libsofa1-dev 1.0~beta4-10ubuntu2 / usr / include / sofa / gpu / cuda / CudaVisualModel.inl

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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_CUDAVISUALMODEL_INL
#define SOFA_GPU_CUDA_CUDAVISUALMODEL_INL

#include "CudaVisualModel.h"
#include <sofa/helper/gl/template.h>

namespace sofa
{

namespace gpu
{

namespace cuda
{

extern "C"
{
void CudaVisualModelCuda3f_calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3f_calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3f_calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x);

void CudaVisualModelCuda3f1_calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3f1_calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3f1_calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x);

#ifdef SOFA_GPU_CUDA_DOUBLE

void CudaVisualModelCuda3d_calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3d_calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3d_calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x);

void CudaVisualModelCuda3d1_calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3d1_calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x);
void CudaVisualModelCuda3d1_calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x);

#endif // SOFA_GPU_CUDA_DOUBLE

} // extern "C"

template<>
class CudaKernelsCudaVisualModel<CudaVec3fTypes>
{
public:
    static void calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3f_calcTNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3f_calcQNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x)
    {   CudaVisualModelCuda3f_calcVNormals(nbElem, nbVertex, nbElemPerVertex, velems, vnormals, fnormals, x); }
};

template<>
class CudaKernelsCudaVisualModel<CudaVec3f1Types>
{
public:
    static void calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3f1_calcTNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3f1_calcQNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x)
    {   CudaVisualModelCuda3f1_calcVNormals(nbElem, nbVertex, nbElemPerVertex, velems, vnormals, fnormals, x); }
};

#ifdef SOFA_GPU_CUDA_DOUBLE

template<>
class CudaKernelsCudaVisualModel<CudaVec3dTypes>
{
public:
    static void calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3d_calcTNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3d_calcQNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x)
    {   CudaVisualModelCuda3d_calcVNormals(nbElem, nbVertex, nbElemPerVertex, velems, vnormals, fnormals, x); }
};

template<>
class CudaKernelsCudaVisualModel<CudaVec3d1Types>
{
public:
    static void calcTNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3d1_calcTNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcQNormals(unsigned int nbElem, unsigned int nbVertex, const void* elems, void* fnormals, const void* x)
    {   CudaVisualModelCuda3d1_calcQNormals(nbElem, nbVertex, elems, fnormals, x); }
    static void calcVNormals(unsigned int nbElem, unsigned int nbVertex, unsigned int nbElemPerVertex, const void* velems, void* vnormals, const void* fnormals, const void* x)
    {   CudaVisualModelCuda3d1_calcVNormals(nbElem, nbVertex, nbElemPerVertex, velems, vnormals, fnormals, x); }
};

#endif // SOFA_GPU_CUDA_DOUBLE

} // namespace cuda

} // namespace gpu

namespace component
{

namespace visualmodel
{

using namespace gpu::cuda;

template<class TDataTypes>
void CudaVisualModel< TDataTypes >::init()
{
    this->getContext()->get(state);
    topology = this->getContext()->getMeshTopology();
    updateVisual();
}

template<class TDataTypes>
void CudaVisualModel< TDataTypes >::reinit()
{
    updateVisual();
}

template<class TDataTypes>
void CudaVisualModel< TDataTypes >::updateTopology()
{
    if (!topology || !state) return;
    if (!needUpdateTopology) return;
    needUpdateTopology = false;
    {
	const SeqTriangles& t = topology->getTriangles();
	triangles.clear();
	if (!t.empty())
	{
	    triangles.fastResize(t.size());
	    std::copy ( t.begin(), t.end(), triangles.hostWrite() );
	}
    }
    {
	const SeqQuads& q = topology->getQuads();
	quads.clear();
	if (!q.empty())
	{
	    quads.fastResize(q.size());
	    std::copy ( q.begin(), q.end(), quads.hostWrite() );
	}
    }
    const Triangle* tptr = triangles.hostRead();
    const Quad*     qptr = quads.hostRead();
    std::map<int,int> nelems;
    for (unsigned int i=0;i<triangles.size();i++)
    {
	const Triangle& e = tptr[i];
	for (unsigned int j=0;j<e.size();j++)
	    ++nelems[e[j]];
    }
    for (unsigned int i=0;i<quads.size();i++)
    {
	const Quad& e = qptr[i];
	for (unsigned int j=0;j<e.size();j++)
	    ++nelems[e[j]];
    }
    int nmax = 0;
    for (std::map<int,int>::const_iterator it = nelems.begin(); it != nelems.end(); ++it)
	if (it->second > nmax)
	    nmax = it->second;
    int nbv = 0;
    if (!nelems.empty())
	nbv = nelems.rbegin()->first + 1;
    sout << "CUDA CudaVisualModel: "<<triangles.size()<<" triangles, "<<quads.size()<<" quads, "<<nbv<<"/"<<state->getX()->size()<<" attached points, max "<<nmax<<" elements per point."<<sendl;
    initV(triangles.size()+quads.size(), nbv, nmax);
    
    nelems.clear();
    for (unsigned int i=0;i<triangles.size();i++)
    {
	const Triangle& e = tptr[i];
	for (unsigned int j=0;j<e.size();j++)
	    setV(e[j], nelems[e[j]]++, i);
    }
    int i0 = triangles.size();
    for (unsigned int i=0;i<quads.size();i++)
    {
	const Quad& e = qptr[i];
	for (unsigned int j=0;j<e.size();j++)
	    setV(e[j], nelems[e[j]]++, i0+i);
    }
}


template<class TDataTypes>
void CudaVisualModel< TDataTypes >::updateNormals()
{
    if (!topology || !state || !state->getX()->size()) return;
    const VecCoord& x = *state->getX();
    fnormals.resize(nbElement);
    vnormals.resize(x.size());
    if (triangles.size() > 0)
	Kernels::calcTNormals(
	    triangles.size(),
	    nbVertex,
	    triangles.deviceRead(),
	    fnormals.deviceWrite(),
	    x.deviceRead());
    if (quads.size() > 0)
	Kernels::calcQNormals(
	    quads.size(),
	    nbVertex,
	    quads.deviceRead(),
	    fnormals.deviceWrite(triangles.size()),
	    x.deviceRead());
    if (nbVertex > 0)
	Kernels::calcVNormals(
	    nbElement,
	    nbVertex,
	    nbElementPerVertex,
	    velems.deviceRead(),
	    vnormals.deviceWrite(),
	    fnormals.deviceRead(),
	    x.deviceRead());
}

template<class TDataTypes>
void CudaVisualModel< TDataTypes >::updateVisual()
{
    if (!getContext()->getShowVisualModels()) return;
    updateTopology();
    if (computeNormals.getValue())
	updateNormals();
}

template<class TDataTypes>
void CudaVisualModel< TDataTypes >::drawVisual()
{
    if (!getContext()->getShowVisualModels()) return;

    if (!topology || !state || !state->getX()->size()) return;

    if (getContext()->getShowWireFrame())
        glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);

    glEnable(GL_LIGHTING);

    //Enable<GL_BLEND> blending;
    glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);
    glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
    defaulttype::Vec4f ambient = matAmbient.getValue();
    defaulttype::Vec4f diffuse = matDiffuse.getValue();
    defaulttype::Vec4f specular = matSpecular.getValue();
    defaulttype::Vec4f emissive = matEmissive.getValue();
    float shininess = matShininess.getValue();

    if (shininess == 0.0f)
    {
	specular.clear();
	shininess = 1;
    }

    glMaterialfv (GL_FRONT_AND_BACK, GL_AMBIENT, ambient.ptr());
    glMaterialfv (GL_FRONT_AND_BACK, GL_DIFFUSE, diffuse.ptr());
    glMaterialfv (GL_FRONT_AND_BACK, GL_SPECULAR, specular.ptr());
    glMaterialfv (GL_FRONT_AND_BACK, GL_EMISSION, emissive.ptr());
    glMaterialf (GL_FRONT_AND_BACK, GL_SHININESS, shininess);

    VecCoord& x = *state->getX();

    bool vbo = useVBO.getValue();

    GLuint vbo_x = vbo ? x.bufferRead(true) : 0;
    if (vbo_x)
    {
	glBindBuffer(GL_ARRAY_BUFFER, vbo_x);
	glVertexPointer (3, (sizeof(Real)==sizeof(double))?GL_DOUBLE:GL_FLOAT, sizeof(Coord), NULL);
    }
    else
	glVertexPointer (3, (sizeof(Real)==sizeof(double))?GL_DOUBLE:GL_FLOAT, sizeof(Coord), x.hostRead());

    if (computeNormals.getValue())
    {
	GLuint vbo_n = vbo ? vnormals.bufferRead(true) : 0;
	if (vbo_n)
	{
	    glBindBuffer(GL_ARRAY_BUFFER, vbo_n);
	    glNormalPointer ((sizeof(Real)==sizeof(double))?GL_DOUBLE:GL_FLOAT, sizeof(Coord), NULL);
	}
	else
	    glNormalPointer ((sizeof(Real)==sizeof(double))?GL_DOUBLE:GL_FLOAT, sizeof(Coord), vnormals.hostRead());
	glEnableClientState(GL_NORMAL_ARRAY);
    }
    glEnableClientState(GL_VERTEX_ARRAY);

    if (triangles.size() > 0)
    {
	GLuint vbo_t = vbo ? triangles.bufferRead(true) : 0;
	if (vbo_t)
	{
	    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo_t);
	    glDrawElements(GL_TRIANGLES, triangles.size() * 3, GL_UNSIGNED_INT, NULL);
	}
	else
	    glDrawElements(GL_TRIANGLES, triangles.size() * 3, GL_UNSIGNED_INT, triangles.hostRead());
    }

    if (quads.size() > 0)
    {
	GLuint vbo_q = vbo ? quads.bufferRead(true) : 0;
	if (vbo_q)
	{
	    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo_q);
	    glDrawElements(GL_QUADS, quads.size() * 4, GL_UNSIGNED_INT, NULL);
	}
	else
	    glDrawElements(GL_QUADS, quads.size() * 4, GL_UNSIGNED_INT, quads.hostRead());
    }

    if (vbo)
    {
	glBindBuffer(GL_ARRAY_BUFFER, 0);
	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
    }
    glDisableClientState(GL_NORMAL_ARRAY);
    glDisable(GL_LIGHTING);

    if (getContext()->getShowWireFrame())
        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);

    if (getContext()->getShowNormals())
    {
        glColor3f (1.0, 1.0, 1.0);
	for (unsigned int i = 0; i < x.size(); i++)
	{
	    glBegin(GL_LINES);
	    helper::gl::glVertexT(x[i]);
	    Coord p = x[i] + vnormals[i]*0.01;
	    helper::gl::glVertexT(p);
	    glEnd();
	}
    }
}

} // namespace visualmodel

} // namespace component

} // namespace sofa

#endif

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