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_CUDASPHEREFORCEFIELD_INL
  #define SOFA_GPU_CUDA_CUDASPHEREFORCEFIELD_INL
  
  #include "CudaSphereForceField.h"
  #include <SofaBoundaryCondition/SphereForceField.inl>
  
  namespace sofa
  {
  
  namespace gpu
  {
  
  namespace cuda
  {
  
  extern "C"
  {
      void SphereForceFieldCuda3f_addForce(unsigned int size, GPUSphere* sphere, void* penetration, void* f, const void* x, const void* v);
      void SphereForceFieldCuda3f_addDForce(unsigned int size, GPUSphere* sphere, const void* penetration, void* f, const void* dx); //, const void* dfdx);
  
      void SphereForceFieldCuda3f1_addForce(unsigned int size, GPUSphere* sphere, void* penetration, void* f, const void* x, const void* v);
      void SphereForceFieldCuda3f1_addDForce(unsigned int size, GPUSphere* sphere, const void* penetration, void* f, const void* dx); //, const void* dfdx);
  }
  
  } // namespace cuda
  
  } // namespace gpu
  
  namespace component
  {
  
  namespace forcefield
  {
  
  using namespace gpu::cuda;
  
  
  template <>
  void SphereForceField<gpu::cuda::CudaVec3fTypes>::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v)
  {
      VecDeriv& f = *d_f.beginEdit();
      const VecCoord& x = d_x.getValue();
      const VecDeriv& v = d_v.getValue();
  
      data.sphere.center = sphereCenter.getValue();
      data.sphere.r = sphereRadius.getValue();
      data.sphere.stiffness = stiffness.getValue();
      data.sphere.damping = damping.getValue();
      f.resize(x.size());
      data.penetration.resize(x.size());
      SphereForceFieldCuda3f_addForce(x.size(), &data.sphere, data.penetration.deviceWrite(), f.deviceWrite(), x.deviceRead(), v.deviceRead());
  
      d_f.endEdit();
  }
  
  template <>
  void SphereForceField<gpu::cuda::CudaVec3fTypes>::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx)
  {
      VecDeriv& df = *d_df.beginEdit();
      const VecDeriv& dx = d_dx.getValue();
  
      df.resize(dx.size());
      double stiff = data.sphere.stiffness;
      data.sphere.stiffness *= mparams->kFactorIncludingRayleighDamping(this->rayleighStiffness.getValue());
      SphereForceFieldCuda3f_addDForce(dx.size(), &data.sphere, data.penetration.deviceRead(), df.deviceWrite(), dx.deviceRead());
      data.sphere.stiffness = stiff;
  
      d_df.endEdit();
  }
  
  
  template <>
  void SphereForceField<gpu::cuda::CudaVec3f1Types>::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v)
  {
      VecDeriv& f = *d_f.beginEdit();
      const VecCoord& x = d_x.getValue();
      const VecDeriv& v = d_v.getValue();
  
      data.sphere.center = sphereCenter.getValue();
      data.sphere.r = sphereRadius.getValue();
      data.sphere.stiffness = stiffness.getValue();
      data.sphere.damping = damping.getValue();
      f.resize(x.size());
      data.penetration.resize(x.size());
      SphereForceFieldCuda3f1_addForce(x.size(), &data.sphere, data.penetration.deviceWrite(), f.deviceWrite(), x.deviceRead(), v.deviceRead());
  
      d_f.endEdit();
  }
  
  template <>
  void SphereForceField<gpu::cuda::CudaVec3f1Types>::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx)
  {
      VecDeriv& df = *d_df.beginEdit();
      const VecDeriv& dx = d_dx.getValue();
  
      df.resize(dx.size());
      double stiff = data.sphere.stiffness;
      data.sphere.stiffness *= mparams->kFactorIncludingRayleighDamping(this->rayleighStiffness.getValue());
      SphereForceFieldCuda3f1_addDForce(dx.size(), &data.sphere, data.penetration.deviceRead(), df.deviceWrite(), dx.deviceRead());
      data.sphere.stiffness = stiff;
  
      d_df.endEdit();
  }
  
  } // namespace forcefield
  
  } // namespace component
  
  } // namespace sofa
  
  #endif
  