CudaRigidMapping.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_CUDARIGIDMAPPING_H
00026 #define SOFA_GPU_CUDA_CUDARIGIDMAPPING_H
00027 
00028 #include "CudaTypes.h"
00029 #include <sofa/component/mapping/RigidMapping.h>
00030 #include <sofa/core/componentmodel/behavior/MappedModel.h>
00031 #include <sofa/core/componentmodel/behavior/MechanicalState.h>
00032 #include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
00033 
00034 namespace sofa
00035 {
00036 
00037 namespace component
00038 {
00039 
00040 namespace mapping
00041 {
00042 
00043 template <>
00044 class RigidMappingInternalData<gpu::cuda::CudaRigid3fTypes, gpu::cuda::CudaVec3fTypes>
00045 {
00046 public:
00047     gpu::cuda::CudaVec3fTypes::VecDeriv tmp;
00048 };
00049 
00050 template <>
00051 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 );
00052 
00053 template <>
00054 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 );
00055 
00056 template <>
00057 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 );
00058 
00059 template <>
00060 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 );
00061 
00062 template <>
00063 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 );
00064 
00065 } // namespace mapping
00066 
00067 } // namespace component
00068 
00069 } // namespace sofa
00070 
00071 #endif