Skip to content

[SofaCUDA] FixedProjectiveConstraint: Fix for double templates #5974

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
hugtalbot merged 1 commit into from
Mar 24, 2026
Merged

[SofaCUDA] FixedProjectiveConstraint: Fix for double templates #5974

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions .../Component/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -328,7 +328,7 @@ void FixedProjectiveConstraintInternalData<gpu::cuda::CudaVec1fTypes>::projectRe
const Data& data = *m->data;
if (m->d_fixAll.getValue())
FixedProjectiveConstraintCuda1f_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite()));
else if (data.minIndex >= 0)
else if (data.minIndex != sofa::InvalidID)
FixedProjectiveConstraintCuda1f_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((float*)dx.deviceWrite())+data.minIndex);
else
FixedProjectiveConstraintCuda1f_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite());
Expand Down Expand Up @@ -392,7 +392,7 @@ void FixedProjectiveConstraintInternalData<gpu::cuda::CudaVec3dTypes>::projectRe
Data& data = *m->data;
if (m->d_fixAll.getValue())
FixedProjectiveConstraintCuda3d_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite()));
else if (data.minIndex >= 0)
else if (data.minIndex != sofa::InvalidID)
FixedProjectiveConstraintCuda3d_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+3*data.minIndex);
else
FixedProjectiveConstraintCuda3d_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite());
Expand All @@ -404,7 +404,7 @@ void FixedProjectiveConstraintInternalData<gpu::cuda::CudaVec3d1Types>::projectR
Data& data = *m->data;
if (m->d_fixAll.getValue())
FixedProjectiveConstraintCuda3d1_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite()));
else if (data.minIndex >= 0)
else if (data.minIndex != sofa::InvalidID)
FixedProjectiveConstraintCuda3d1_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+4*data.minIndex);
else
FixedProjectiveConstraintCuda3d1_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite());
Expand All @@ -416,7 +416,7 @@ void FixedProjectiveConstraintInternalData<gpu::cuda::CudaRigid3dTypes>::project
Data& data = *m->data;
if (m->d_fixAll.getValue())
FixedProjectiveConstraintCudaRigid3d_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite()));
else if (data.minIndex >= 0)
else if (data.minIndex != sofa::InvalidID)
FixedProjectiveConstraintCudaRigid3d_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+6*data.minIndex);
else
FixedProjectiveConstraintCudaRigid3d_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite());
Expand Down
97 changes: 97 additions & 0 deletions ...cenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_cudavec3d_beam10x10x40_implicit.scn
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,97 @@
<?xml version="1.0" ?>
<Node name="root" gravity="0 -9 0" dt="0.01">
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [DiscreteIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaCUDA"/> <!-- Needed to use components [BoxROI DiagonalMass FixedProjectiveConstraint IdentityMapping MechanicalObject TetrahedronFEMForceField TetrahedronSetGeometryAlgorithms TriangleSetGeometryAlgorithms] -->
<VisualStyle displayFlags="showBehaviorModels showVisual" />

<DefaultAnimationLoop />
<DefaultVisualManagerLoop />
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" />
<DiscreteIntersection/>

<Node name="Beam">
<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
<TetrahedronSetTopologyContainer name="BeamTopo" />
<TetrahedronSetTopologyModifier name="Modifier" />

<Hexa2TetraTopologicalMapping input="@grid" output="@BeamTopo" />
</Node>


<Node name="TetrahedronFEMForceField-GPU-Green">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3d"/>

<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3d" />

<DiagonalMass totalMass="50.0" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

<FixedProjectiveConstraint indices="@ROI1.indices" />
<TetrahedronFEMForceField template="CudaVec3d" name="FEM" computeGlobalMatrix="false" method="large" poissonRatio="0.3" youngModulus="2000" />

<Node name="surface">
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="CudaVec3d" name="GeomAlgo" />

<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" />
<Node name="Visu">
<OglModel name="Visual" color="green" />
<IdentityMapping input="@../../Volume" output="@Visual" />
</Node>
</Node>
</Node>


<Node name="TetrahedronFEMForceField-CPU-red">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

<MechanicalObject position="@../Beam/grid.position" name="Volume" template="Vec3"/>

<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />

<DiagonalMass totalMass="50.0" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

<FixedProjectiveConstraint indices="@ROI1.indices" />
<TetrahedronFEMForceField template="Vec3" name="FEM" computeGlobalMatrix="false" method="large" poissonRatio="0.3" youngModulus="2000" />

<Node name="surface">
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />

<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" />
<Node name="Visu">
<OglModel name="Visual" color="red" />
<IdentityMapping input="@../../Volume" output="@Visual" />
</Node>
</Node>
</Node>
</Node>
Loading