/usr/include/sofa/gpu/cuda/CudaRigidMapping.inl is in libsofa1-dev 1.0~beta4-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 | /******************************************************************************
* 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_CUDARIGIDMAPPING_INL
#define SOFA_GPU_CUDA_CUDARIGIDMAPPING_INL
#include "CudaRigidMapping.h"
#include <sofa/component/mapping/RigidMapping.inl>
namespace sofa
{
namespace gpu
{
namespace cuda
{
using sofa::defaulttype::Mat3x3f;
using sofa::defaulttype::Vec3f;
extern "C"
{
void RigidMappingCuda3f_apply(unsigned int size, const Mat3x3f& rotation, const Vec3f& translation, void* out, void* rotated, const void* in);
void RigidMappingCuda3f_applyJ(unsigned int size, const Vec3f& v, const Vec3f& omega, void* out, const void* rotated);
void RigidMappingCuda3f_applyJT(unsigned int size, void* out, const void* rotated, const void* in);
}
} // namespace cuda
} // namespace gpu
namespace component
{
namespace mapping
{
using namespace gpu::cuda;
template <>
void RigidMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaRigid3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::apply( Out::VecCoord& out, const In::VecCoord& in )
{
const VecCoord& points = this->points.getValue();
Coord translation;
Mat rotation;
rotatedPoints.resize(points.size());
out.fastResize(points.size());
translation = in[index.getValue()].getCenter();
in[index.getValue()].writeRotationMatrix(rotation);
//for(unsigned int i=0;i<points.size();i++)
//{
// rotatedPoints[i] = rotation*points[i];
// out[i] = rotatedPoints[i];
// out[i] += translation;
//}
RigidMappingCuda3f_apply(points.size(), rotation, translation, out.deviceWrite(), rotatedPoints.deviceWrite(), points.deviceRead());
}
template <>
void RigidMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaRigid3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in )
{
const VecCoord& points = this->points.getValue();
Deriv v,omega;
out.fastResize(points.size());
v = in[index.getValue()].getVCenter();
omega = in[index.getValue()].getVOrientation();
//for(unsigned int i=0;i<points.size();i++)
//{
// // out = J in
// // J = [ I -OM^ ]
// out[i] = v - cross(rotatedPoints[i],omega);
//}
RigidMappingCuda3f_applyJ(points.size(), v, omega, out.deviceWrite(), rotatedPoints.deviceRead());
}
template <>
void RigidMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaRigid3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in )
{
const VecCoord& points = this->points.getValue();
Deriv v,omega;
int nbloc = ((points.size()+BSIZE-1)/BSIZE);
data.tmp.fastResize(2*nbloc);
RigidMappingCuda3f_applyJT(points.size(), data.tmp.deviceWrite(), rotatedPoints.deviceRead(), in.deviceRead());
for(int i=0;i<nbloc;i++)
{
v += data.tmp[i];
omega += data.tmp[i+nbloc];
}
out[index.getValue()].getVCenter() += v;
out[index.getValue()].getVOrientation() += omega;
}
template <>
void RigidMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaRigid3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::apply( Out::VecCoord& out, const In::VecCoord& in )
{
const VecCoord& points = this->points.getValue();
Coord translation;
Mat rotation;
rotatedPoints.resize(points.size());
out.fastResize(points.size());
translation = in[index.getValue()].getCenter();
in[index.getValue()].writeRotationMatrix(rotation);
//for(unsigned int i=0;i<points.size();i++)
//{
// rotatedPoints[i] = rotation*points[i];
// out[i] = rotatedPoints[i];
// out[i] += translation;
//}
RigidMappingCuda3f_apply(points.size(), rotation, translation, out.deviceWrite(), rotatedPoints.deviceWrite(), points.deviceRead());
}
template <>
void RigidMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaRigid3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in )
{
const VecCoord& points = this->points.getValue();
Deriv v,omega;
out.fastResize(points.size());
v = in[index.getValue()].getVCenter();
omega = in[index.getValue()].getVOrientation();
//for(unsigned int i=0;i<points.size();i++)
//{
// // out = J in
// // J = [ I -OM^ ]
// out[i] = v - cross(rotatedPoints[i],omega);
//}
RigidMappingCuda3f_applyJ(points.size(), v, omega, out.deviceWrite(), rotatedPoints.deviceRead());
}
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
|