[SofaCUDA] ElementForceField(s): add support for Prisms and Pyramids

Sofa/Component/Mass/src/sofa/component/mass/NodalMassDensity.cpp

@@ -25,12 +25,14 @@
 namespace sofa::component::mass
 {
 
-template class SOFA_COMPONENT_MASS_API NodalMassDensity<SReal>;
+template class SOFA_COMPONENT_MASS_API NodalMassDensity<double>;
+template class SOFA_COMPONENT_MASS_API NodalMassDensity<float>;
 
 void registerNodalMassDensity(sofa::core::ObjectFactory* factory)
 {
     factory->registerObjects(core::ObjectRegistrationData("Definition of a nodal mass density (one value per dof).")
-        .add< NodalMassDensity<SReal> >()
+        .add< NodalMassDensity<double> >()
+        .add< NodalMassDensity<float> >()
     );
 }
 

applications/plugins/SofaCUDA/Component/CMakeLists.txt

@@ -36,7 +36,8 @@ set(HEADER_FILES
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaMeshMatrixMass.inl
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaUniformMass.h
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaUniformMass.inl
-
+    ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaFEMMass.h
+
 
     ### solidmechanics
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaFEMKernelUtils.cuh
@@ -114,6 +115,7 @@ set(SOURCE_FILES
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaDiagonalMass.cpp
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaMeshMatrixMass.cpp
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaUniformMass.cpp
+    ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaFEMMass.cpp
 
     ### Solidmechanics
     ${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaCorotationalFEMForceField.cpp

applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/init.cpp

@@ -81,6 +81,7 @@ extern void registerRigidMapping(sofa::core::ObjectFactory* factory);
 extern void registerDiagonalMass(sofa::core::ObjectFactory* factory);
 extern void registerMeshMatrixMass(sofa::core::ObjectFactory* factory);
 extern void registerUniformMass(sofa::core::ObjectFactory* factory);
+extern void registerFEMMass(sofa::core::ObjectFactory* factory);
 
 // component::mechanicalload
 extern void registerConstantForceField(sofa::core::ObjectFactory* factory);
@@ -221,6 +222,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     registerDiagonalMass(factory);
     registerMeshMatrixMass(factory);
     registerUniformMass(factory);
+    registerFEMMass(factory);
     registerConstantForceField(factory);
     registerEllipsoidForceField(factory);
     registerLinearForceField(factory);

applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/mass/CudaFEMMass.cpp

@@ -0,0 +1,85 @@
+/******************************************************************************
+*                 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                             *
+******************************************************************************/
+#define SOFA_GPU_CUDA_CUDAFEMMASS_CPP
+
+#include <SofaCUDA/component/config.h>
+
+#include <sofa/gpu/cuda/CudaTypes.h>
+#include <SofaCUDA/component/mass/CudaFEMMass.h>
+#include <sofa/component/mass/FEMMass.inl>
+#include <sofa/core/behavior/Mass.inl>
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/fem/FiniteElement[all].h>
+
+namespace sofa::component::mass
+{
+
+using namespace sofa::gpu::cuda;
+
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3fTypes, sofa::geometry::Edge>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3fTypes, sofa::geometry::Triangle>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3fTypes, sofa::geometry::Quad>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3fTypes, sofa::geometry::Tetrahedron>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3fTypes, sofa::geometry::Hexahedron>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3fTypes, sofa::geometry::Prism>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3fTypes, sofa::geometry::Pyramid>;
+
+#ifdef SOFA_GPU_CUDA_DOUBLE
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3dTypes, sofa::geometry::Edge>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3dTypes, sofa::geometry::Triangle>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3dTypes, sofa::geometry::Quad>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3dTypes, sofa::geometry::Tetrahedron>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3dTypes, sofa::geometry::Hexahedron>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3dTypes, sofa::geometry::Prism>;
+template class SOFACUDA_COMPONENT_API FEMMass<CudaVec3dTypes, sofa::geometry::Pyramid>;
+#endif
+
+} // namespace sofa::component::mass
+
+namespace sofa::gpu::cuda
+{
+
+void registerFEMMass(sofa::core::ObjectFactory* factory)
+{
+    using namespace sofa::component::mass;
+
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Supports GPU-side computations using CUDA for FEMMass")
+        .add< FEMMass<CudaVec3fTypes, sofa::geometry::Edge> >()
+        .add< FEMMass<CudaVec3fTypes, sofa::geometry::Triangle> >()
+        .add< FEMMass<CudaVec3fTypes, sofa::geometry::Quad> >()
+        .add< FEMMass<CudaVec3fTypes, sofa::geometry::Tetrahedron> >()
+        .add< FEMMass<CudaVec3fTypes, sofa::geometry::Hexahedron> >()
+        .add< FEMMass<CudaVec3fTypes, sofa::geometry::Prism> >()
+        .add< FEMMass<CudaVec3fTypes, sofa::geometry::Pyramid> >()
+#ifdef SOFA_GPU_CUDA_DOUBLE
+        .add< FEMMass<CudaVec3dTypes, sofa::geometry::Edge> >()
+        .add< FEMMass<CudaVec3dTypes, sofa::geometry::Triangle> >()
+        .add< FEMMass<CudaVec3dTypes, sofa::geometry::Quad> >()
+        .add< FEMMass<CudaVec3dTypes, sofa::geometry::Tetrahedron> >()
+        .add< FEMMass<CudaVec3dTypes, sofa::geometry::Hexahedron> >()
+        .add< FEMMass<CudaVec3dTypes, sofa::geometry::Prism> >()
+        .add< FEMMass<CudaVec3dTypes, sofa::geometry::Pyramid> >()
+#endif
+    );
+}
+
+} // namespace sofa::gpu::cuda

applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/mass/CudaFEMMass.h

@@ -0,0 +1,52 @@
+/******************************************************************************
+*                 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                             *
+******************************************************************************/
+#pragma once
+
+#include <SofaCUDA/component/config.h>
+
+#include <sofa/gpu/cuda/CudaTypes.h>
+#include <sofa/component/mass/FEMMass.h>
+
+namespace sofa::component::mass
+{
+
+#ifndef SOFA_GPU_CUDA_CUDAFEMMASS_CPP
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3fTypes, sofa::geometry::Edge>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3fTypes, sofa::geometry::Triangle>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3fTypes, sofa::geometry::Quad>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3fTypes, sofa::geometry::Tetrahedron>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3fTypes, sofa::geometry::Hexahedron>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3fTypes, sofa::geometry::Prism>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3fTypes, sofa::geometry::Pyramid>;
+
+#ifdef SOFA_GPU_CUDA_DOUBLE
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3dTypes, sofa::geometry::Edge>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3dTypes, sofa::geometry::Triangle>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3dTypes, sofa::geometry::Quad>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3dTypes, sofa::geometry::Tetrahedron>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3dTypes, sofa::geometry::Hexahedron>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3dTypes, sofa::geometry::Prism>;
+extern template class SOFACUDA_COMPONENT_API FEMMass<sofa::gpu::cuda::CudaVec3dTypes, sofa::geometry::Pyramid>;
+#endif
+#endif
+
+} // namespace sofa::component::mass

applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaCorotationalFEMForceField.cpp

@@ -35,13 +35,17 @@ template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTyp
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Quad>;
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron>;
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron>;
+template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Prism>;
+template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Pyramid>;
 
 #ifdef SOFA_GPU_CUDA_DOUBLE
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Edge>;
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle>;
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Quad>;
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron>;
 template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron>;
+template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Prism>;
+template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Pyramid>;
 #endif
 
 } // namespace sofa::component::solidmechanics::fem::elastic
@@ -54,48 +58,24 @@ void registerCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
     using namespace sofa::component::solidmechanics::fem::elastic;
 
     factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA for EdgeCorotationalFEMForceField")
+        "Supports GPU-side computations using CUDA for CorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Edge> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA for TriangleCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Triangle> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA for QuadCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Quad> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA for TetrahedronCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA for HexahedronCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron> >()
-    );
-
+        .add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Prism> >()
+        .add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Pyramid> >()
 #ifdef SOFA_GPU_CUDA_DOUBLE
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA (double) for EdgeCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Edge> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA (double) for TriangleCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA (double) for QuadCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Quad> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA (double) for TetrahedronCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron> >()
-    );
-    factory->registerObjects(sofa::core::ObjectRegistrationData(
-        "Supports GPU-side computations using CUDA (double) for HexahedronCorotationalFEMForceField")
         .add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron> >()
-    );
+        .add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Prism> >()
+        .add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Pyramid> >()
 #endif
+    );
 }
 
 } // namespace sofa::gpu::cuda

applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaCorotationalFEMForceField.cu

@@ -315,17 +315,25 @@ void CorotationalFEMForceFieldCuda_addDForce(
 INSTANTIATE_COROTATIONAL(float, 2)
 INSTANTIATE_COROTATIONAL(float, 3)
 INSTANTIATE_COROTATIONAL(float, 4)
+INSTANTIATE_COROTATIONAL(float, 5) // Pyramid
+INSTANTIATE_COROTATIONAL(float, 6) // Prism
 INSTANTIATE_COROTATIONAL(float, 8)
 INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 3)
 INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 4)
+INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 5) // Pyramid
+INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 6) // Prism
 INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 8)
 
 INSTANTIATE_COROTATIONAL(double, 2)
 INSTANTIATE_COROTATIONAL(double, 3)
 INSTANTIATE_COROTATIONAL(double, 4)
+INSTANTIATE_COROTATIONAL(double, 5) // Pyramid
+INSTANTIATE_COROTATIONAL(double, 6) // Prism
 INSTANTIATE_COROTATIONAL(double, 8)
 INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 3)
 INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 4)
+INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 5) // Pyramid
+INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 6) // Prism
 INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 8)
 
 #undef INSTANTIATE_COROTATIONAL