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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_CUDATESTFORCEFIELD_H
#define SOFA_GPU_CUDA_CUDATESTFORCEFIELD_H
#include "CudaTypes.h"
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
using namespace sofa::defaulttype;
class CudaTestForceField : public core::componentmodel::behavior::ForceField<CudaVec3fTypes>
{
public:
typedef CudaVec3fTypes::Real Real;
typedef CudaVec3fTypes::Coord Coord;
#ifdef SOFA_NEW_HEXA
typedef sofa::core::componentmodel::topology::BaseMeshTopology::Hexa Element;
typedef sofa::core::componentmodel::topology::BaseMeshTopology::SeqHexas VecElement;
#else
typedef sofa::core::componentmodel::topology::BaseMeshTopology::Cube Element;
typedef sofa::core::componentmodel::topology::BaseMeshTopology::SeqCubes VecElement;
#endif
/** Static data associated with each element
*/
struct GPUElement
{
/// @name index of the 8 connected vertices
/// @{
int v[8];
/// @}
/// @name material stiffness
/// @{
float Kvol, Kr;
/// @}
/// @name initial volume and radius
/// @{
float initvol, initr;
/// @}
};
CudaVector<GPUElement> elems;
/// Varying data associated with each element
struct GPUElementState
{
/// center
Coord center;
/// volume diff*Kvol
float dv;
float r,Kr;
float dummy1,dummy2;
};
CudaVector<GPUElementState> state;
int nbVertex; ///< number of vertices to process to compute all elements
int nbElementPerVertex; ///< max number of elements connected to a vertex
/// Index of elements attached to each points (layout per bloc of NBLOC vertices, with first element of each vertex, then second element, etc)
/// No that each integer is actually equat the the index of the element * 8 + the index of this vertex inside the element.
CudaVector<int> velems;
CudaTestForceField();
void init();
void reinit();
void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& /*v*/);
void addDForce (VecDeriv& df, const VecDeriv& dx);
double getPotentialEnergy(const VecCoord&) { return 0.0; }
protected:
void init(int nbe, int nbv, int nbelemperv)
{
elems.resize(nbe);
state.resize(nbe);
nbVertex = nbv;
nbElementPerVertex = nbelemperv;
int nbloc = (nbVertex+BSIZE-1)/BSIZE;
velems.resize(nbloc*nbElementPerVertex*BSIZE);
for (unsigned int i=0;i<velems.size();i++)
velems[i] = 0;
}
void setV(int vertex, int num, int index)
{
int bloc = vertex/BSIZE;
int b_x = vertex%BSIZE;
velems[ bloc*BSIZE*nbElementPerVertex // start of the bloc
+ num*BSIZE // offset to the element
+ b_x // offset to the vertex
] = index+1;
}
void setE(int i, const Element& indices, Real vol, Real r, Real Kvol, Real Kr) //, const MaterialStiffness& K, const StrainDisplacement& /*J*/)
{
GPUElement& e = elems[i];
for (unsigned int i=0;i<indices.size();i++)
e.v[i] = indices[i];
e.initvol = vol;
e.initr = r;
e.Kvol = Kvol;
e.Kr = Kr;
}
};
} // namespace cuda
} // namespace gpu
} // namespace sofa
#endif
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