      if (dim == 2) {
        v[0][i * 2 + 0] = sN;
        v[0][i * 2 + 1] = 0.;
        v[1][i * 2 + 0] = 0.;
        v[1][i * 2 + 1] = sN;
        /* Rotations */
        v[2][i * 2 + 0] = -x[i * 2 + 1];
        v[2][i * 2 + 1] = x[i * 2 + 0];
      } else {
        v[0][i * 3 + 0] = sN;
        v[0][i * 3 + 1] = 0.;
        v[0][i * 3 + 2] = 0.;
        v[1][i * 3 + 0] = 0.;
        v[1][i * 3 + 1] = sN;
        v[1][i * 3 + 2] = 0.;
        v[2][i * 3 + 0] = 0.;
        v[2][i * 3 + 1] = 0.;
        v[2][i * 3 + 2] = sN;

        v[3][i * 3 + 0] = x[i * 3 + 1];
        v[3][i * 3 + 1] = -x[i * 3 + 0];
        v[3][i * 3 + 2] = 0.;
        v[4][i * 3 + 0] = 0.;
        v[4][i * 3 + 1] = -x[i * 3 + 2];
        v[4][i * 3 + 2] = x[i * 3 + 1];
        v[5][i * 3 + 0] = x[i * 3 + 2];
        v[5][i * 3 + 1] = 0.;
        v[5][i * 3 + 2] = -x[i * 3 + 0];
      }
    }
    for (i = 0; i < nmodes; i++) PetscCall(VecRestoreArray(vec[i], &v[i]));
    PetscCall(VecRestoreArrayRead(coords, &x));
    for (i = dim; i < nmodes; i++) {
      /* Orthonormalize vec[i] against vec[0:i-1] */
      PetscCall(VecMDot(vec[i], i, vec, dots));
      for (j = 0; j < i; j++) dots[j] *= -1.;
      PetscCall(VecMAXPY(vec[i], i, dots, vec));
      PetscCall(VecNormalize(vec[i], NULL));
    }
    PetscCall(MatNullSpaceCreate(PetscObjectComm((PetscObject)coords), PETSC_FALSE, nmodes, vec, sp));
    for (i = 0; i < nmodes; i++) PetscCall(VecDestroy(&vec[i]));
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  MatNullSpaceView - Visualizes a null space object.

  Collective

  Input Parameters:
+ sp     - the null space
- viewer - visualization context

  Level: advanced

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `PetscViewer`, `MatNullSpaceCreate()`, `PetscViewerASCIIOpen()`
@*/
PetscErrorCode MatNullSpaceView(MatNullSpace sp, PetscViewer viewer)
{
  PetscBool isascii;

  PetscFunctionBegin;
  PetscValidHeaderSpecific(sp, MAT_NULLSPACE_CLASSID, 1);
  if (!viewer) PetscCall(PetscViewerASCIIGetStdout(PetscObjectComm((PetscObject)sp), &viewer));
  PetscValidHeaderSpecific(viewer, PETSC_VIEWER_CLASSID, 2);
  PetscCheckSameComm(sp, 1, viewer, 2);

  PetscCall(PetscObjectTypeCompare((PetscObject)viewer, PETSCVIEWERASCII, &isascii));
  if (isascii) {
    PetscViewerFormat format;
    PetscInt          i;
    PetscCall(PetscViewerGetFormat(viewer, &format));
    PetscCall(PetscObjectPrintClassNamePrefixType((PetscObject)sp, viewer));
    PetscCall(PetscViewerASCIIPushTab(viewer));
    PetscCall(PetscViewerASCIIPrintf(viewer, "Contains %" PetscInt_FMT " vector%s%s\n", sp->n, sp->n == 1 ? "" : "s", sp->has_cnst ? " and the constant" : ""));
    if (sp->remove) PetscCall(PetscViewerASCIIPrintf(viewer, "Has user-provided removal function\n"));
    if (!(format == PETSC_VIEWER_ASCII_INFO || format == PETSC_VIEWER_ASCII_INFO_DETAIL)) {
      for (i = 0; i < sp->n; i++) PetscCall(VecView(sp->vecs[i], viewer));
    }
    PetscCall(PetscViewerASCIIPopTab(viewer));
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  MatNullSpaceCreate - Creates a `MatNullSpace` data structure used to project vectors out of null spaces.

  Collective

  Input Parameters:
+ comm     - the MPI communicator associated with the object
. has_cnst - `PETSC_TRUE` if the null space contains the constant vector; otherwise `PETSC_FALSE`
. n        - number of vectors (excluding constant vector) in null space
- vecs     - the vectors that span the null space (excluding the constant vector);
             these vectors must be orthonormal. These vectors are NOT copied, so do not change them
             after this call. You should free the array that you pass in and destroy the vectors (this will reduce the reference count
             for them by one).

  Output Parameter:
. SP - the null space context

  Level: advanced

  Notes:
  See `MatNullSpaceSetFunction()` as an alternative way of providing the null space information instead of providing the vectors.

  If has_cnst is `PETSC_TRUE` you do not need to pass a constant vector in as a fourth argument to this routine, nor do you
  need to pass in a function that eliminates the constant function into `MatNullSpaceSetFunction()`.

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `MatNullSpaceDestroy()`, `MatNullSpaceRemove()`, `MatSetNullSpace()`, `MatNullSpaceSetFunction()`
@*/
PetscErrorCode MatNullSpaceCreate(MPI_Comm comm, PetscBool has_cnst, PetscInt n, const Vec vecs[], MatNullSpace *SP)
{
  MatNullSpace sp;
  PetscInt     i;

  PetscFunctionBegin;
  PetscCheck(n >= 0, PETSC_COMM_SELF, PETSC_ERR_ARG_OUTOFRANGE, "Number of vectors (given %" PetscInt_FMT ") cannot be negative", n);
  if (n) PetscAssertPointer(vecs, 4);
  for (i = 0; i < n; i++) PetscValidHeaderSpecific(vecs[i], VEC_CLASSID, 4);
  PetscAssertPointer(SP, 5);
  if (n) {
    for (i = 0; i < n; i++) {
      /* prevent the user from changes values in the vector */
      PetscCall(VecLockReadPush(vecs[i]));
    }
  }
  if (PetscUnlikelyDebug(n)) {
    PetscScalar *dots;
    for (i = 0; i < n; i++) {
      PetscReal norm;
      PetscCall(VecNorm(vecs[i], NORM_2, &norm));
      PetscCheck(PetscAbsReal(norm - 1) <= PETSC_SQRT_MACHINE_EPSILON, PetscObjectComm((PetscObject)vecs[i]), PETSC_ERR_ARG_WRONG, "Vector %" PetscInt_FMT " must have 2-norm of 1.0, it is %g", i, (double)norm);
    }
    if (has_cnst) {
      for (i = 0; i < n; i++) {
        PetscScalar sum;
        PetscCall(VecSum(vecs[i], &sum));
        PetscCheck(PetscAbsScalar(sum) <= PETSC_SQRT_MACHINE_EPSILON, PetscObjectComm((PetscObject)vecs[i]), PETSC_ERR_ARG_WRONG, "Vector %" PetscInt_FMT " must be orthogonal to constant vector, inner product is %g", i, (double)PetscAbsScalar(sum));
      }
    }
    PetscCall(PetscMalloc1(n - 1, &dots));
    for (i = 0; i < n - 1; i++) {
      PetscInt j;
      PetscCall(VecMDot(vecs[i], n - i - 1, vecs + i + 1, dots));
      for (j = 0; j < n - i - 1; j++) {
        PetscCheck(PetscAbsScalar(dots[j]) <= PETSC_SQRT_MACHINE_EPSILON, PetscObjectComm((PetscObject)vecs[i]), PETSC_ERR_ARG_WRONG, "Vector %" PetscInt_FMT " must be orthogonal to vector %" PetscInt_FMT ", inner product is %g", i, i + j + 1, (double)PetscAbsScalar(dots[j]));
      }
    }
    PetscCall(PetscFree(dots));
  }

  *SP = NULL;
  PetscCall(MatInitializePackage());

  PetscCall(PetscHeaderCreate(sp, MAT_NULLSPACE_CLASSID, "MatNullSpace", "Null space", "Mat", comm, MatNullSpaceDestroy, MatNullSpaceView));

  sp->has_cnst = has_cnst;
  sp->n        = n;
  sp->vecs     = NULL;
  sp->alpha    = NULL;
  sp->remove   = NULL;
  sp->rmctx    = NULL;

  if (n) {
    PetscCall(PetscMalloc1(n, &sp->vecs));
    PetscCall(PetscMalloc1(n, &sp->alpha));
    for (i = 0; i < n; i++) {
      PetscCall(PetscObjectReference((PetscObject)vecs[i]));
      sp->vecs[i] = vecs[i];
    }
  }

  *SP = sp;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  MatNullSpaceDestroy - Destroys a data structure used to project vectors out of null spaces.

  Collective

  Input Parameter:
. sp - the null space context to be destroyed

  Level: advanced

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `MatNullSpaceCreate()`, `MatNullSpaceRemove()`, `MatNullSpaceSetFunction()`
@*/
PetscErrorCode MatNullSpaceDestroy(MatNullSpace *sp)
{
  PetscInt i;

  PetscFunctionBegin;
  if (!*sp) PetscFunctionReturn(PETSC_SUCCESS);
  PetscValidHeaderSpecific(*sp, MAT_NULLSPACE_CLASSID, 1);
  if (--((PetscObject)*sp)->refct > 0) {
    *sp = NULL;
    PetscFunctionReturn(PETSC_SUCCESS);
  }

  for (i = 0; i < (*sp)->n; i++) PetscCall(VecLockReadPop((*sp)->vecs[i]));

  PetscCall(VecDestroyVecs((*sp)->n, &(*sp)->vecs));
  PetscCall(PetscFree((*sp)->alpha));
  PetscCall(PetscHeaderDestroy(sp));
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  MatNullSpaceRemove - Removes all the components of a null space from a vector.

  Collective

  Input Parameters:
+ sp  - the null space context (if this is `NULL` then no null space is removed)
- vec - the vector from which the null space is to be removed

  Level: advanced

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `MatNullSpaceCreate()`, `MatNullSpaceDestroy()`, `MatNullSpaceSetFunction()`
@*/
PetscErrorCode MatNullSpaceRemove(MatNullSpace sp, Vec vec)
{
  PetscScalar sum;
  PetscInt    i, N;

  PetscFunctionBegin;
  if (!sp) PetscFunctionReturn(PETSC_SUCCESS);
  PetscValidHeaderSpecific(sp, MAT_NULLSPACE_CLASSID, 1);
  PetscValidHeaderSpecific(vec, VEC_CLASSID, 2);

  if (sp->has_cnst) {
    PetscCall(VecGetSize(vec, &N));
    if (N > 0) {
      PetscCall(VecSum(vec, &sum));
      sum = sum / ((PetscScalar)(-1.0 * N));
      PetscCall(VecShift(vec, sum));
    }
  }

  if (sp->n) {
    PetscCall(VecMDot(vec, sp->n, sp->vecs, sp->alpha));
    for (i = 0; i < sp->n; i++) sp->alpha[i] = -sp->alpha[i];
    PetscCall(VecMAXPY(vec, sp->n, sp->alpha, sp->vecs));
  }

  if (sp->remove) PetscCall((*sp->remove)(sp, vec, sp->rmctx));
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  MatNullSpaceTest  - Tests if the claimed null space is really a null space of a matrix

  Collective

  Input Parameters:
+ sp  - the null space context
- mat - the matrix

  Output Parameter:
. isNull - `PETSC_TRUE` if the nullspace is valid for this matrix

  Level: advanced

.seealso: [](ch_matrices), `Mat`, `MatNullSpace`, `MatNullSpaceCreate()`, `MatNullSpaceDestroy()`, `MatNullSpaceSetFunction()`
@*/
PetscErrorCode MatNullSpaceTest(MatNullSpace sp, Mat mat, PetscBool *isNull)
{
  PetscScalar sum;
  PetscReal   nrm, tol = 10. * PETSC_SQRT_MACHINE_EPSILON;
  PetscInt    j, n, N;
  Vec         l, r;
  PetscBool   flg1 = PETSC_FALSE, flg2 = PETSC_FALSE, consistent = PETSC_TRUE;
  PetscViewer viewer;

  PetscFunctionBegin;
  PetscValidHeaderSpecific(sp, MAT_NULLSPACE_CLASSID, 1);
  PetscValidHeaderSpecific(mat, MAT_CLASSID, 2);
  n = sp->n;
  PetscCall(PetscOptionsGetBool(((PetscObject)sp)->options, ((PetscObject)mat)->prefix, "-mat_null_space_test_view", &flg1, NULL));
  PetscCall(PetscOptionsGetBool(((PetscObject)sp)->options, ((PetscObject)mat)->prefix, "-mat_null_space_test_view_draw", &flg2, NULL));

  if (n) {
    PetscCall(VecDuplicate(sp->vecs[0], &l));
  } else {
    PetscCall(MatCreateVecs(mat, &l, NULL));
  }

  PetscCall(PetscViewerASCIIGetStdout(PetscObjectComm((PetscObject)sp), &viewer));
  if (sp->has_cnst) {
    PetscCall(VecDuplicate(l, &r));
    PetscCall(VecGetSize(l, &N));
    sum = 1.0 / PetscSqrtReal(N);
    PetscCall(VecSet(l, sum));
    PetscCall(MatMult(mat, l, r));
    PetscCall(VecNorm(r, NORM_2, &nrm));
    if (nrm >= tol) consistent = PETSC_FALSE;
    if (flg1) {
      PetscCall(PetscPrintf(PetscObjectComm((PetscObject)sp), "Constants are %s null vector ", consistent ? "likely" : "unlikely"));
      PetscCall(PetscPrintf(PetscObjectComm((PetscObject)sp), "|| A * 1/sqrt(N) || = %g\n", (double)nrm));
    }
    if (!consistent && (flg1 || flg2)) PetscCall(VecView(r, viewer));
    PetscCall(VecDestroy(&r));
  }

  for (j = 0; j < n; j++) {
    PetscUseTypeMethod(mat, mult, sp->vecs[j], l);
    PetscCall(VecNorm(l, NORM_2, &nrm));
    if (nrm >= tol) consistent = PETSC_FALSE;
    if (flg1) {
      PetscCall(PetscPrintf(PetscObjectComm((PetscObject)sp), "Null vector %" PetscInt_FMT " is %s null vector ", j, consistent ? "likely" : "unlikely"));
      PetscCall(PetscPrintf(PetscObjectComm((PetscObject)sp), "|| A * v[%" PetscInt_FMT "] || = %g\n", j, (double)nrm));
    }
    if (!consistent && (flg1 || flg2)) PetscCall(VecView(l, viewer));
  }

  PetscCheck(!sp->remove, PetscObjectComm((PetscObject)mat), PETSC_ERR_SUP, "Cannot test a null space provided as a function with MatNullSpaceSetFunction()");
  PetscCall(VecDestroy(&l));
  if (isNull) *isNull = consistent;
  PetscFunctionReturn(PETSC_SUCCESS);
}