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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library 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 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library 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 this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include "CudaDistanceGridCollisionModel.h"
#include "CudaSphereModel.h"
#include "CudaPointModel.h"
#include <sofa/component/collision/NewProximityIntersection.inl>
#include <sofa/component/collision/DiscreteIntersection.inl>
#include <sofa/component/collision/RayPickInteractor.inl>
#include <sofa/component/collision/RayContact.h>
#include "CudaContactMapper.h"
#include <sofa/component/collision/BarycentricPenalityContact.inl>
#include <sofa/component/collision/BarycentricContactMapper.inl>
#include <sofa/component/forcefield/PenalityContactForceField.h>
#include "CudaPenalityContactForceField.h"
#include "CudaSpringForceField.h"
#include <sofa/component/forcefield/VectorSpringForceField.h>
#include <fstream>
#include <sofa/helper/system/gl.h>
#include <sofa/helper/Factory.inl>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::gpu::cuda;
template <>
void BarycentricPenalityContact<CudaPointModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::setDetectionOutputs(OutputVector* o)
{
TOutputVector& outputs = *static_cast<TOutputVector*>(o);
//const bool printLog = this->f_printLog.getValue();
if (ff==NULL)
{
MechanicalState1* mstate1 = mapper1.createMapping("contactPointsCUDA");
MechanicalState2* mstate2 = mapper2.createMapping("contactPointsCUDA");
ff = new ResponseForceField(mstate1,mstate2);ff->setName( getName());
}
mapper1.setPoints1(&outputs);
mapper2.setPoints2(&outputs);
const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
#if 0
int insize = outputs.size();
int size = insize;
ff->clear(size);
//int i = 0;
for (int i=0; i<insize; i++)
{
int index = i; //oldIndex[i];
if (index < 0) continue; // this contact is ignored
//DetectionOutput* o = &outputs[i];
//CollisionElement1 elem1(o->elem.first);
//CollisionElement2 elem2(o->elem.second);
//int index1 = elem1.getIndex();
//int index2 = elem2.getIndex();
int index1 = index;
int index2 = index;
//// Create mapping for first point
//index1 = mapper1.addPoint(o->point[0], index1);
//// Create mapping for second point
//index2 = mapper2.addPoint(o->point[1], index2);
double distance = d0 + outputs.get(i)->distance; // + mapper1.radius(elem1) + mapper2.radius(elem2);
double stiffness = (model1->getContactStiffness(0) * model1->getContactStiffness(0))/distance;
double mu_v = (model1->getContactFriction(0) + model1->getContactFriction(0));
ff->addContact(index1, index2, outputs.get(i)->normal, (float)distance, (float)stiffness, (float)mu_v, (float)mu_v, index);
}
#else
double distance = d0; // + mapper1.radius(elem1) + mapper2.radius(elem2);
double stiffness = (model1->getContactStiffness(0) * model1->getContactStiffness(0)); ///distance;
ff->setContacts((float)distance, (float)stiffness, &outputs, true);
#endif
// Update mappings
mapper1.update();
mapper2.update();
}
template <>
void BarycentricPenalityContact<CudaSphereModel,CudaRigidDistanceGridCollisionModel,CudaVec3fTypes>::setDetectionOutputs(OutputVector* o)
{
TOutputVector& outputs = *static_cast<TOutputVector*>(o);
//const bool printLog = this->f_printLog.getValue();
if (ff==NULL)
{
MechanicalState1* mstate1 = mapper1.createMapping("contactPointsCUDA");
MechanicalState2* mstate2 = mapper2.createMapping("contactPointsCUDA");
ff = new ResponseForceField(mstate1,mstate2); ff->setName( getName());
}
mapper1.setPoints1(&outputs);
mapper2.setPoints2(&outputs);
const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
#if 0
int insize = outputs.size();
int size = insize;
ff->clear(size);
//int i = 0;
for (int i=0; i<insize; i++)
{
int index = i; //oldIndex[i];
if (index < 0) continue; // this contact is ignored
//DetectionOutput* o = &outputs[i];
//CollisionElement1 elem1(o->elem.first);
//CollisionElement2 elem2(o->elem.second);
//int index1 = elem1.getIndex();
//int index2 = elem2.getIndex();
int index1 = index;
int index2 = index;
//// Create mapping for first point
//index1 = mapper1.addPoint(o->point[0], index1);
//// Create mapping for second point
//index2 = mapper2.addPoint(o->point[1], index2);
double distance = d0 + outputs.get(i)->distance; // + mapper1.radius(elem1) + mapper2.radius(elem2);
double stiffness = (model1->getContactStiffness(0) * model1->getContactStiffness(0))/distance;
double mu_v = (model1->getContactFriction(0) + model1->getContactFriction(0));
ff->addContact(index1, index2, outputs.get(i)->normal, (float)distance, (float)stiffness, (float)mu_v, (float)mu_v, index);
}
#else
double distance = d0; // + mapper1.radius(elem1) + mapper2.radius(elem2);
double stiffness = (model1->getContactStiffness(0) * model1->getContactStiffness(0)); ///distance;
ff->setContacts((float)distance, (float)stiffness, &outputs, true);
#endif
// Update mappings
mapper1.update();
mapper2.update();
}
ContactMapperCreator< ContactMapper<CudaSphereModel> > CudaSphereContactMapperClass("default",true);
template<>
void DefaultPickingManager<CudaVec3fTypes,forcefield::StiffSpringForceField<CudaVec3fTypes> >::addContact(forcefield::StiffSpringForceField<CudaVec3fTypes>* ff, int index1, int index2, double stiffness, double mu_v, double length, const Vector3& /*p1*/, const Vector3& /*p2*/)
{
ff->addSpring(index1, index2, stiffness, mu_v, length);
}
template class DefaultPickingManager< CudaVec3fTypes, forcefield::StiffSpringForceField<CudaVec3fTypes> >;
helper::Creator<BasePickingManager::PickingManagerFactory, DefaultPickingManager< CudaVec3fTypes, forcefield::StiffSpringForceField<CudaVec3fTypes> > > PickingVectorSpringCudaClass ("VectorSpringCUDA",true);
} //namespace collision
} //namespace component
namespace gpu
{
namespace cuda
{
SOFA_DECL_CLASS(CudaCollision)
using namespace sofa::component::collision;
class CudaProximityIntersection : public sofa::component::collision::NewProximityIntersection
{
public:
virtual void init()
{
sofa::component::collision::NewProximityIntersection::init();
intersectors.add<RayModel, CudaSphereModel, DiscreteIntersection>(this);
//intersectors.add<CudaSphereModel, PointModel, DiscreteIntersection>(this);
intersectors.add<CudaSphereModel, CudaSphereModel, DiscreteIntersection>(this);
//intersectors.add<LineModel, CudaSphereModel, CudaProximityIntersection>(this);
intersectors.add<TriangleModel, CudaSphereModel, CudaProximityIntersection>(this);
}
};
int CudaProximityIntersectionClass = core::RegisterObject("GPGPU Proximity Intersection based on CUDA")
.add< CudaProximityIntersection >()
;
sofa::helper::Creator<core::componentmodel::collision::Contact::Factory, component::collision::RayContact<CudaSphereModel> > RayCudaSphereContactClass("ray",true);
//sofa::helper::Creator<sofa::core::componentmodel::collision::Contact::Factory, sofa::component::collision::BarycentricPenalityContact<CudaRigidDistanceGridCollisionModel, CudaRigidDistanceGridCollisionModel,CudaVec3fTypes> > CudaDistanceGridCudaDistanceGridContactClass("default", true);
sofa::helper::Creator<sofa::core::componentmodel::collision::Contact::Factory, sofa::component::collision::BarycentricPenalityContact<CudaPointModel, CudaRigidDistanceGridCollisionModel,CudaVec3fTypes> > CudaPointCudaDistanceGridContactClass("default", true);
sofa::helper::Creator<sofa::core::componentmodel::collision::Contact::Factory, sofa::component::collision::BarycentricPenalityContact<CudaSphereModel, CudaRigidDistanceGridCollisionModel,CudaVec3fTypes> > CudaSphereCudaDistanceGridContactClass("default", true);
//sofa::helper::Creator<sofa::core::componentmodel::collision::Contact::Factory, sofa::component::collision::BarycentricPenalityContact<CudaRigidDistanceGridCollisionModel, sofa::component::collision::RigidDistanceGridCollisionModel> > CudaDistanceGridDistanceGridContactClass("default", true);
//sofa::helper::Creator<sofa::core::componentmodel::collision::Contact::Factory, sofa::component::collision::BarycentricPenalityContact<CudaRigidDistanceGridCollisionModel, sofa::component::collision::PointModel> > CudaDistanceGridPointContactClass("default", true);
//sofa::helper::Creator<sofa::core::componentmodel::collision::Contact::Factory, sofa::component::collision::BarycentricPenalityContact<CudaRigidDistanceGridCollisionModel, sofa::component::collision::SphereModel> > CudaDistanceGridSphereContactClass("default", true);
//sofa::helper::Creator<sofa::core::componentmodel::collision::Contact::Factory, sofa::component::collision::BarycentricPenalityContact<CudaRigidDistanceGridCollisionModel, sofa::component::collision::TriangleModel> > CudaDistanceGridTriangleContactClass("default", true);
} // namespace cuda
} // namespace gpu
} // namespace sofa
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