Change SolverType from GMRES to SPARSE_QR for tests

dav-og · dav-og · commit 581e5f5bf391 · 2025-12-19T13:32:21.000Z
diff --git a/demos/DeepCWind/demo_DeepCWind_decay.cpp b/demos/DeepCWind/demo_DeepCWind_decay.cpp
@@ -41,9 +41,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.08;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     double simulationDuration = 1000.0;
 
     // Create user interface
diff --git a/demos/oswec/demo_oswec_decay.cpp b/demos/oswec/demo_oswec_decay.cpp
@@ -88,7 +88,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.03;
     // system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     // system.GetSolver()->AsIterative()->SetMaxIterations(300);  // the higher, the easier to keep the constraints
     // satisfied.
     ChRealtimeStepTimer realtime_timer;
diff --git a/demos/oswec/demo_oswec_reg_waves.cpp b/demos/oswec/demo_oswec_reg_waves.cpp
@@ -95,7 +95,7 @@ int main(int argc, char* argv[]) {
         system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
         double timestep = 0.03;
         // system.SetTimestepperType(ChTimestepper::Type::HHT);
-        system.SetSolverType(ChSolver::Type::GMRES);
+        system.SetSolverType(ChSolver::Type::SPARSE_QR);
         // system.GetSolver()->AsIterative()->SetMaxIterations(300);
         ChRealtimeStepTimer realtime_timer;
         double simulationDuration = 1000.0;
diff --git a/demos/rm3/demo_rm3_decay.cpp b/demos/rm3/demo_rm3_decay.cpp
@@ -45,9 +45,7 @@ int main(int argc, char* argv[]) {
 
     double timestep = 0.01;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 40.0;
 
diff --git a/demos/rm3/demo_rm3_reg_waves.cpp b/demos/rm3/demo_rm3_reg_waves.cpp
@@ -56,9 +56,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.01;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 40.0;
 
diff --git a/demos/sphere/demo_sphere_decay.cpp b/demos/sphere/demo_sphere_decay.cpp
@@ -43,9 +43,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
 
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(
-        300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 40.0;
 
diff --git a/demos/sphere/demo_sphere_irreg_waves.cpp b/demos/sphere/demo_sphere_irreg_waves.cpp
@@ -39,8 +39,7 @@ int main(int argc, char* argv[]) {
     ChSystemNSC system;
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 600.0;
 
diff --git a/demos/sphere/demo_sphere_irreg_waves_eta_import.cpp b/demos/sphere/demo_sphere_irreg_waves_eta_import.cpp
@@ -39,8 +39,7 @@ int main(int argc, char* argv[]) {
     ChSystemNSC system;
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 600.0;
 
diff --git a/demos/sphere/demo_sphere_reg_waves.cpp b/demos/sphere/demo_sphere_reg_waves.cpp
@@ -53,9 +53,7 @@ int main(int argc, char* argv[]) {
         ChSystemNSC system;
         system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
         double timestep = 0.015;
-        system.SetSolverType(ChSolver::Type::GMRES);
-        system.GetSolver()->AsIterative()->SetMaxIterations(
-            300);  // the higher, the easier to keep the constraints satisfied.
+        system.SetSolverType(ChSolver::Type::SPARSE_QR);
         ChRealtimeStepTimer realtime_timer;
         double simulation_duration = 600.0;
 
diff --git a/demos/sphere/sphere_irreg_waves.cpp b/demos/sphere/sphere_irreg_waves.cpp
@@ -82,8 +82,7 @@ int main(int argc, char* argv[]) {
     ChSystemNSC system;
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);  // the higher, the easier to keep the constraints satisfied.
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     ChRealtimeStepTimer realtime_timer;
     double simulationDuration = 600.0;
 
diff --git a/tests/regression/oswec/test_oswec_decay.cpp b/tests/regression/oswec/test_oswec_decay.cpp
@@ -65,7 +65,7 @@ int main(int argc, char* argv[]) {
 
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.03;
-    system.SetSolverType(ChSolver::Type::GMRES);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     double simulationDuration = 400.0;
 
     // Output timeseries
diff --git a/tests/regression/oswec/test_oswec_reg_waves.cpp b/tests/regression/oswec/test_oswec_reg_waves.cpp
@@ -37,7 +37,7 @@ int main(int argc, char* argv[]) {
 
         system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
         double timestep = 0.03;
-        system.SetSolverType(ChSolver::Type::GMRES);
+        system.SetSolverType(ChSolver::Type::SPARSE_QR);
         double simulationDuration = 240.0;
 
         // Output timeseries
diff --git a/tests/regression/rm3/test_rm3_decay.cpp b/tests/regression/rm3/test_rm3_decay.cpp
@@ -34,8 +34,7 @@ int main(int argc, char* argv[]) {
 
     double timestep = 0.01;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     double simulationDuration = 40.0;
 
     // Output timeseries
diff --git a/tests/regression/rm3/test_rm3_reg_waves.cpp b/tests/regression/rm3/test_rm3_reg_waves.cpp
@@ -49,8 +49,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.01;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     double simulationDuration = 40.0;
 
     // Output timeseries
diff --git a/tests/regression/sphere/test_sphere_decay.cpp b/tests/regression/sphere/test_sphere_decay.cpp
@@ -31,8 +31,7 @@ int main(int argc, char* argv[]) {
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
 
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     double simulationDuration = 40.0;
 
     // Output timeseries
diff --git a/tests/regression/sphere/test_sphere_irreg_waves.cpp b/tests/regression/sphere/test_sphere_irreg_waves.cpp
@@ -29,8 +29,7 @@ int main(int argc, char* argv[]) {
     ChSystemNSC system;
     system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.015;
-    system.SetSolverType(ChSolver::Type::GMRES);
-    system.GetSolver()->AsIterative()->SetMaxIterations(300);
+    system.SetSolverType(ChSolver::Type::SPARSE_QR);
     double simulationDuration = 600.0;
 
     // Setup Ground
diff --git a/tests/regression/sphere/test_sphere_irreg_waves_eta.cpp b/tests/regression/sphere/test_sphere_irreg_waves_eta.cpp
@@ -68,8 +68,7 @@ int main(int argc, char* argv[]) {
         ChSystemNSC system;
         system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
         double timestep = 0.015;
-        system.SetSolverType(ChSolver::Type::GMRES);
-        system.GetSolver()->AsIterative()->SetMaxIterations(300);
+        system.SetSolverType(ChSolver::Type::SPARSE_QR);
         double simulationDuration = 600.0;
 
         // Setup Ground
diff --git a/tests/regression/sphere/test_sphere_irreg_waves_eta_consistency.cpp b/tests/regression/sphere/test_sphere_irreg_waves_eta_consistency.cpp
@@ -60,8 +60,7 @@ int main(int argc, char* argv[]) {
     {
         ChSystemNSC system;
         system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
-        system.SetSolverType(ChSolver::Type::GMRES);
-        system.GetSolver()->AsIterative()->SetMaxIterations(300);
+        system.SetSolverType(ChSolver::Type::SPARSE_QR);
 
         // Ground
         auto ground = chrono_types::make_shared<ChBody>();
@@ -147,8 +146,7 @@ int main(int argc, char* argv[]) {
     {
         ChSystemNSC system;
         system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
-        system.SetSolverType(ChSolver::Type::GMRES);
-        system.GetSolver()->AsIterative()->SetMaxIterations(300);
+        system.SetSolverType(ChSolver::Type::SPARSE_QR);
 
         // Ground
         auto ground = chrono_types::make_shared<ChBody>();
diff --git a/tests/regression/sphere/test_sphere_reg_waves.cpp b/tests/regression/sphere/test_sphere_reg_waves.cpp
@@ -43,8 +43,7 @@ int main(int argc, char* argv[]) {
         ChSystemNSC system;
         system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
         double timestep = 0.015;
-        system.SetSolverType(ChSolver::Type::GMRES);
-        system.GetSolver()->AsIterative()->SetMaxIterations(300);
+        system.SetSolverType(ChSolver::Type::SPARSE_QR);
         double simulation_duration = 240.0;
 
         // Setup Ground
