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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_CUDAPOINTMODEL_H
#define SOFA_GPU_CUDA_CUDAPOINTMODEL_H
#include "CudaTypes.h"
#include <sofa/core/CollisionModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/io/Mesh.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
using namespace sofa::defaulttype;
//using namespace sofa::component::collision;
class CudaPointModel;
class CudaPoint : public core::TCollisionElementIterator<CudaPointModel>
{
public:
CudaPoint(CudaPointModel* model, int index);
int i0();
int getSize();
explicit CudaPoint(const core::CollisionElementIterator& i);
};
class CudaPointModel : public core::CollisionModel
{
public:
typedef CudaVec3fTypes InDataTypes;
typedef CudaVec3fTypes DataTypes;
typedef DataTypes::VecCoord VecCoord;
typedef DataTypes::VecDeriv VecDeriv;
typedef DataTypes::Coord Coord;
typedef DataTypes::Deriv Deriv;
typedef CudaPoint Element;
friend class CudaPoint;
Data<int> groupSize;
CudaPointModel();
virtual void init();
// -- CollisionModel interface
virtual void resize(int size);
virtual void computeBoundingTree(int maxDepth=0);
//virtual void computeContinuousBoundingTree(double dt, int maxDepth=0);
void draw(int index);
void draw();
core::componentmodel::behavior::MechanicalState<InDataTypes>* getMechanicalState() { return mstate; }
protected:
core::componentmodel::behavior::MechanicalState<InDataTypes>* mstate;
};
inline CudaPoint::CudaPoint(CudaPointModel* model, int index)
: core::TCollisionElementIterator<CudaPointModel>(model, index)
{}
inline CudaPoint::CudaPoint(const core::CollisionElementIterator& i)
: core::TCollisionElementIterator<CudaPointModel>(static_cast<CudaPointModel*>(i.getCollisionModel()), i.getIndex())
{
}
inline int CudaPoint::i0()
{
return model->groupSize.getValue()*index;
}
inline int CudaPoint::getSize()
{
if (index == model->getSize()-1)
return model->getMechanicalState()->getX()->size();
else
return model->groupSize.getValue();
}
} // namespace cuda
} // namespace gpu
} // namespace sofa
#endif
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