Introduce CUDA extension

CMakeLists.txt

@@ -305,4 +305,6 @@ if(SOFTROBOTS_BUILD_TESTS)
     add_subdirectory(tests)
 endif()
 
+sofa_add_subdirectory(plugin extensions/CUDA SoftRobots.CUDA)
+
 include(cmake/packaging.cmake)

extensions/CUDA/CMakeLists.txt

@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.12)
+project(SoftRobots.CUDA)
+
+set(HEADER_FILES
+    src/SoftRobots/CUDA/init.h
+    src/SoftRobots/CUDA/config.h.in
+)
+
+set(SOURCE_FILES
+    src/SoftRobots/CUDA/init.cpp
+
+    src/SoftRobots/CUDA/component/forcefield/CUDAPartialRigidificationForceField.cpp
+    src/SoftRobots/CUDA/component/forcefield/CUDAPipeForceField.cpp
+    src/SoftRobots/CUDA/component/forcefield/CUDAPREquivalentStiffnessForceField.cpp
+)
+
+sofa_find_package(SoftRobots REQUIRED)
+sofa_find_package(SofaCUDA REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} SoftRobots)
+target_link_libraries(${PROJECT_NAME} SofaCUDA)
+
+sofa_create_package_with_targets(
+    PACKAGE_NAME ${PROJECT_NAME}
+    PACKAGE_VERSION ${Sofa_VERSION}
+    TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
+    INCLUDE_SOURCE_DIR "src"
+    INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
+    RELOCATABLE "plugins"
+)

extensions/CUDA/SoftRobots.CUDAConfig.cmake.in

@@ -0,0 +1,9 @@
+# CMake package configuration file for the SoftRobots.CUDA library
+
+@PACKAGE_GUARD@
+@PACKAGE_INIT@
+
+find_package(SoftRobots QUIET REQUIRED)
+find_package(SofaCUDA QUIET REQUIRED)
+
+check_required_components(SoftRobots.CUDA)

extensions/CUDA/src/SoftRobots/CUDA/component/forcefield/CUDAPREquivalentStiffnessForceField.cpp

@@ -0,0 +1,48 @@
+/******************************************************************************
+*                 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/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#include <SoftRobots/CUDA/config.h>
+#include <SofaCUDA/sofa/gpu/cuda/CudaTypes.h>
+#include <SoftRobots/component/forcefield/PREquivalentStiffnessForceField.inl>
+#include <sofa/core/ObjectFactory.h>
+
+namespace softrobots::forcefield
+{
+template class SOFA_SOFTROBOTS_CUDA_API PREquivalentStiffnessForceField<sofa::gpu::cuda::CudaRigid3fTypes>;
+
+#ifdef SOFA_GPU_CUDA_DOUBLE
+template class SOFA_SOFTROBOTS_CUDA_API PREquivalentStiffnessForceField<sofa::gpu::cuda::CudaRigid3dTypes>;
+#endif
+}
+
+int CUDAPREquivalentStiffnessForceFieldClass = sofa::core::RegisterObject("Supports GPU-side computations using CUDA")
+    .add< softrobots::forcefield::PREquivalentStiffnessForceField<sofa::gpu::cuda::CudaRigid3fTypes> >()
+#ifdef SOFA_GPU_CUDA_DOUBLE
+    .add< softrobots::forcefield::PREquivalentStiffnessForceField<sofa::gpu::cuda::CudaRigid3dTypes> >()
+#endif
+;
+

extensions/CUDA/src/SoftRobots/CUDA/component/forcefield/CUDAPartialRigidificationForceField.cpp

@@ -0,0 +1,47 @@
+/******************************************************************************
+*                 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/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#include <SoftRobots/CUDA/config.h>
+#include <SofaCUDA/sofa/gpu/cuda/CudaTypes.h>
+#include <SoftRobots/component/forcefield/PartialRigidificationForceField.inl>
+#include <sofa/core/ObjectFactory.h>
+
+namespace softrobots::forcefield
+{
+template class SOFA_SOFTROBOTS_CUDA_API PartialRigidificationForceField<sofa::gpu::cuda::CudaVec3fTypes, sofa::gpu::cuda::CudaRigid3fTypes>;
+
+#ifdef SOFA_GPU_CUDA_DOUBLE
+template class SOFA_SOFTROBOTS_CUDA_API PartialRigidificationForceField<sofa::gpu::cuda::CudaVec3dTypes, sofa::gpu::cuda::CudaRigid3dTypes>;
+#endif
+}
+
+int CUDAPartialRigidificationForceFieldClass = sofa::core::RegisterObject("Supports GPU-side computations using CUDA")
+    .add< softrobots::forcefield::PartialRigidificationForceField<sofa::gpu::cuda::CudaVec3fTypes, sofa::gpu::cuda::CudaRigid3fTypes> >()
+#ifdef SOFA_GPU_CUDA_DOUBLE
+    .add< softrobots::forcefield::PartialRigidificationForceField<sofa::gpu::cuda::CudaVec3dTypes, sofa::gpu::cuda::CudaRigid3dTypes> >()
+#endif
+;

extensions/CUDA/src/SoftRobots/CUDA/component/forcefield/CUDAPipeForceField.cpp

@@ -0,0 +1,47 @@
+/******************************************************************************
+*                 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/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#include <SoftRobots/CUDA/config.h>
+#include <SofaCUDA/sofa/gpu/cuda/CudaTypes.h>
+#include <SoftRobots/component/forcefield/PipeForceField.inl>
+#include <sofa/core/ObjectFactory.h>
+
+namespace softrobots::forcefield
+{
+template class SOFA_SOFTROBOTS_CUDA_API PipeForceField<sofa::gpu::cuda::CudaVec3fTypes>;
+
+#ifdef SOFA_GPU_CUDA_DOUBLE
+template class SOFA_SOFTROBOTS_CUDA_API PipeForceField<sofa::gpu::cuda::CudaVec3dTypes>;
+#endif
+}
+
+int CUDAPipeForceFieldClass = sofa::core::RegisterObject("Supports GPU-side computations using CUDA")
+    .add< softrobots::forcefield::PipeForceField<sofa::gpu::cuda::CudaVec3fTypes> >()
+#ifdef SOFA_GPU_CUDA_DOUBLE
+    .add< softrobots::forcefield::PipeForceField<sofa::gpu::cuda::CudaVec3dTypes> >()
+#endif
+;

extensions/CUDA/src/SoftRobots/CUDA/config.h.in

@@ -0,0 +1,43 @@
+/******************************************************************************
+*                 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/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#pragma once
+
+#include <sofa/config.h>
+
+#ifdef SOFA_BUILD_SOFTROBOTS_CUDA
+#  define SOFA_TARGET @PROJECT_NAME@
+#  define SOFA_SOFTROBOTS_CUDA_API SOFA_EXPORT_DYNAMIC_LIBRARY
+#else
+#  define SOFA_SOFTROBOTS_CUDA_API SOFA_IMPORT_DYNAMIC_LIBRARY
+#endif
+
+namespace softrobots::cuda
+{
+	constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
+	constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
+} // namespace softrobots::cuda

extensions/CUDA/src/SoftRobots/CUDA/init.cpp

@@ -0,0 +1,71 @@
+/******************************************************************************
+*                 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/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#include <SoftRobots/CUDA/init.h>
+#include <sofa/core/ObjectFactory.h>
+namespace softrobots::cuda
+{
+
+extern "C" {
+    SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleComponentList();
+}
+
+void initExternalModule()
+{
+    init();
+}
+
+const char* getModuleName()
+{
+    return MODULE_NAME;
+}
+
+const char* getModuleVersion()
+{
+    return MODULE_VERSION;
+}
+
+void init()
+{
+    static bool first = true;
+    if (first)
+    {
+        first = false;
+    }
+}
+
+const char* getModuleComponentList()
+{
+    /// string containing the names of the classes provided by the plugin
+    static std::string classes = sofa::core::ObjectFactory::getInstance()->listClassesFromTarget(MODULE_NAME);
+    return classes.c_str();
+}
+
+} // namespace softrobots::cuda

extensions/CUDA/src/SoftRobots/CUDA/init.h

@@ -0,0 +1,35 @@
+/******************************************************************************
+*                 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/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#pragma once
+
+#include <SoftRobots/CUDA/config.h>
+
+namespace softrobots::cuda
+{
+SOFA_SOFTROBOTS_CUDA_API void init();
+} // namespace softrobots::cuda

src/SoftRobots/component/forcefield/PREquivalentStiffnessForceField.h

@@ -61,8 +61,8 @@ public :
     typedef typename DataTypes::Deriv   Deriv;
     typedef typename Coord::Pos         Pos;
     typedef typename Coord::Quat        Quaternion;
-    typedef sofa::type::vector<Coord>       VecCoord;
-    typedef sofa::type::vector<Deriv>       VecDeriv;
+    typedef typename DataTypes::VecCoord VecCoord;
+    typedef typename DataTypes::VecDeriv VecDeriv;
     typedef sofa::Data<VecCoord>              DataVecCoord;
     typedef sofa::Data<VecDeriv>              DataVecDeriv;
 

src/SoftRobots/component/forcefield/PartialRigidificationForceField.inl

@@ -35,6 +35,7 @@
 #include <fstream>
 
 #include <SoftRobots/component/forcefield/PartialRigidificationForceField.h>
+#include <sofa/core/behavior/MixedInteractionForceField.inl>
 
 namespace softrobots::forcefield
 {