ContactsToEdgeSet.cu

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#include "ContactsToEdgeSet.h"
 
namespace dyno
{
    IMPLEMENT_TCLASS(ContactsToEdgeSet, TDataType);
 
    template<typename TDataType>
    ContactsToEdgeSet<TDataType>::ContactsToEdgeSet()
        : TopologyMapping()
    {
    }
 
    template<typename Coord, typename Edge>
    __global__ void SetupContactInfo(
        DArray<Coord> vertices,
        DArray<Edge> indices,
        DArray<TContactPair<Real>> contacts, 
        Real scale)
    {
        int tId = threadIdx.x + (blockIdx.x * blockDim.x);
        if (tId >= contacts.size()) return;
 
        auto contact = contacts[tId];
        Coord v0 = contact.pos1;
        Coord v1 = contact.pos1 + contact.normal1 * scale;
 
        vertices[2 * tId] = v0;
        vertices[2 * tId + 1] = v1;
        indices[tId] = Edge(2 * tId, 2 * tId + 1);
    }
 
    template<typename TDataType>
    bool ContactsToEdgeSet<TDataType>::apply()
    {
        if (this->outEdgeSet()->isEmpty())
        {
            this->outEdgeSet()->allocate();
        }
 
        auto& inContacts = this->inContacts()->getData();
        auto outSet = this->outEdgeSet()->getDataPtr();
 
        auto& vertices = outSet->getPoints();
        auto& indices = outSet->getEdges();
 
        uint contactNum = inContacts.size();
        vertices.resize(2 * contactNum);
        indices.resize(contactNum);
 
        cuExecute(contactNum,
            SetupContactInfo,
            vertices,
            indices,
            inContacts,
            this->varScale()->getData());
 
        return true;
    }
 
    DEFINE_CLASS(ContactsToEdgeSet);
}