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[SofaOpenCL] Make it work with 20.06 #1361

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merged 4 commits into from
May 14, 2020
Merged

[SofaOpenCL] Make it work with 20.06 #1361

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c4da8b5
Make OpenCL plugin compile (and restore float in UniformMass)
fredroy May 2, 2020
71f4ff4
Compile with SPH, clean CMake, quadsptring scene is working it seems
fredroy May 2, 2020
59a8061
Make sense with SofaSphFluid requirement
fredroy May 12, 2020
ad3fd4f
[SofaOpenCL] Keep SofaSphFluid quiet
guparan May 12, 2020
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21 changes: 15 additions & 6 deletions applications/plugins/SofaOpenCL/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,10 @@ project(SofaOpenCL)

set(SOFAOPENCL_VERSION 0.1)

find_package(OpenCL REQUIRED)
find_package(SofaGeneral REQUIRED)
sofa_find_package(SofaSphFluid QUIET)

set(HEADER_FILES
CPUSPHFluidForceField.h
CPUSPHFluidForceFieldWithOpenCL.h
Expand Down Expand Up @@ -92,17 +96,22 @@ else()
endif()


find_package(OpenCL REQUIRED)
find_package(SofaGeneral REQUIRED)

message(WARNING "SofaOpenCL: TODO: don't use absolute path (SOFA_SRC_DIR)")

include_directories(${OPENCL_INCLUDE_DIRS})
add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${OTHER_FILES})
add_definitions("-DSOFA_SRC_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/../../..\"")

add_definitions("-DSOFA_BUILD_GPU_OPENCL")
target_link_libraries(${PROJECT_NAME} ${OPENCL_LIBRARIES} SofaHelper SofaEngine SofaSphFluid SofaUserInteraction csparse) # taucs taucs_mt system-taucs)
target_link_libraries(${PROJECT_NAME} ${OPENCL_LIBRARIES} SofaHelper SofaEngine SofaUserInteraction csparse) # taucs taucs_mt system-taucs)
if(SofaSphFluid_FOUND)
target_link_libraries(${PROJECT_NAME} SofaSphFluid) # taucs taucs_mt system-taucs)
endif()

## Install rules for the library and headers; CMake package configurations files
sofa_create_package(SofaOpenCL ${SOFAOPENCL_VERSION} SofaOpenCL SofaOpenCL)
sofa_generate_package(
NAME ${PROJECT_NAME}
TARGETS ${PROJECT_NAME}
VERSION ${SOFAOPENCL_VERSION}
INCLUDE_INSTALL_DIR ${PROJECT_NAME}
RELOCATABLE "plugins"
)
8 changes: 4 additions & 4 deletions applications/plugins/SofaOpenCL/OpenCLFixedConstraint.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -193,7 +193,7 @@ template <>
void FixedConstraintInternalData<gpu::opencl::OpenCLVec3fTypes>::projectResponse(Main* m, VecDeriv& dx)
{
Data& data = *m->data;
if (m->f_fixAll.getValue())
if (m->d_fixAll.getValue())
FixedConstraintOpenCL3f_projectResponseContiguous(dx.size(), dx.deviceWrite());
else if (data.minIndex >= 0)
FixedConstraintOpenCL3f_projectResponseContiguous(data.maxIndex-data.minIndex+1, OpenCLMemoryManager<float>::deviceOffset(dx.deviceWrite(),3*data.minIndex));
Expand All @@ -205,7 +205,7 @@ template <>
void FixedConstraintInternalData<gpu::opencl::OpenCLVec3f1Types>::projectResponse(Main* m, VecDeriv& dx)
{
Data& data = *m->data;
if (m->f_fixAll.getValue())
if (m->d_fixAll.getValue())
FixedConstraintOpenCL3f1_projectResponseContiguous(dx.size(), dx.deviceWrite());
else if (data.minIndex >= 0)
FixedConstraintOpenCL3f1_projectResponseContiguous(data.maxIndex-data.minIndex+1, OpenCLMemoryManager<float>::deviceOffset(dx.deviceWrite(),4*data.minIndex));
Expand All @@ -217,7 +217,7 @@ template <>
void FixedConstraintInternalData<gpu::opencl::OpenCLVec3dTypes>::projectResponse(Main* m, VecDeriv& dx)
{
Data& data = *m->data;
if (m->f_fixAll.getValue())
if (m->d_fixAll.getValue())
FixedConstraintOpenCL3d_projectResponseContiguous(dx.size(), dx.deviceWrite());
else if (data.minIndex >= 0)
FixedConstraintOpenCL3d_projectResponseContiguous(data.maxIndex-data.minIndex+1, OpenCLMemoryManager<double>::deviceOffset(dx.deviceWrite(),3*data.minIndex));
Expand All @@ -229,7 +229,7 @@ template <>
void FixedConstraintInternalData<gpu::opencl::OpenCLVec3d1Types>::projectResponse(Main* m, VecDeriv& dx)
{
Data& data = *m->data;
if (m->f_fixAll.getValue())
if (m->d_fixAll.getValue())
FixedConstraintOpenCL3d1_projectResponseContiguous(dx.size(), dx.deviceWrite());
else if (data.minIndex >= 0)
FixedConstraintOpenCL3d1_projectResponseContiguous(data.maxIndex-data.minIndex+1, OpenCLMemoryManager<double>::deviceOffset(dx.deviceWrite(),4*data.minIndex));
Expand Down
8 changes: 4 additions & 4 deletions applications/plugins/SofaOpenCL/OpenCLIdentityMapping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,10 +61,10 @@ template class IdentityMapping< OpenCLVec3fTypes, OpenCLVec3dTypes>;
template class IdentityMapping< OpenCLVec3dTypes, OpenCLVec3fTypes>;
template class IdentityMapping< OpenCLVec3dTypes, OpenCLVec3dTypes>;
template class IdentityMapping< OpenCLVec3dTypes, Vec3fTypes>;
template class IdentityMapping< OpenCLVec3Types, Vec3Types>;
template class IdentityMapping< OpenCLVec3dTypes, Vec3Types>;

template class IdentityMapping< Vec3fTypes, OpenCLVec3dTypes>;
template class IdentityMapping< Vec3Types, OpenCLVec3Types>;
template class IdentityMapping< Vec3Types, OpenCLVec3dTypes>;


template class IdentityMapping< OpenCLVec3d1Types, Vec3fTypes>;
Expand Down Expand Up @@ -108,10 +108,10 @@ int IdentityMappingOpenCLClass = core::RegisterObject("Supports GPU-side computa
.add< IdentityMapping< OpenCLVec3dTypes, OpenCLVec3fTypes> >()
.add< IdentityMapping< OpenCLVec3dTypes, OpenCLVec3dTypes> >()
.add< IdentityMapping< OpenCLVec3dTypes, Vec3fTypes> >()
.add< IdentityMapping< OpenCLVec3Types, Vec3Types> >()
.add< IdentityMapping< OpenCLVec3dTypes, Vec3Types> >()

.add< IdentityMapping< Vec3fTypes, OpenCLVec3dTypes> >()
.add< IdentityMapping< Vec3Types, OpenCLVec3Types> >()
.add< IdentityMapping< Vec3dTypes, OpenCLVec3Types> >()

.add< IdentityMapping< OpenCLVec3d1Types, Vec3fTypes> >()
.add< IdentityMapping< OpenCLVec3f1Types, OpenCLVec3f1Types> >()
Expand Down
12 changes: 6 additions & 6 deletions applications/plugins/SofaOpenCL/OpenCLSPHFluidForceField.h
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Original file line number Diff line number Diff line change
Expand Up @@ -83,15 +83,15 @@ class SPHFluidForceFieldInternalData< gpu::opencl::OpenCLVectorTypes<TCoord,TDer

void fillParams(Main* m, int kernelType, double kFactor=1.0, double bFactor=1.0)
{
Real h = m->particleRadius.getValue();
Real h = m->d_particleRadius.getValue();
params.h = h;
params.h2 = h*h;
params.stiffness = (Real)(kFactor*m->pressureStiffness.getValue());
params.mass = m->particleMass.getValue();
params.stiffness = (Real)(kFactor*m->d_pressureStiffness.getValue());
params.mass = m->d_particleMass.getValue();
params.mass2 = params.mass*params.mass;
params.density0 = m->density0.getValue();
params.viscosity = (Real)(bFactor*m->viscosity.getValue());
params.surfaceTension = (Real)(kFactor*m->surfaceTension.getValue());
params.density0 = m->d_density0.getValue();
params.viscosity = (Real)(bFactor*m->d_viscosity.getValue());
params.surfaceTension = (Real)(kFactor*m->d_surfaceTension.getValue());

if (kernelType == 1)
{
Expand Down
65 changes: 36 additions & 29 deletions applications/plugins/SofaOpenCL/OpenCLSPHFluidForceField.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -87,16 +87,16 @@ void SPHFluidForceFieldInternalData<gpu::opencl::OpenCLVec3fTypes>::Kernels_addD
template <>
void SPHFluidForceField<gpu::opencl::OpenCLVec3fTypes>::addForce(const core::MechanicalParams* /*mparams*/ /* PARAMS FIRST */, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v)
{
if (grid == NULL) return;
if (m_grid == NULL) return;

VecDeriv& f = *d_f.beginEdit();
const VecCoord& x = d_x.getValue();
const VecDeriv& v = d_v.getValue();

grid->updateGrid(x);
data.fillParams(this, kernelType.getValue());
m_grid->updateGrid(x);
data.fillParams(this, d_kernelType.getValue());
f.resize(x.size());
Grid::Grid* g = grid->getGrid();
Grid::Grid* g = m_grid->getGrid();
data.pos4.recreate(x.size());
data.Kernels_computeDensity(
g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(),
Expand All @@ -115,7 +115,7 @@ void SPHFluidForceField<gpu::opencl::OpenCLVec3fTypes>::addDForce(const core::Me
{
//?
return;
if (grid == NULL) return;
if (m_grid == NULL) return;

VecDeriv& df = *d_df.beginEdit();
const VecDeriv& dx = d_dx.getValue();
Expand All @@ -125,7 +125,7 @@ void SPHFluidForceField<gpu::opencl::OpenCLVec3fTypes>::addDForce(const core::Me
const VecDeriv& v = this->mstate->read(core::ConstVecDerivId::velocity())->getValue();
data.fillParams(this, mparams->kFactor(), mparams->bFactor());
df.resize(dx.size());
Grid::Grid* g = grid->getGrid();
Grid::Grid* g = m_grid->getGrid();
data.Kernels_addDForce(
g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(),
df.deviceWrite(), data.pos4.deviceRead(), v.deviceRead(), dx.deviceRead());
Expand Down Expand Up @@ -155,16 +155,16 @@ void SPHFluidForceFieldInternalData<gpu::opencl::OpenCLVec3dTypes>::Kernels_addD
template <>
void SPHFluidForceField<gpu::opencl::OpenCLVec3dTypes>::addForce(const core::MechanicalParams* /*mparams*/ /* PARAMS FIRST */, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v)
{
if (grid == NULL) return;
if (m_grid == NULL) return;

VecDeriv& f = *d_f.beginEdit();
const VecCoord& x = d_x.getValue();
const VecDeriv& v = d_v.getValue();

grid->updateGrid(x);
data.fillParams(this, kernelType.getValue());
m_grid->updateGrid(x);
data.fillParams(this, d_kernelType.getValue());
f.resize(x.size());
Grid::Grid* g = grid->getGrid();
Grid::Grid* g = m_grid->getGrid();
data.pos4.recreate(x.size());
data.Kernels_computeDensity(
g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(),
Expand All @@ -179,14 +179,14 @@ void SPHFluidForceField<gpu::opencl::OpenCLVec3dTypes>::addForce(const core::Mec
template <>
void SPHFluidForceField<gpu::opencl::OpenCLVec3dTypes>::addDForce(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& d_df, const DataVecDeriv& d_dx)
{
if (grid == NULL) return;
if (m_grid == NULL) return;
VecDeriv& df = *d_df.beginEdit();
const VecDeriv& dx = d_dx.getValue();
//const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
const VecDeriv& v = this->mstate->read(core::ConstVecDerivId::velocity())->getValue();
data.fillParams(this, mparams->kFactor(), mparams->bFactor());
df.resize(dx.size());
Grid::Grid* g = grid->getGrid();
Grid::Grid* g = m_grid->getGrid();
data.Kernels_addDForce(
g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(),
df.deviceWrite(), data.pos4.deviceRead(), v.deviceRead(), dx.deviceRead());
Expand All @@ -198,34 +198,41 @@ void SPHFluidForceField<gpu::opencl::OpenCLVec3fTypes>::draw(const sofa::core::v
{
if(!vparams->displayFlags().getShowForceFields())return;
//if (!getContext()->getShowForceFields()) return;
//if (grid != NULL)
// grid->draw(vparams);
//if (m_grid != NULL)
// m_grid->draw(vparams);
const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
const gpu::opencl::OpenCLVector<defaulttype::Vec4f> pos4 = this->data.pos4;
if (pos4.empty()) return;
glDisable(GL_LIGHTING);
glColor3f(0,1,1);
glDisable(GL_BLEND);
glDepthMask(1);
glPointSize(5);
glBegin(GL_POINTS);
for (unsigned int i=0; i<pos4.size(); i++)

vparams->drawTool()->saveLastState();
vparams->drawTool()->disableLighting();
vparams->drawTool()->disableBlending();
vparams->drawTool()->enableDepthTest();

std::vector<sofa::defaulttype::Vec4f> colorVector;
std::vector<sofa::defaulttype::Vector3> vertices;

for (unsigned int i = 0; i < m_particles.size(); i++)
{
float density = pos4[i][3];
float f = (float)(density / density0.getValue());
f = 1+10*(f-1);
Particle& Pi = m_particles[i];
float f = (float)(Pi.density / d_density0.getValue());
f = 1 + 10 * (f - 1);
if (f < 1)
{
glColor3f(0,1-f,f);
colorVector.push_back(sofa::defaulttype::Vec4f(0, 1 - f, f, 1));
}
else
{
glColor3f(f-1,0,2-f);
colorVector.push_back(sofa::defaulttype::Vec4f(f - 1, 0, 2 - f, 1));
}
helper::gl::glVertexT(x[i]);
vertices.push_back(sofa::defaulttype::Vector3(x[i]));
}
glEnd();
glPointSize(1);

vparams->drawTool()->drawPoints(vertices, 5, colorVector);
vertices.clear();
colorVector.clear();

vparams->drawTool()->restoreLastState();
}


Expand Down
7 changes: 5 additions & 2 deletions applications/plugins/SofaOpenCL/OpenCLUniformMass.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,12 @@ namespace opencl
{

int UniformMassOpenCLClass = core::RegisterObject("Supports GPU-side computations using OPENCL")
.add< component::mass::UniformMass<OpenCLVec3Types,double> >()
.add< component::mass::UniformMass<OpenCLVec3Types, float> >()
.add< component::mass::UniformMass<OpenCLVec3f1Types, float> >()
.add< component::mass::UniformMass<OpenCLRigid3fTypes, sofa::defaulttype::Rigid3fMass> >()
.add< component::mass::UniformMass<OpenCLVec3dTypes,double> >()
.add< component::mass::UniformMass<OpenCLVec3d1Types,double> >()
.add< component::mass::UniformMass<OpenCLRigid3Types,sofa::defaulttype::Rigid3Mass> >()
.add< component::mass::UniformMass<OpenCLRigid3dTypes,sofa::defaulttype::Rigid3Mass> >()

;

Expand Down
39 changes: 36 additions & 3 deletions applications/plugins/SofaOpenCL/OpenCLUniformMass.h
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Expand Up @@ -36,14 +36,47 @@ namespace mass


// -- Mass interface
// float
template <>
void UniformMass<gpu::opencl::OpenCLVec3Types, SReal>::addMDx(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor);
void UniformMass<gpu::opencl::OpenCLVec3Types, float>::addMDx(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecDeriv& dx, double factor);

template <>
void UniformMass<gpu::opencl::OpenCLVec3Types, SReal>::accFromF(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& a, const DataVecDeriv& f);
void UniformMass<gpu::opencl::OpenCLVec3Types, float>::accFromF(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& a, const DataVecDeriv& f);

template <>
void UniformMass<gpu::opencl::OpenCLVec3Types, SReal>::addForce(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v);
void UniformMass<gpu::opencl::OpenCLVec3Types, float>::addForce(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v);

//template <>
//bool UniformMass<gpu::opencl::OpenCLVec3Types, SReal>::addBBox(SReal* minBBox, SReal* maxBBox);

template <>
double UniformMass<gpu::opencl::OpenCLRigid3fTypes, sofa::defaulttype::Rigid3fMass>::getPotentialEnergy(const core::MechanicalParams* mparams /* PARAMS FIRST */, const DataVecCoord& x) const;

template <>
double UniformMass<gpu::opencl::OpenCLRigid3fTypes, sofa::defaulttype::Rigid3fMass>::getElementMass(unsigned int) const;

template <>
void UniformMass<gpu::opencl::OpenCLRigid3fTypes, sofa::defaulttype::Rigid3fMass>::draw(const sofa::core::visual::VisualParams* vparams);

template <>
void UniformMass<gpu::opencl::OpenCLVec3f1Types, float>::addMDx(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecDeriv& dx, double factor);

template <>
void UniformMass<gpu::opencl::OpenCLVec3f1Types, float>::accFromF(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& a, const DataVecDeriv& f);

template <>
void UniformMass<gpu::opencl::OpenCLVec3f1Types, float>::addForce(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v);


// double
template <>
void UniformMass<gpu::opencl::OpenCLVec3dTypes, SReal>::addMDx(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor);

template <>
void UniformMass<gpu::opencl::OpenCLVec3dTypes, SReal>::accFromF(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& a, const DataVecDeriv& f);

template <>
void UniformMass<gpu::opencl::OpenCLVec3dTypes, SReal>::addForce(const core::MechanicalParams* mparams /* PARAMS FIRST */, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v);

//template <>
//bool UniformMass<gpu::opencl::OpenCLVec3Types, SReal>::addBBox(SReal* minBBox, SReal* maxBBox);
Expand Down
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