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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_CUDASPRINGFORCEFIELD_H
#define SOFA_GPU_CUDA_CUDASPRINGFORCEFIELD_H
#include "CudaTypes.h"
#include <sofa/component/forcefield/SpringForceField.h>
#include <sofa/component/forcefield/StiffSpringForceField.h>
#include <sofa/component/forcefield/MeshSpringForceField.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
template<class DataTypes>
class CudaKernelsSpringForceField;
} // namespace cuda
} // namespace gpu
namespace component
{
namespace forcefield
{
template <class TCoord, class TDeriv, class TReal>
class SpringForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> >
{
public:
typedef gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> DataTypes;
typedef SpringForceField<DataTypes> Main;
typedef typename Main::Inherit Inherit;
typedef typename Main::Spring Spring;
typedef SpringForceFieldInternalData<DataTypes> Data;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename DataTypes::Real Real;
typedef gpu::cuda::CudaKernelsSpringForceField<DataTypes> Kernels;
//enum { BSIZE=16 };
struct GPUSpring
{
int index; ///< 0 if no spring
//float initpos;
float ks;
//float kd;
GPUSpring() : index(0), /*initpos(0),*/ ks(0)/*, kd(0)*/ {}
void set(int index, float /*initpos*/, float ks, float /*kd*/)
{
this->index = index+1;
//this->initpos = initpos;
this->ks = ks;
//this->kd = kd;
}
};
struct GPUSpring2
{
//int index; ///< 0 if no spring
float initpos;
//float ks;
float kd;
GPUSpring2() : /*index(0),*/ initpos(0), /*ks(0),*/ kd(0) {}
void set(int /*index*/, float initpos, float /*ks*/, float kd)
{
//this->index = index+1;
this->initpos = initpos;
//this->ks = ks;
this->kd = kd;
}
};
struct GPUSpringSet
{
int vertex0; ///< index of the first vertex connected to a spring
int nbVertex; ///< number of vertices to process to compute all springs
int nbSpringPerVertex; ///< max number of springs connected to a vertex
gpu::cuda::CudaVector<GPUSpring> springs; ///< springs attached to each points (layout per bloc of NBLOC vertices, with first spring of each vertex, then second spring, etc)
gpu::cuda::CudaVector<Real> dfdx; ///< only used for StiffSpringForceField
GPUSpringSet() : vertex0(0), nbVertex(0), nbSpringPerVertex(0) {}
void init(int v0, int nbv, int nbsperv)
{
vertex0 = v0;
nbVertex = nbv;
nbSpringPerVertex = nbsperv;
int nbloc = (nbVertex+BSIZE-1)/BSIZE;
springs.resize(2*nbloc*nbSpringPerVertex*BSIZE);
}
void set(int vertex, int spring, int index, float initpos, float ks, float kd)
{
int bloc = vertex/BSIZE;
int b_x = vertex%BSIZE;
springs[ 2*bloc*BSIZE*nbSpringPerVertex // start of the bloc
+ 2*spring*BSIZE // offset to the spring
+ b_x // offset to the vertex
].set(index, initpos, ks, kd);
(*(GPUSpring2*)&(springs[ 2*bloc*BSIZE*nbSpringPerVertex // start of the bloc
+ 2*spring*BSIZE // offset to the spring
+ b_x+BSIZE // offset to the vertex
])).set(index, initpos, ks, kd);
}
};
GPUSpringSet springs1; ///< springs from model1 to model2
GPUSpringSet springs2; ///< springs from model2 to model1 (only used if model1 != model2)
static void init(Main* m, bool stiff);
static void addForce(Main* m, bool stiff, VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2);
static void addDForce (Main* m, bool stiff, VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);
};
//
// SpringForceField
//
// I know using macros is bad design but this is the only way not to repeat the code for all CUDA types
#define CudaSpringForceField_DeclMethods(T) \
template<> void SpringForceField< T >::init(); \
template<> void SpringForceField< T >::addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2); \
template<> void StiffSpringForceField< T >::init(); \
template<> void StiffSpringForceField< T >::addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2); \
template<> void StiffSpringForceField< T >::addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);
CudaSpringForceField_DeclMethods(gpu::cuda::CudaVec3fTypes);
CudaSpringForceField_DeclMethods(gpu::cuda::CudaVec3f1Types);
#ifdef SOFA_GPU_CUDA_DOUBLE
CudaSpringForceField_DeclMethods(gpu::cuda::CudaVec3dTypes);
CudaSpringForceField_DeclMethods(gpu::cuda::CudaVec3d1Types);
#endif // SOFA_GPU_CUDA_DOUBLE
#undef CudaSpringForceField_DeclMethods
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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