text: /******************************************************************************
  *       SOFA, Simulation Open-Framework Architecture, development version     *
  *                (c) 2006-2017 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                             *
  ******************************************************************************/
  #ifndef SOFA_GPU_CUDA_CUDAIDENTITYMAPPING_INL
  #define SOFA_GPU_CUDA_CUDAIDENTITYMAPPING_INL
  
  #include "CudaIdentityMapping.h"
  #include <SofaBaseMechanics/IdentityMapping.inl>
  
  namespace sofa
  {
  
  namespace gpu
  {
  
  namespace cuda
  {
  
  extern "C"
  {
      void MechanicalObjectCudaVec3f_vAssign(unsigned int size, void* res, const void* a);
      void MechanicalObjectCudaVec3f_vPEq(unsigned int size, void* res, const void* a);
      void MechanicalObjectCudaVec3f1_vAssign(unsigned int size, void* res, const void* a);
      void MechanicalObjectCudaVec3f1_vPEq(unsigned int size, void* res, const void* a);
  }
  
  } // namespace cuda
  
  } // namespace gpu
  
  namespace component
  {
  
  namespace mapping
  {
  
  using namespace sofa::defaulttype;
  using namespace sofa::core;
  using namespace sofa::core::behavior;
  using namespace sofa::gpu::cuda;
  
  template <>
  void IdentityMapping<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>::apply( const core::MechanicalParams* /*mparams*/, OutDataVecCoord& dOut, const InDataVecCoord& dIn )
  {
      OutVecCoord& out = *dOut.beginEdit();
      const InVecCoord& in = dIn.getValue();
      out.fastResize(in.size());
      gpu::cuda::MechanicalObjectCudaVec3f_vAssign(out.size(), out.deviceWrite(), in.deviceRead());
  }
  
  template <>
  void IdentityMapping<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>::applyJ( const core::MechanicalParams* /*mparams*/, OutDataVecDeriv& dOut, const InDataVecDeriv& dIn )
  {
      OutVecDeriv& out = *dOut.beginEdit();
      const InVecDeriv& in = dIn.getValue();
      out.fastResize(in.size());
      gpu::cuda::MechanicalObjectCudaVec3f_vAssign(out.size(), out.deviceWrite(), in.deviceRead());
      dOut.endEdit();
  }
  
  template <>
  void IdentityMapping<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>::applyJT( const core::MechanicalParams* /*mparams*/, InDataVecDeriv& dOut, const OutDataVecDeriv& dIn )
  {
      InVecDeriv& out = *dOut.beginEdit();
      const OutVecDeriv& in = dIn.getValue();
      gpu::cuda::MechanicalObjectCudaVec3f_vPEq(out.size(), out.deviceWrite(), in.deviceRead());
      dOut.endEdit();
  }
  
  template <>
  void IdentityMapping<gpu::cuda::CudaVec3fTypes, gpu::cuda::CudaVec3fTypes>::applyJT(const core::ConstraintParams * /*cparams*/, Data<InMatrixDeriv>& dOut, const Data<MatrixDeriv>& dIn)
  {
      InMatrixDeriv& out = *dOut.beginEdit();
      const MatrixDeriv & in = dIn.getValue();
  
      gpu::cuda::CudaVec3fTypes::MatrixDeriv::RowConstIterator rowItEnd = in.end();
  
      for (gpu::cuda::CudaVec3fTypes::MatrixDeriv::RowConstIterator rowIt = in.begin(); rowIt != rowItEnd; ++rowIt)
      {
          gpu::cuda::CudaVec3fTypes::MatrixDeriv::ColConstIterator colIt = rowIt.begin();
          gpu::cuda::CudaVec3fTypes::MatrixDeriv::ColConstIterator colItEnd = rowIt.end();
  
          // Creates a constraints if the input constraint is not empty.
          if (colIt != colItEnd)
          {
              gpu::cuda::CudaVec3fTypes::MatrixDeriv::RowIterator o = out.writeLine(rowIt.index());
  
              while (colIt != colItEnd)
              {
                  o.addCol(colIt.index(), colIt.val());
  
                  ++colIt;
              }
          }
      }
  
      dOut.endEdit();
  }
  
  //////// CudaVec3f1
  
  template <>
  void IdentityMapping<gpu::cuda::CudaVec3f1Types, gpu::cuda::CudaVec3f1Types>::apply( const core::MechanicalParams* /*mparams*/, OutDataVecCoord& dOut, const InDataVecCoord& dIn )
  {
      OutVecCoord& out = *dOut.beginEdit();
      const InVecCoord& in = dIn.getValue();
      out.fastResize(in.size());
      gpu::cuda::MechanicalObjectCudaVec3f1_vAssign(out.size(), out.deviceWrite(), in.deviceRead());
      dOut.endEdit();
  }
  
  template <>
  void IdentityMapping<gpu::cuda::CudaVec3f1Types, gpu::cuda::CudaVec3f1Types>::applyJ( const core::MechanicalParams* /*mparams*/, OutDataVecDeriv& dOut, const InDataVecDeriv& dIn )
  {
      OutVecDeriv& out = *dOut.beginEdit();
      const InVecDeriv& in = dIn.getValue();
      out.fastResize(in.size());
      gpu::cuda::MechanicalObjectCudaVec3f1_vAssign(out.size(), out.deviceWrite(), in.deviceRead());
      dOut.endEdit();
  }
  
  template <>
  void IdentityMapping<gpu::cuda::CudaVec3f1Types, gpu::cuda::CudaVec3f1Types>::applyJT( const core::MechanicalParams* /*mparams*/, InDataVecDeriv& dOut, const OutDataVecDeriv& dIn )
  {
      InVecDeriv& out = *dOut.beginEdit();
      const OutVecDeriv& in = dIn.getValue();
      gpu::cuda::MechanicalObjectCudaVec3f1_vPEq(out.size(), out.deviceWrite(), in.deviceRead());
      dOut.endEdit();
  }
  
  
  
  } // namespace mapping
  
  } // namespace component
  
  } // namespace sofa
  
  #endif
  