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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 "CudaTestForceField.h"
#include <sofa/core/componentmodel/behavior/ForceField.inl>
#include <sofa/core/ObjectFactory.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
SOFA_DECL_CLASS(CudaTestForceField)
int CudaTestForceFieldCudaClass = core::RegisterObject("GPU-side test forcefield using CUDA")
.add< CudaTestForceField >()
;
extern "C"
{
void CudaTestForceField3f_addForce(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* elems, void* state, const void* velems, void* f, const void* x, const void* v);
void CudaTestForceField3f_addDForce(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* elems, void* state, const void* velems, void* df, const void* dx);
}
CudaTestForceField::CudaTestForceField()
: nbVertex(0), nbElementPerVertex(0)
{
}
void CudaTestForceField::init()
{
core::componentmodel::behavior::ForceField<CudaVec3fTypes>::init();
reinit();
}
void CudaTestForceField::reinit()
{
sofa::core::componentmodel::topology::BaseMeshTopology* topology = getContext()->get<sofa::core::componentmodel::topology::BaseMeshTopology>();
#ifdef SOFA_NEW_HEXA
if (topology==NULL || topology->getNbHexas()==0)
#else
if (topology==NULL || topology->getNbCubes()==0)
#endif
{
serr << "ERROR(CudaTestForceField): no elements found.\n";
return;
}
#ifdef SOFA_NEW_HEXA
const VecElement& inputElems = topology->getHexas();
#else
const VecElement& inputElems = topology->getCubes();
#endif
std::map<int,int> nelems; // number of elements attached to each node
for (unsigned int i=0;i<inputElems.size();i++)
{
const Element& e = inputElems[i];
for (unsigned int j=0;j<e.size();j++)
++nelems[e[j]];
}
int nmax = 0;
for (std::map<int,int>::const_iterator it = nelems.begin(); it != nelems.end(); ++it)
if (it->second > nmax)
nmax = it->second;
int nbv = 0;
if (!nelems.empty())
{
nbv = nelems.rbegin()->first + 1;
}
sout << "CudaTestForceField: "<<inputElems.size()<<" elements, "<<nbv<<" nodes, max "<<nmax<<" elements per node."<<sendl;
init(inputElems.size(), nbv, nmax);
sout << "CudaTestForceField: precomputations..."<<sendl;
const VecCoord&x = *this->mstate->getX();
nelems.clear();
for (unsigned int i=0;i<inputElems.size();i++)
{
const Element& e = inputElems[i];
//computeMaterialStiffness(i,e);
Coord center;
center = x[e[0]];
for (unsigned int j=1;j<e.size();++j)
center += x[e[1]];
center /= e.size();
float r = 0;
for (unsigned int j=0;j<e.size();++j)
r += (x[e[j]]-center).norm();
r /= e.size();
sout << "E["<<i<<"]: center="<<center<<" r="<<r<<sendl;
setE(i, e, 1, r, 10, 10);
for (unsigned int j=0;j<e.size();j++)
setV(e[j], nelems[e[j]]++, i*e.size()+j);
}
sout << "CudaTestForceField::reinit() DONE."<<sendl;
}
void CudaTestForceField::addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v)
{
f.resize(x.size());
CudaTestForceField3f_addForce(
elems.size(),
nbVertex,
nbElementPerVertex,
elems.deviceRead(),
state.deviceWrite(),
velems.deviceRead(),
f.deviceWrite(),
x.deviceRead(),
v.deviceRead());
}
void CudaTestForceField::addDForce (VecDeriv& df, const VecDeriv& dx)
{
df.resize(dx.size());
CudaTestForceField3f_addDForce(
elems.size(),
nbVertex,
nbElementPerVertex,
elems.deviceRead(),
state.deviceWrite(),
velems.deviceRead(),
df.deviceWrite(),
dx.deviceRead());
}
} // namespace cuda
} // namespace gpu
} // namespace sofa
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