/usr/include/sofa/gpu/cuda/CudaFixedConstraint.h is in libsofa1-dev 1.0~beta4-9.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library 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 library 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 library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_GPU_CUDA_CUDAFIXEDCONSTRAINT_H
#define SOFA_GPU_CUDA_CUDAFIXEDCONSTRAINT_H
#include "CudaTypes.h"
#include <sofa/component/constraint/FixedConstraint.h>
namespace sofa
{
namespace component
{
namespace constraint
{
template<class TCoord, class TDeriv, class TReal>
class FixedConstraintInternalData< gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> >
{
public:
typedef FixedConstraintInternalData< gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> > Data;
typedef gpu::cuda::CudaVectorTypes<TCoord,TDeriv,TReal> DataTypes;
typedef FixedConstraint<DataTypes> Main;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Deriv Deriv;
typedef typename DataTypes::Real Real;
typedef typename Main::SetIndex SetIndex;
// min/max fixed indices for contiguous constraints
int minIndex;
int maxIndex;
// vector of indices for general case
gpu::cuda::CudaVector<int> cudaIndices;
static void init(Main* m);
static void addConstraint(Main* m, unsigned int index);
static void removeConstraint(Main* m, unsigned int index);
static void projectResponse(Main* m, VecDeriv& dx);
};
// I know using macros is bad design but this is the only way not to repeat the code for all CUDA types
#define CudaFixedConstraint_DeclMethods(T) \
template<> void FixedConstraint< T >::init(); \
template<> void FixedConstraint< T >::addConstraint(unsigned int index); \
template<> void FixedConstraint< T >::removeConstraint(unsigned int index); \
template<> void FixedConstraint< T >::projectResponse(VecDeriv& dx);
CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3fTypes);
CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3f1Types);
#ifdef SOFA_GPU_CUDA_DOUBLE
CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3dTypes);
CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3d1Types);
#endif // SOFA_GPU_CUDA_DOUBLE
#undef CudaFixedConstraint_DeclMethods
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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