Correction of an error in the test to update the vector w for solving a nonconvex problem.
@@ -1225,7 +1225,7 @@ void gfc3d_IPM(GlobalFrictionContactProblem* restrict problem, double* restrict
/** Correction of w to take into account the dependence
on the tangential velocity */
- if (options->iparam[SICONOS_FRICTION_3D_IPM_IPARAM_UPDATE_S] == 0)
+ if (options->iparam[SICONOS_FRICTION_3D_IPM_IPARAM_UPDATE_S] == 1)
{
printf("update w\n");
for(unsigned int i = 0; i < nd; ++ i)
@@ -1668,7 +1668,7 @@ void gfc3d_ipm_set_default(SolverOptions* options)
options->iparam[SICONOS_FRICTION_3D_IPM_IPARAM_GET_PROBLEM_INFO] = SICONOS_FRICTION_3D_IPM_GET_PROBLEM_INFO_NO;
- options->iparam[SICONOS_FRICTION_3D_IPM_IPARAM_UPDATE_S] = 1;
+ options->iparam[SICONOS_FRICTION_3D_IPM_IPARAM_UPDATE_S] = 0;
options->iparam[SICONOS_FRICTION_3D_IPM_IPARAM_NESTEROV_TODD_SCALING] = 1;
