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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 "CudaPointModel.h"
#include <sofa/core/ObjectFactory.h>
#include <sofa/component/collision/CubeModel.h>
#include <fstream>
#include <sofa/helper/system/gl.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
SOFA_DECL_CLASS(CudaPointModel)
int CudaPointModelClass = core::RegisterObject("GPU-based point collision model using CUDA")
.add< CudaPointModel >()
.addAlias("CudaPoint")
;
using namespace defaulttype;
CudaPointModel::CudaPointModel()
: groupSize( initData( &groupSize, (int)BSIZE, "groupSize", "number of point per collision element" ) )
, mstate(NULL)
{
}
void CudaPointModel::resize(int size)
{
this->core::CollisionModel::resize(size);
}
void CudaPointModel::init()
{
this->CollisionModel::init();
mstate = dynamic_cast< core::componentmodel::behavior::MechanicalState<InDataTypes>* > (getContext()->getMechanicalState());
if (mstate==NULL)
{
serr << "ERROR: CudaPointModel requires a CudaVec3f Mechanical Model.\n";
return;
}
const int npoints = mstate->getX()->size();
int gsize = groupSize.getValue();
int nelems = (npoints + gsize-1)/gsize;
resize(nelems);
}
void CudaPointModel::draw(int index)
{
const int gsize = groupSize.getValue();
CudaPoint t(this,index);
glBegin(GL_POINTS);
const VecCoord& x = *mstate->getX();
int i0 = index*gsize;
int n = (index==size-1) ? x.size()-i0 : gsize;
for (int p=0;p<n;p++)
{
glVertex3fv(x[i0+p].ptr());
}
glEnd();
}
void CudaPointModel::draw()
{
if (isActive() && getContext()->getShowCollisionModels())
{
if (getContext()->getShowWireFrame())
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glDisable(GL_LIGHTING);
glPointSize(3);
glColor4fv(getColor4f());
for (int i=0;i<size;i++)
{
draw(i);
}
glColor3f(1.0f, 1.0f, 1.0f);
glDisable(GL_LIGHTING);
glPointSize(1);
if (getContext()->getShowWireFrame())
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
}
if (isActive() && getPrevious()!=NULL && getContext()->getShowBoundingCollisionModels())
getPrevious()->draw();
}
using sofa::component::collision::CubeModel;
void CudaPointModel::computeBoundingTree(int maxDepth)
{
CubeModel* cubeModel = createPrevious<CubeModel>();
const int npoints = mstate->getX()->size();
const int gsize = groupSize.getValue();
const int nelems = (npoints + gsize-1)/gsize;
bool updated = false;
if (nelems != size)
{
resize(nelems);
updated = true;
}
if (updated) cubeModel->resize(0);
if (!isMoving() && !cubeModel->empty() && !updated) return; // No need to recompute BBox if immobile
cubeModel->resize(size);
if (!empty())
{
const VecCoord& x = *mstate->getX();
for (int i=0;i<size;i++)
{
int i0 = i*gsize;
int n = (i==size-1) ? npoints-i0 : gsize;
Vec3f bmin = x[i0];
Vec3f bmax = bmin;
for (int p=1;p<n;p++)
{
const Vec3f& xi = x[i0+p];
for (int c=0;c<3;c++)
{
if (xi[c] < bmin[c]) bmin[c] = xi[c];
else if (xi[c] > bmax[c]) bmax[c] = xi[c];
}
}
cubeModel->setParentOf(i, bmin, bmax);
}
cubeModel->computeBoundingTree(maxDepth);
}
}
} // namespace cuda
} // namespace gpu
} // namespace sofa
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