CudaSubsetMapping.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_CUDASUBSETMAPPING_H
00026 #define SOFA_GPU_CUDA_CUDASUBSETMAPPING_H
00027 
00028 #include "CudaTypes.h"
00029 #include <sofa/component/mapping/SubsetMapping.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 SubsetMappingInternalData<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>
00045 {
00046 public:
00047     sofa::gpu::cuda::CudaVector<int> map;
00048     int maxNOut;
00049     sofa::gpu::cuda::CudaVector<int> mapT;
00050     SubsetMappingInternalData() : maxNOut(0)
00051     {}
00052 
00053     void clear(int reserve=0)
00054     {
00055         map.clear();
00056         map.reserve(reserve);
00057     }
00058 
00059     int addPoint(int fromIndex)
00060     {
00061         int i = map.size();
00062         map.resize(i+1);
00063         map[i] = fromIndex;
00064         return i;
00065     }
00066 
00067     void init(int insize)
00068     {
00069     unsigned int n = map.size();
00070     std::vector<int> nout;
00071         if (n==0) return;
00072     if (n==1)
00073         maxNOut = 1;
00074     else
00075     {
00076         // compute mapT
00077         nout.resize(insize);
00078         for (unsigned int i=0;i<map.size();i++)
00079         nout[map[i]]++;
00080         for (int i=0;i<insize;i++)
00081         if (nout[i] > maxNOut) maxNOut = nout[i];
00082     }
00083         if (maxNOut <= 1)
00084         {
00085             std::cout << "CudaSubsetMapping: strict subset, no need for mapT."<<std::endl;
00086             // at most one duplicated points per input. mapT is not necessary
00087             mapT.clear();
00088         }
00089         else
00090         {
00091             int nbloc = (insize+BSIZE-1)/BSIZE;
00092             std::cout << "CudaSubsetMapping: mapT with "<<maxNOut<<" entries per DOF and "<<nbloc<<" blocs."<<std::endl;
00093             mapT.resize(nbloc*(BSIZE*maxNOut));
00094             for (unsigned int i=0;i<mapT.size();i++)
00095                 mapT[i] = -1;
00096             nout.clear();
00097             nout.resize(insize);
00098             for (unsigned int i=0;i<map.size();i++)
00099             {
00100                 int index = map[i];
00101                 int num = nout[index]++;
00102                 int b = (index / BSIZE); index -= b*BSIZE;
00103                 mapT[(maxNOut*b+num)*BSIZE+index] = i;
00104             }
00105         }
00106     }
00107 };
00108 
00109 template <>
00110 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::postInit();
00111 
00112 template <>
00113 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00114 
00115 template <>
00116 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00117 
00118 template <>
00119 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in );
00120 
00121 template <>
00122 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::postInit();
00123 
00124 template <>
00125 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00126 
00127 template <>
00128 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00129 
00130 
00132 
00133 template <>
00134 class SubsetMappingInternalData<gpu::cuda::CudaVec3f1Types, gpu::cuda::CudaVec3f1Types> : public SubsetMappingInternalData<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>
00135 {
00136 };
00137 
00138 template <>
00139 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::postInit();
00140 
00141 template <>
00142 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00143 
00144 template <>
00145 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00146 
00147 template <>
00148 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in );
00149 
00150 template <>
00151 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3f1Types> > >::postInit();
00152 
00153 template <>
00154 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3f1Types> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00155 
00156 template <>
00157 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3f1Types> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00158 
00159 template <>
00160 class SubsetMappingInternalData<gpu::cuda::CudaVec3f1Types, gpu::cuda::CudaVec3fTypes> : public SubsetMappingInternalData<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>
00161 {
00162 };
00163 
00164 template <>
00165 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::postInit();
00166 
00167 template <>
00168 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00169 
00170 template <>
00171 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00172 
00173 template <>
00174 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes> > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in );
00175 
00176 template <>
00177 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::postInit();
00178 
00179 template <>
00180 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00181 
00182 template <>
00183 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3f1Types>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3fTypes> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00184 
00185 template <>
00186 class SubsetMappingInternalData<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3f1Types> : public SubsetMappingInternalData<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>
00187 {
00188 };
00189 
00190 template <>
00191 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::postInit();
00192 
00193 template <>
00194 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00195 
00196 template <>
00197 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00198 
00199 template <>
00200 void SubsetMapping<sofa::core::componentmodel::behavior::MechanicalMapping< sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MechanicalState<gpu::cuda::CudaVec3f1Types> > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in );
00201 
00202 template <>
00203 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3f1Types> > >::postInit();
00204 
00205 template <>
00206 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3f1Types> > >::apply( Out::VecCoord& out, const In::VecCoord& in );
00207 
00208 template <>
00209 void SubsetMapping<sofa::core::Mapping< sofa::core::componentmodel::behavior::State<gpu::cuda::CudaVec3fTypes>, sofa::core::componentmodel::behavior::MappedModel<gpu::cuda::CudaVec3f1Types> > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in );
00210 
00211 } // namespace mapping
00212 
00213 } // namespace component
00214 
00215 } // namespace sofa
00216 
00217 #endif