/usr/include/sofa/gpu/cuda/CudaContactMapper.h is in libsofa1-dev 1.0~beta4-6.
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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_CUDACONTACTMAPPER_H
#define SOFA_GPU_CUDA_CUDACONTACTMAPPER_H
#include <sofa/component/collision/BarycentricContactMapper.h>
#include <sofa/gpu/cuda/CudaDistanceGridCollisionModel.h>
#include <sofa/gpu/cuda/CudaPointModel.h>
#include <sofa/gpu/cuda/CudaSphereModel.h>
#include <sofa/gpu/cuda/CudaCollisionDetection.h>
#include <sofa/gpu/cuda/CudaRigidMapping.h>
#include <sofa/gpu/cuda/CudaSubsetMapping.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
extern "C"
{
void RigidContactMapperCuda3f_setPoints2(unsigned int size, unsigned int nbTests, unsigned int maxPoints, const void* tests, const void* contacts, void* map);
void SubsetContactMapperCuda3f_setPoints1(unsigned int size, unsigned int nbTests, unsigned int maxPoints, unsigned int nbPointsPerElem, const void* tests, const void* contacts, void* map);
}
} // namespace cuda
} // namespace gpu
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
using sofa::core::componentmodel::collision::GPUDetectionOutputVector;
/// Mapper for CudaRigidDistanceGridCollisionModel
template <class DataTypes>
class ContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes> : public RigidContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes>
{
public:
typedef typename DataTypes::Real Real;
typedef typename DataTypes::Coord Coord;
typedef RigidContactMapper<sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel,DataTypes> Inherit;
typedef typename Inherit::MMechanicalState MMechanicalState;
typedef typename Inherit::MCollisionModel MCollisionModel;
int addPoint(const Coord& P, int index, Real& r)
{
int i = this->Inherit::addPoint(P, index, r);
if (!this->mapping)
{
MCollisionModel* model = this->model;
MMechanicalState* outmodel = this->outmodel;
typename DataTypes::Coord& x = (*outmodel->getX())[i];
typename DataTypes::Deriv& v = (*outmodel->getV())[i];
if (model->isTransformed(index))
{
x = model->getTranslation(index) + model->getRotation(index) * P;
}
else
{
x = P;
}
v = typename DataTypes::Deriv();
}
return i;
}
void setPoints2(GPUDetectionOutputVector* outputs)
{
int n = outputs->size();
int nt = outputs->nbTests();
int maxp = 0;
for (int i=0;i<nt;i++)
if (outputs->rtest(i).curSize > maxp) maxp = outputs->rtest(i).curSize;
if (this->outmodel)
this->outmodel->resize(n);
if (this->mapping)
{
this->mapping->points.beginEdit()->fastResize(n);
this->mapping->rotatedPoints.fastResize(n);
RigidContactMapperCuda3f_setPoints2(n, nt, maxp, outputs->tests.deviceRead(), outputs->results.deviceRead(), this->mapping->points.beginEdit()->deviceWrite());
}
else
{
RigidContactMapperCuda3f_setPoints2(n, nt, maxp, outputs->tests.deviceRead(), outputs->results.deviceRead(), this->outmodel->getX()->deviceWrite());
}
}
};
/// Mapper for CudaPointDistanceGridCollisionModel
template <class DataTypes>
class ContactMapper<sofa::gpu::cuda::CudaPointModel,DataTypes> : public SubsetContactMapper<sofa::gpu::cuda::CudaPointModel,DataTypes>
{
public:
typedef typename DataTypes::Real Real;
typedef typename DataTypes::Coord Coord;
typedef SubsetContactMapper<sofa::gpu::cuda::CudaPointModel,DataTypes> Inherit;
typedef typename Inherit::MMechanicalState MMechanicalState;
typedef typename Inherit::MCollisionModel MCollisionModel;
int addPoint(const Coord& P, int index, Real& r)
{
int i = Inherit::addPoint(P, index, r);
return i;
}
void setPoints1(GPUDetectionOutputVector* outputs)
{
int n = outputs->size();
int nt = outputs->nbTests();
int maxp = 0;
for (int i=0;i<nt;i++)
if (outputs->rtest(i).curSize > maxp) maxp = outputs->rtest(i).curSize;
this->mapping->data.map.fastResize(n);
SubsetContactMapperCuda3f_setPoints1(n, nt, maxp, this->model->groupSize.getValue(), outputs->tests.deviceRead(), outputs->results.deviceRead(), this->mapping->data.map.deviceWrite());
}
};
template <class DataTypes>
class ContactMapper<sofa::gpu::cuda::CudaSphereModel,DataTypes> : public SubsetContactMapper<sofa::gpu::cuda::CudaSphereModel,DataTypes>
{
public:
typedef typename DataTypes::Real Real;
typedef typename DataTypes::Coord Coord;
typedef SubsetContactMapper<sofa::gpu::cuda::CudaSphereModel,DataTypes> Inherit;
typedef typename Inherit::MMechanicalState MMechanicalState;
typedef typename Inherit::MCollisionModel MCollisionModel;
int addPoint(const Coord& P, int index, Real& r)
{
int i = this->Inherit::addPoint(P, index, r);
return i;
}
void setPoints1(GPUDetectionOutputVector* outputs)
{
int n = outputs->size();
int nt = outputs->nbTests();
int maxp = 0;
for (int i=0;i<nt;i++)
if (outputs->rtest(i).curSize > maxp) maxp = outputs->rtest(i).curSize;
this->mapping->data.map.fastResize(n);
SubsetContactMapperCuda3f_setPoints1(n, nt, maxp, 0, outputs->tests.deviceRead(), outputs->results.deviceRead(), this->mapping->data.map.deviceWrite());
}
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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