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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 *
******************************************************************************/
#ifndef SOFA_GPU_CUDA_CUDAPENALITYCONTACTFORCEFIELD_H
#define SOFA_GPU_CUDA_CUDAPENALITYCONTACTFORCEFIELD_H
#include "CudaTypes.h"
#include <sofa/component/forcefield/PenalityContactForceField.h>
#include <sofa/gpu/cuda/CudaCollisionDetection.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
} // namespace cuda
} // namespace gpu
namespace component
{
namespace forcefield
{
using sofa::gpu::cuda::CudaVec3fTypes;
template<>
class PenalityContactForceField<CudaVec3fTypes> : public core::componentmodel::behavior::PairInteractionForceField<CudaVec3fTypes>
{
public:
typedef CudaVec3fTypes DataTypes;
typedef core::componentmodel::behavior::PairInteractionForceField<DataTypes> Inherit;
typedef DataTypes DataTypes1;
typedef DataTypes DataTypes2;
typedef DataTypes::VecCoord VecCoord;
typedef DataTypes::VecDeriv VecDeriv;
typedef DataTypes::Coord Coord;
typedef DataTypes::Deriv Deriv;
typedef Coord::value_type Real;
typedef core::componentmodel::behavior::MechanicalState<DataTypes> MechanicalState;
//protected:
/*
struct Contact
{
int m1, m2; ///< the two extremities of the spring: masses m1 and m2
Deriv norm; ///< contact normal, from m1 to m2
Real dist; ///< minimum distance between the points
Real ks; ///< spring stiffness
Real mu_s; ///< coulomb friction coefficient (currently unused)
Real mu_v; ///< viscous friction coefficient
Real pen; ///< current penetration
int age; ///< how old is this contact
};
*/
sofa::gpu::cuda::CudaVector<sofa::defaulttype::Vec4f> contacts;
sofa::gpu::cuda::CudaVector<float> pen;
// contacts from previous frame
//std::vector<Contact> prevContacts;
//public:
PenalityContactForceField(MechanicalState* object1, MechanicalState* object2)
: Inherit(object1, object2)
{
}
PenalityContactForceField()
{
}
void clear(int reserve = 0);
void addContact(int m1, int m2, const Deriv& norm, Real dist, Real ks, Real mu_s = 0.0f, Real mu_v = 0.0f, int oldIndex = 0);
void setContacts(Real distance, Real ks, sofa::core::componentmodel::collision::GPUDetectionOutputVector* outputs, bool useDistance, defaulttype::Mat3x3f* normXForm = NULL);
virtual void addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2);
virtual void addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);
virtual double getPotentialEnergy(const VecCoord&, const VecCoord&);
void draw();
};
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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