/usr/include/sofa/gpu/cuda/CudaMechanicalObject.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_CUDAMECHANICALOBJECT_H
#define SOFA_GPU_CUDA_CUDAMECHANICALOBJECT_H
#include "CudaTypes.h"
#include <sofa/component/container/MechanicalObject.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
template<class DataTypes>
class CudaKernelsMechanicalObject;
} // namespace cuda
} // namespace gpu
namespace component
{
template<class TCoord, class TDeriv, class TReal>
class MechanicalObjectInternalData< gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> >
{
public:
typedef gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> DataTypes;
typedef MechanicalObject<DataTypes> Main;
typedef typename Main::VecId VecId;
typedef typename Main::VMultiOp VMultiOp;
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::CudaKernelsMechanicalObject<DataTypes> Kernels;
/// Temporary storate for dot product operation
VecDeriv tmpdot;
static void accumulateForce(Main* m);
static void vAlloc(Main* m, VecId v);
static void vOp(Main* m, VecId v, VecId a, VecId b, double f);
static void vMultiOp(Main* m, const VMultiOp& ops);
static double vDot(Main* m, VecId a, VecId b);
static void resetForce(Main* m);
};
// I know using macros is bad design but this is the only way not to repeat the code for all CUDA types
#define CudaMechanicalObject_DeclMethods(T) \
template<> void MechanicalObject< T >::accumulateForce(); \
template<> void MechanicalObject< T >::vOp(VecId v, VecId a, VecId b, double f); \
template<> void MechanicalObject< T >::vMultiOp(const VMultiOp& ops); \
template<> double MechanicalObject< T >::vDot(VecId a, VecId b); \
template<> void MechanicalObject< T >::resetForce();
CudaMechanicalObject_DeclMethods(gpu::cuda::CudaVec3fTypes);
CudaMechanicalObject_DeclMethods(gpu::cuda::CudaVec3f1Types);
#ifdef SOFA_GPU_CUDA_DOUBLE
CudaMechanicalObject_DeclMethods(gpu::cuda::CudaVec3dTypes);
CudaMechanicalObject_DeclMethods(gpu::cuda::CudaVec3d1Types);
#endif // SOFA_GPU_CUDA_DOUBLE
#undef CudaMechanicalObject_DeclMethods
} // namespace component
} // namespace sofa
#endif
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