/usr/include/sofa/gpu/cuda/CudaSphereModel.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_CUDASPHEREMODEL_H
#define SOFA_GPU_CUDA_CUDASPHEREMODEL_H
#include "CudaTypes.h"
#include <sofa/core/CollisionModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include "CudaMechanicalObject.h"
namespace sofa
{
namespace gpu
{
namespace cuda
{
using namespace sofa::defaulttype;
/* typedef sofa::component::collision::SphereModel <gpu::cuda::CudaVec3fTypes> CudaSphereModel; */
class CudaSphereModel;
/* typedef sofa::component::collision::Sphere <gpu::cuda::CudaVec3fTypes> CudaSphere; */
class CudaSphere : public core::TCollisionElementIterator<CudaSphereModel>
{
public:
typedef SReal Real;
typedef CudaVec3fTypes::Coord Coord;
CudaSphere(CudaSphereModel* model, int index);
explicit CudaSphere(const core::CollisionElementIterator& i);
const Coord& center() const;
const Coord& p() const;
const Coord& pFree() const;
const Coord& v() const;
SReal r() const;
};
class CudaSphereModel : public core::CollisionModel
{
public:
typedef CudaVec3fTypes InDataTypes;
typedef CudaVec3fTypes DataTypes;
typedef DataTypes::VecCoord VecCoord;
typedef DataTypes::VecDeriv VecDeriv;
typedef DataTypes::Coord Coord;
typedef DataTypes::Deriv Deriv;
typedef DataTypes::Real Real;
typedef DataTypes::VecReal VecReal;
typedef CudaSphere Element;
friend class CudaSphere;
CudaSphereModel();
virtual void init();
// -- CollisionModel interface
virtual void resize(int size);
virtual void computeBoundingTree(int maxDepth=0);
//virtual void computeContinuousBoundingTree(double dt, int
//maxDepth=0);
void draw(int index);
void draw();
core::componentmodel::behavior::MechanicalState<InDataTypes>* getMechanicalState() { return mstate; }
const VecReal& getR() const { return this->radius.getValue(); }
protected:
core::componentmodel::behavior::MechanicalState<InDataTypes>* mstate;
Data< VecReal > radius;
Data< SReal > defaultRadius;
Real getRadius(const int i) const; /// return the radius of the given sphere
};
inline CudaSphere::CudaSphere(CudaSphereModel* model, int index)
: core::TCollisionElementIterator<CudaSphereModel>(model, index)
{}
inline CudaSphere::CudaSphere(const core::CollisionElementIterator& i)
: core::TCollisionElementIterator<CudaSphereModel>(static_cast<CudaSphereModel*>(i.getCollisionModel()), i.getIndex())
{}
inline const CudaSphere::Coord& CudaSphere::center() const { return (*model->mstate->getX())[index]; }
inline const CudaSphere::Coord& CudaSphere::p() const { return (*model->mstate->getX())[index]; }
inline const CudaSphere::Coord& CudaSphere::pFree() const { return (*model->mstate->getXfree())[index]; }
inline const CudaSphere::Coord& CudaSphere::v() const { return (*model->mstate->getV())[index]; }
inline CudaSphere::Real CudaSphere::r() const { return (CudaSphere::Real) model->getRadius((unsigned)index); }
} // namespace cuda
} // namespace gpu
} // namespace sofa
#endif
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