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[SofaCUDA] ElementFEMForceField: Generic CUDA implementation (#6071)
* [FEM.Elastic] Remove complex unproductive stiffness matrix data structure * explicit namespace * wip * add example * new version * improvment of new version * add cuda version of ElementLinearSmallStrainFEMForceField * add cuda version of addforce for ElementLinearSmallStrainFEMForceField * add cuda version of addforce for ElementCorotationalFEMForceField * update addforce to compute everything on GPU * try to fix with direct solver * fix corot * update examples * organize examples and add cpu-gpu comparison * add double version (templates) * add benchmarks * template CUDA kernels on Dim and remove runtime dispatch Replace hardcoded 3D assumption and extern "C" + switch(nbNodesPerElem) runtime dispatch with fully compile-time C++ template parameters <T, NNodes, Dim>. All kernel dimensions, stiffness block sizes, and gather loops are now generic over Dim. The .inl callers use a single template call with constexpr nNodes and dim from the trait, eliminating both the if-constexpr type branching and the runtime NNodes switch. Explicit template instantiations in the .cu files provide the needed symbols. Applied to both ElementLinearSmallStrainFEMForceField and ElementCorotationalFEMForceField CUDA implementations. * dont compile double version if SOFA_GPU_CUDA_DOUBLE is not enabled * use w accessors * Revert "use w accessors" This reverts commit e41d0b6. * refactor cuda code * clarify code * fix to follow change from removestiffness branch rebase --------- Co-authored-by: Alex Bilger <alexbilger0@gmail.com>
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‎applications/plugins/SofaCUDA/Component/CMakeLists.txt‎

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### solidmechanics
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementFEMKernelUtils.cuh
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementCorotationalFEMForceField.h
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementCorotationalFEMForceField.inl
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementLinearSmallStrainFEMForceField.h
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementLinearSmallStrainFEMForceField.inl
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.inl
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/hyperelastic/CudaStandardTetrahedralFEMForceField.h
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaUniformMass.cpp
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### Solidmechanics
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementCorotationalFEMForceField.cpp
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementLinearSmallStrainFEMForceField.cpp
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.cpp
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/hyperelastic/CudaStandardTetrahedralFEMForceField.cpp
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/tensormass/CudaTetrahedralTensorMassForceField.cpp
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/mass/CudaUniformMass.cu
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### solidmechanics
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementCorotationalFEMForceField.cu
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementLinearSmallStrainFEMForceField.cu
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.cu
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/fem/hyperelastic/CudaStandardTetrahedralFEMForceField.cu
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${SOFACUDA_COMPONENT_SOURCE_DIR}/SofaCUDA/component/solidmechanics/tensormass/CudaTetrahedralTensorMassForceField.cu

‎applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/init.cpp‎

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extern void registerSphereForceField(sofa::core::ObjectFactory* factory);
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// component::solidmechanics::fem::elastic
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extern void registerElementCorotationalFEMForceField(sofa::core::ObjectFactory* factory);
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extern void registerElementLinearSmallStrainFEMForceField(sofa::core::ObjectFactory* factory);
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extern void registerHexahedronFEMForceField(sofa::core::ObjectFactory* factory);
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extern void registerTetrahedronFEMForceField(sofa::core::ObjectFactory* factory);
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extern void registerTriangularFEMForceFieldOptim(sofa::core::ObjectFactory* factory);
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registerLinearForceField(factory);
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registerPlaneForceField(factory);
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registerSphereForceField(factory);
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registerElementCorotationalFEMForceField(factory);
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registerElementLinearSmallStrainFEMForceField(factory);
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registerHexahedronFEMForceField(factory);
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registerTetrahedronFEMForceField(factory);
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registerTriangularFEMForceFieldOptim(factory);

‎applications/plugins/SofaCUDA/Component/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaElementCorotationalFEMForceField.cpp‎

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/******************************************************************************
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* SOFA, Simulation Open-Framework Architecture *
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* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Authors: The SOFA Team and external contributors (see Authors.txt) *
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* *
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#include <SofaCUDA/component/config.h>
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#include <sofa/gpu/cuda/CudaTypes.h>
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#include <SofaCUDA/component/solidmechanics/fem/elastic/CudaElementCorotationalFEMForceField.inl>
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#include <sofa/core/ObjectFactory.h>
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namespace sofa::component::solidmechanics::fem::elastic
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{
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using namespace sofa::gpu::cuda;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Edge>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Triangle>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Quad>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron>;
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#ifdef SOFA_GPU_CUDA_DOUBLE
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Edge>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Quad>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron>;
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template class SOFACUDA_COMPONENT_API CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron>;
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#endif
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} // namespace sofa::component::solidmechanics::fem::elastic
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namespace sofa::gpu::cuda
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{
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void registerElementCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
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{
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using namespace sofa::component::solidmechanics::fem::elastic;
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA for EdgeCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Edge> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA for TriangleCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Triangle> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA for QuadCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Quad> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA for TetrahedronCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA for HexahedronCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron> >()
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);
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#ifdef SOFA_GPU_CUDA_DOUBLE
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA (double) for EdgeCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Edge> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA (double) for TriangleCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA (double) for QuadCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Quad> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA (double) for TetrahedronCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron> >()
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);
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factory->registerObjects(sofa::core::ObjectRegistrationData(
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"Supports GPU-side computations using CUDA (double) for HexahedronCorotationalFEMForceField")
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.add< CudaElementCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron> >()
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);
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#endif
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}
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} // namespace sofa::gpu::cuda

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