CudaPlaneForceField.h

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00001 /******************************************************************************
00002 *       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
00003 *                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
00004 *                                                                             *
00005 * This library is free software; you can redistribute it and/or modify it     *
00006 * under the terms of the GNU Lesser General Public License as published by    *
00007 * the Free Software Foundation; either version 2.1 of the License, or (at     *
00008 * your option) any later version.                                             *
00009 *                                                                             *
00010 * This library is distributed in the hope that it will be useful, but WITHOUT *
00011 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
00012 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
00013 * for more details.                                                           *
00014 *                                                                             *
00015 * You should have received a copy of the GNU Lesser General Public License    *
00016 * along with this library; if not, write to the Free Software Foundation,     *
00017 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
00018 *******************************************************************************
00019 *                               SOFA :: Modules                               *
00020 *                                                                             *
00021 * Authors: The SOFA Team and external contributors (see Authors.txt)          *
00022 *                                                                             *
00023 * Contact information: contact@sofa-framework.org                             *
00024 ******************************************************************************/
00025 #ifndef SOFA_GPU_CUDA_CUDAPLANEFORCEFIELD_H
00026 #define SOFA_GPU_CUDA_CUDAPLANEFORCEFIELD_H
00027 
00028 #include "CudaTypes.h"
00029 #include <sofa/component/forcefield/PlaneForceField.h>
00030 
00031 namespace sofa
00032 {
00033 
00034 namespace gpu
00035 {
00036 
00037 namespace cuda
00038 {
00039 
00040 template<class real>    
00041 struct GPUPlane
00042 {
00043     defaulttype::Vec<3,real> normal;
00044     real d;
00045     real stiffness;
00046     real damping;
00047 };
00048 
00049 } // namespace cuda
00050 
00051 } // namespace gpu
00052 
00053 namespace component
00054 {
00055 
00056 namespace forcefield
00057 {
00058 
00059 template<class TCoord, class TDeriv, class TReal>
00060 class PlaneForceFieldInternalData< gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> >
00061 {
00062 public:
00063     typedef TReal Real;
00064     gpu::cuda::GPUPlane<Real> plane;
00065     gpu::cuda::CudaVector<Real> penetration;
00066 };
00067 
00068 template <>
00069 void PlaneForceField<gpu::cuda::CudaVec3fTypes>::addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
00070 
00071 template <>
00072 void PlaneForceField<gpu::cuda::CudaVec3fTypes>::addDForce (VecDeriv& df, const VecDeriv& dx, double kFactor, double bFactor);
00073 
00074 template <>
00075 void PlaneForceField<gpu::cuda::CudaVec3f1Types>::addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
00076 
00077 template <>
00078 void PlaneForceField<gpu::cuda::CudaVec3f1Types>::addDForce (VecDeriv& df, const VecDeriv& dx, double kFactor, double bFactor);
00079 
00080 
00081 } // namespace forcefield
00082 
00083 } // namespace component
00084 
00085 } // namespace sofa
00086 
00087 #endif