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CudaUniformMass.inl
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CudaUniformMass.inl
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_GPU_CUDA_CUDAUNIFORMMASS_INL
#define SOFA_GPU_CUDA_CUDAUNIFORMMASS_INL
#include <SofaCUDA/component/mass/CudaUniformMass.h>
#include <sofa/component/mass/UniformMass.inl>
#include <sofa/gl/Axis.h>
namespace sofa
{
namespace gpu::cuda
{
extern "C"
{
void UniformMassCuda3f_addMDx(unsigned int size, float mass, void* res, const void* dx);
void UniformMassCuda3f_accFromF(unsigned int size, float mass, void* a, const void* f);
void UniformMassCuda3f_addForce(unsigned int size, const float *mg, void* f);
void UniformMassCuda3f1_addMDx(unsigned int size, float mass, void* res, const void* dx);
void UniformMassCuda3f1_accFromF(unsigned int size, float mass, void* a, const void* f);
void UniformMassCuda3f1_addForce(unsigned int size, const float *mg, void* f);
void UniformMassCudaRigid3f_addMDx(unsigned int size, float mass, void* res, const void* dx);
void UniformMassCudaRigid3f_accFromF(unsigned int size, float mass, void* a, const void* dx);
void UniformMassCudaRigid3f_addForce(unsigned int size, const float* mg, void* f);
#ifdef SOFA_GPU_CUDA_DOUBLE
void UniformMassCuda3d_addMDx(unsigned int size, double mass, void* res, const void* dx);
void UniformMassCuda3d_accFromF(unsigned int size, double mass, void* a, const void* f);
void UniformMassCuda3d_addForce(unsigned int size, const double *mg, void* f);
void UniformMassCuda3d1_addMDx(unsigned int size, double mass, void* res, const void* dx);
void UniformMassCuda3d1_accFromF(unsigned int size, double mass, void* a, const void* f);
void UniformMassCuda3d1_addForce(unsigned int size, const double *mg, void* f);
#endif // SOFA_GPU_CUDA_DOUBLE
}
} // namespace gpu::cuda
namespace component::mass
{
using namespace gpu::cuda;
// -- Mass interface
template <>
void UniformMass<CudaVec3fTypes>::addMDx(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecDeriv& d_dx, SReal d_factor)
{
VecDeriv& f = *d_f.beginEdit();
const VecDeriv& dx = d_dx.getValue();
UniformMassCuda3f_addMDx(dx.size(), (float)(d_vertexMass.getValue()*d_factor), f.deviceWrite(), dx.deviceRead());
d_f.endEdit();
}
template <>
void UniformMass<CudaVec3fTypes>::accFromF(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_a, const DataVecDeriv& d_f)
{
VecDeriv& a = *d_a.beginEdit();
const VecDeriv& f = d_f.getValue();
UniformMassCuda3f_accFromF(f.size(), d_vertexMass.getValue(), a.deviceWrite(), f.deviceRead());
d_a.endEdit();
}
template <>
void UniformMass<CudaVec3fTypes>::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& /*d_x*/, const DataVecDeriv& /*d_v*/)
{
VecDeriv& f = *d_f.beginEdit();
//const VecCoord& x = d_x.getValue();
//const VecDeriv& v = d_v.getValue();
// weight
type::Vec3d g ( this->getContext()->getGravity() );
Deriv theGravity;
DataTypes::set( theGravity, g[0], g[1], g[2]);
Deriv mg = theGravity * d_vertexMass.getValue();
UniformMassCuda3f_addForce(f.size(), mg.ptr(), f.deviceWrite());
d_f.endEdit();
}
template <>
void UniformMass<CudaVec3f1Types>::addMDx(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecDeriv& d_dx, SReal d_factor)
{
VecDeriv& f = *d_f.beginEdit();
const VecDeriv& dx = d_dx.getValue();
UniformMassCuda3f1_addMDx(dx.size(), (float)(d_vertexMass.getValue()*d_factor), f.deviceWrite(), dx.deviceRead());
d_f.endEdit();
}
template <>
void UniformMass<CudaVec3f1Types>::accFromF(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_a, const DataVecDeriv& d_f)
{
VecDeriv& a = *d_a.beginEdit();
const VecDeriv& f = d_f.getValue();
UniformMassCuda3f1_accFromF(f.size(), d_vertexMass.getValue(), a.deviceWrite(), f.deviceRead());
d_a.endEdit();
}
template <>
void UniformMass<CudaVec3f1Types>::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& /*d_x*/, const DataVecDeriv& /*d_v*/)
{
VecDeriv& f = *d_f.beginEdit();
//const VecCoord& x = d_x.getValue();
//const VecDeriv& v = d_v.getValue();
// weight
type::Vec3d g ( this->getContext()->getGravity() );
Deriv theGravity;
DataTypes::set( theGravity, g[0], g[1], g[2]);
Deriv mg = theGravity * d_vertexMass.getValue();
UniformMassCuda3f1_addForce(f.size(), mg.ptr(), f.deviceWrite());
d_f.endEdit();
}
template<>
void UniformMass<gpu::cuda::CudaRigid3fTypes>::addMDx(const core::MechanicalParams * /*mparams*/, DataVecDeriv &f, const DataVecDeriv &dx, SReal factor)
{
VecDeriv& _f = *f.beginEdit();
const VecDeriv& _dx = dx.getValue();
UniformMassCudaRigid3f_addMDx(_dx.size(), (float)(d_vertexMass.getValue().mass*factor), _f.deviceWrite(), _dx.deviceRead());
// for(int i = 0 ; i < _f.size() ; ++i)
// std::cout << "CPU "<< i << " : " << _f[i] << std::endl;
f.endEdit();
}
template<>
void UniformMass<gpu::cuda::CudaRigid3fTypes>::accFromF(const core::MechanicalParams * /*mparams*/, DataVecDeriv &a, const DataVecDeriv &f)
{
VecDeriv& _a = *a.beginEdit();
const VecDeriv _f = f.getValue();
UniformMassCudaRigid3f_accFromF(_a.size(), d_vertexMass.getValue().mass, _a.deviceWrite(), _f.deviceRead());
a.endEdit();
}
template<>
void UniformMass<gpu::cuda::CudaRigid3fTypes>::addForce(const core::MechanicalParams * /*mparams*/, DataVecDeriv &f, const DataVecCoord& /*x*/, const DataVecDeriv& /*v*/)
{
VecDeriv& _f = *f.beginEdit();
type::Vec3d g(this->getContext()->getGravity());
const float m = d_vertexMass.getValue().mass;
const float mg[] = { (float)(m*g(0)), (float)(m*g(1)), (float)(m*g(2)) };
UniformMassCudaRigid3f_addForce(_f.size(), mg, _f.deviceWrite());
f.endEdit();
}
template <>
SReal UniformMass<gpu::cuda::CudaRigid3fTypes>::getPotentialEnergy(const core::MechanicalParams* /*mparams*/, const DataVecCoord& d_x) const
{
const VecCoord& x = d_x.getValue();
SReal e = 0;
// gravity
const type::Vec3d g ( this->getContext()->getGravity() );
for (unsigned int i=0; i<x.size(); i++)
{
e += g*d_vertexMass.getValue().mass*x[i].getCenter();
}
return e;
}
template <>
SReal UniformMass<gpu::cuda::CudaRigid3fTypes>::getElementMass(sofa::Index) const
{
return (SReal)(d_vertexMass.getValue().mass);
}
template <>
void UniformMass<gpu::cuda::CudaRigid3fTypes>::draw(const core::visual::VisualParams* vparams)
{
#if SOFACUDA_HAVE_SOFA_GL == 1
if (!vparams->displayFlags().getShowBehaviorModels())
return;
const VecCoord& x = mstate->read(core::ConstVecCoordId::position())->getValue();
type::Vec3d len;
// The moment of inertia of a box is:
// m->_I(0,0) = M/REAL(12.0) * (ly*ly + lz*lz);
// m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz);
// m->_I(2,2) = M/REAL(12.0) * (lx*lx + ly*ly);
// So to get lx,ly,lz back we need to do
// lx = sqrt(12/M * (m->_I(1,1)+m->_I(2,2)-m->_I(0,0)))
// Note that RigidMass inertiaMatrix is already divided by M
const double m00 = d_vertexMass.getValue().inertiaMatrix[0][0];
const double m11 = d_vertexMass.getValue().inertiaMatrix[1][1];
const double m22 = d_vertexMass.getValue().inertiaMatrix[2][2];
len[0] = sqrt(m11+m22-m00);
len[1] = sqrt(m00+m22-m11);
len[2] = sqrt(m00+m11-m22);
for (unsigned int i=0; i<x.size(); i++)
{
sofa::gl::Axis::draw(x[i].getCenter(), x[i].getOrientation(), len, sofa::type::RGBAColor::red(), sofa::type::RGBAColor::green(), sofa::type::RGBAColor::blue());
}
#endif // SOFACUDA_HAVE_SOFA_GL == 1
}
#ifdef SOFA_GPU_CUDA_DOUBLE
// -- Mass interface
template <>
void UniformMass<CudaVec3dTypes>::addMDx(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecDeriv& d_dx, SReal d_factor)
{
VecDeriv& f = *d_f.beginEdit();
const VecDeriv& dx = d_dx.getValue();
UniformMassCuda3d_addMDx(dx.size(), (double)(d_vertexMass.getValue()*d_factor), f.deviceWrite(), dx.deviceRead());
d_f.endEdit();
}
template <>
void UniformMass<CudaVec3dTypes>::accFromF(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_a, const DataVecDeriv& d_f)
{
VecDeriv& a = *d_a.beginEdit();
const VecDeriv& f = d_f.getValue();
UniformMassCuda3d_accFromF(f.size(), d_vertexMass.getValue(), a.deviceWrite(), f.deviceRead());
d_a.endEdit();
}
template <>
void UniformMass<CudaVec3dTypes>::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& /*d_x*/, const DataVecDeriv& /*d_v*/)
{
VecDeriv& f = *d_f.beginEdit();
//const VecCoord& x = d_x.getValue();
//const VecDeriv& v = d_v.getValue();
// weight
Vec3d g ( this->getContext()->getGravity() );
Deriv theGravity;
DataTypes::set( theGravity, g[0], g[1], g[2]);
Deriv mg = theGravity * d_vertexMass.getValue();
UniformMassCuda3d_addForce(f.size(), mg.ptr(), f.deviceWrite());
d_f.endEdit();
}
// template <>
// bool UniformMass<gpu::cuda::CudaVec3dTypes, double>::addBBox(SReal* minBBox, SReal* maxBBox)
// {
// const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
// //if (!x.isHostValid()) return false; // Do not recompute bounding box if it requires to transfer data from device
// for (unsigned int i=0; i<x.size(); i++)
// {
// //const Coord& p = x[i];
// const Coord& p = x.getCached(i);
// for (int c=0;c<3;c++)
// {
// if (p[c] > maxBBox[c]) maxBBox[c] = p[c];
// if (p[c] < minBBox[c]) minBBox[c] = p[c];
// }
// }
// return true;
// }
template <>
void UniformMass<CudaVec3d1Types>::addMDx(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecDeriv& d_dx, SReal d_factor)
{
VecDeriv& f = *d_f.beginEdit();
const VecDeriv& dx = d_dx.getValue();
UniformMassCuda3d1_addMDx(dx.size(), (double)(d_vertexMass.getValue()*d_factor), f.deviceWrite(), dx.deviceRead());
d_f.endEdit();
}
template <>
void UniformMass<CudaVec3d1Types>::accFromF(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_a, const DataVecDeriv& d_f)
{
VecDeriv& a = *d_a.beginEdit();
const VecDeriv& f = d_f.getValue();
UniformMassCuda3d1_accFromF(f.size(), d_vertexMass.getValue(), a.deviceWrite(), f.deviceRead());
d_a.endEdit();
}
template <>
void UniformMass<CudaVec3d1Types>::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& /*d_x*/, const DataVecDeriv& /*d_v*/)
{
VecDeriv& f = *d_f.beginEdit();
//const VecCoord& x = d_x.getValue();
//const VecDeriv& v = d_v.getValue();
// weight
Vec3d g ( this->getContext()->getGravity() );
Deriv theGravity;
DataTypes::set( theGravity, g[0], g[1], g[2]);
Deriv mg = theGravity * d_vertexMass.getValue();
UniformMassCuda3d1_addForce(f.size(), mg.ptr(), f.deviceWrite());
d_f.endEdit();
}
// template <>
// bool UniformMass<gpu::cuda::CudaVec3d1Types, double>::addBBox(double* minBBox, double* maxBBox)
// {
// const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
// //if (!x.isHostValid()) return false; // Do not recompute bounding box if it requires to transfer data from device
// for (unsigned int i=0; i<x.size(); i++)
// {
// //const Coord& p = x[i];
// const Coord& p = x.getCached(i);
// for (int c=0;c<3;c++)
// {
// if (p[c] > maxBBox[c]) maxBBox[c] = p[c];
// if (p[c] < minBBox[c]) minBBox[c] = p[c];
// }
// }
// return true;
// }
template <>
SReal UniformMass<gpu::cuda::CudaRigid3dTypes>::getPotentialEnergy(const core::MechanicalParams* /*mparams*/, const DataVecCoord& d_x) const
{
const VecCoord& x = d_x.getValue();
SReal e = 0;
// gravity
Vec3d g ( this->getContext()->getGravity() );
for (unsigned int i=0; i<x.size(); i++)
{
e += g*d_vertexMass.getValue().mass*x[i].getCenter();
}
return e;
}
template <>
SReal UniformMass<gpu::cuda::CudaRigid3dTypes>::getElementMass(sofa::Index) const
{
return (SReal)(d_vertexMass.getValue().mass);
}
template <>
void UniformMass<gpu::cuda::CudaRigid3dTypes>::draw(const core::visual::VisualParams* vparams )
{
if (!vparams->displayFlags().getShowBehaviorModels())
return;
const VecCoord& x = mstate->read(core::ConstVecCoordId::position())->getValue();
type::Vec3d len;
// The moment of inertia of a box is:
// m->_I(0,0) = M/REAL(12.0) * (ly*ly + lz*lz);
// m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz);
// m->_I(2,2) = M/REAL(12.0) * (lx*lx + ly*ly);
// So to get lx,ly,lz back we need to do
// lx = sqrt(12/M * (m->_I(1,1)+m->_I(2,2)-m->_I(0,0)))
// Note that RigidMass inertiaMatrix is already divided by M
double m00 = d_vertexMass.getValue().inertiaMatrix[0][0];
double m11 = d_vertexMass.getValue().inertiaMatrix[1][1];
double m22 = d_vertexMass.getValue().inertiaMatrix[2][2];
len[0] = sqrt(m11+m22-m00);
len[1] = sqrt(m00+m22-m11);
len[2] = sqrt(m00+m11-m22);
for (unsigned int i=0; i<x.size(); i++)
{
sofa::gl::Axis::draw(x[i].getCenter(), x[i].getOrientation(), len, sofa::type::RGBAColor::red(), sofa::type::RGBAColor::green(), sofa::type::RGBAColor::blue());
}
}
#endif // SOFA_GPU_CUDA_DOUBLE
} // namespace component::mass
} // namespace sofa
#endif