ContactsToPointSet.cu

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#include "ContactsToPointSet.h"
 
namespace dyno
{
    IMPLEMENT_TCLASS(ContactsToPointSet, TDataType);
 
    template<typename TDataType>
    ContactsToPointSet<TDataType>::ContactsToPointSet()
        : TopologyMapping()
    {
    }
 
    template<typename Coord>
    __global__ void SetupContactPoints(
        DArray<Coord> vertices,
        DArray<TContactPair<Real>> contacts)
    {
        int tId = threadIdx.x + (blockIdx.x * blockDim.x);
        if (tId >= contacts.size()) return;
 
        auto contact = contacts[tId];
        Coord v0 = contact.pos1;
 
        vertices[tId] = v0;
    }
 
    template<typename TDataType>
    bool ContactsToPointSet<TDataType>::apply()
    {
        if (this->outPointSet()->isEmpty())
        {
            this->outPointSet()->allocate();
        }
 
        auto outSet = this->outPointSet()->getDataPtr();
 
        if (this->inContacts()->isEmpty())
        {
            outSet->clear();
            return true;
        }
 
        auto& inContacts = this->inContacts()->getData();
 
        auto& vertices = outSet->getPoints();
 
        uint contactNum = inContacts.size();
        vertices.resize(contactNum);
 
        cuExecute(contactNum,
            SetupContactPoints,
            vertices,
            inContacts);
 
        return true;
    }
 
    template<typename TDataType>
    bool ContactsToPointSet<TDataType>::validateInputs()
    {
        return true;
    }
 
    DEFINE_CLASS(ContactsToPointSet);
}