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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_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
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