Problems encountered in building cuda runs

[yangwxb]

Dear developers, I would like to ask what is wrong with the xml file I wrote? Why did I add cuda but the frame rate didn't improve？

<Node name="root" dt="0.05" showBoundingTree="0" gravity="0 -9.8 0">
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [PointCollisionModel, SphereCollisionModel, TriangleCollisionModel] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
    <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] --> 
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetGeometryAlgorithms,TriangleSetTopologyContainer,TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField,TrianglePressureForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField,TriangularFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->
    <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="SofaCarving"/> <!-- Needed to use components [CarvingManager] -->
    <RequiredPlugin name="Sofa.Component.Topology.Utility"/> <!-- Needed to use components [TopologicalChangeProcessor] -->  
    <RequiredPlugin name="CUDA computing" pluginName="SofaCUDA" />

    <VisualStyle displayFlags="showVisual" />   
    <DefaultVisualManagerLoop />
    
    <!-- <FreeMotionAnimationLoop /> -->
    <DefaultAnimationLoop/>
    <DefaultPipeline depth="15" verbose="0" draw="0" />
    <BruteForceBroadPhase name="N2" />
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.0005" contactDistance="0.0001" /> 
    <!-- <DefaultContactManager name="Response" response="FrictionContactConstraint" /> -->
    <DefaultContactManager response="PenalityContactForceField"/> 

    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
    
    <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.15" />
    <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
    
    

    <Node name="jingzhuangti">

        <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.15" />
        <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
    
        <MeshGmshLoader name="loader" filename="jingzhuangti1cm.msh" scale3d="1 1 1" translation="0 0 0" rotation="-90 0 0"/>
        <MechanicalObject src="@loader" name="Volume" template="CudaVec3f" />
       
        <TetrahedronSetTopologyContainer  name="Tetra_topo" position="@Volume.position" src="@loader"/>
		<TetrahedronSetTopologyModifier   name="Modifier" />
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3f" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
        
        <TetrahedronFEMForceField name="FEM" youngModulus="100000000" poissonRatio="0.3" method="large" />
        <ConstantForceField indices="0 1" forces="0 0 0  0 0 0" showArrowSize="0.5" printLog="1"/>

		<!-- <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/> -->


        <Node name="Surface">

            <TriangleSetTopologyContainer  name="Container"/>
            <TriangleSetTopologyModifier   name="Modifier" />
            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3f" drawTriangles="0"/>

            <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
            
            <MechanicalObject name="dofs" template="Vec3d" rest_position="@../Volume.rest_position"/>
            <TriangularFEMForceField name="FEM" youngModulus="100000" poissonRatio="0.3" method="large" />
            <TriangularBendingSprings name="FEM-Bend" stiffness="100000" damping="800.0"  topology="@Container" mstate="@dofs" template="Vec3d"/>
            

            <UniformMass totalMass="0.001" template="Vec3d"/>

            <TriangleCollisionModel name="triangleCol" bothSide="true" group="1" />
            <LineCollisionModel name='edgeCol' group="1" />
            <PointCollisionModel name="pointCol" group="1" />

            <IdentityMapping input="@../Volume" output="@dofs"/>

            <Node name="Visua1">
                <OglModel name="Visualmode1" color = "red"/>
                <IdentityMapping input="@../dofs" output="@Visualmode1" />
            </Node>
        </Node>
    </Node>

    <Node name="xuanrendai">
    
        <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.15" />
        <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
        <MeshGmshLoader filename="XuanSD1cm.msh"  name="loader" scale3d="1 1 1" rotation="-90 0 0" translation ="0 0 0"/>
        <MechanicalObject src="@loader" name="gong" template="CudaVec3f" />
        
        <FixedConstraint name="FixedConstraint" indices="397 368 339 310 281 244 223 175 165 136 107 78 49 20 570 524 513 466 435 418" />
        
        <TetrahedronSetTopologyContainer  name="Tetra_topo" position="@gong.position" src="@loader"/>
		<TetrahedronSetTopologyModifier   name="Modifier" />
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3f" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>

       

        <UniformMass totalMass="0.001"/>
        <!-- <DiagonalMass name="mass1" massDensity="100.0" /> -->
        
        <!-- <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="100000" poissonRatio="0.3" method="large" /> -->
        <TetrahedronFEMForceField name="FEM" youngModulus="100000" poissonRatio="0.3" method="large" />


        <Node name="Surface">
            
            <TriangleSetTopologyContainer  name="Container"/>
            <TriangleSetTopologyModifier   name="Modifier" />
            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3f" drawTriangles="0"/>

            <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />

            <MechanicalObject name="dofs" template="Vec3d" rest_position="@../gong.rest_position"/>
            <TriangularFEMForceField name="FEM" youngModulus="100000" poissonRatio="0.3" method="large" />
            <TriangularBendingSprings name="FEM-Bend" stiffness="100000" damping="1000.0" topology="@Container" mstate="@dofs" template="Vec3d"/>
            

            
            <TriangleCollisionModel name="triangleCol" bothSide="true" group="1"  />
            <LineCollisionModel name='edgeCol' group="1" />
            <PointCollisionModel name="pointCol" group="1"/>
            <IdentityMapping input="@../gong" output="@dofs"/>
            <Node name="Visua1">
                <OglModel name="Visualmode1" color = "red"/>
                <IdentityMapping input="@../dofs" output="@Visualmode1" />
            </Node>
        </Node>

        <AttachConstraint object1="@jingzhuangti" object2="@xuanrendai" twoWay="true" indices1="421 419 417 415 413 411 409 407 405 403 400 439 437 435 433 431 429 427 425 423" indices2="428 461 487 520 550 579 25 57 86 115 144 173 202 226 256 285 318 347 376 405"/>

    </Node>
    
</Node>

[hugtalbot]

What do you mean by "wrong" ?

CUDA computing can bring speedup with a large part of the computation is done on the GPU without too many CPU-GPU data exchange.

First thing to be noted: you should not have some GeometryAlgorithms with a template and a MechanicalObject with another. Generally, the template of the MechanicalObject would take over

[yangwxb]

Thank you for responding to my question.
Because I didn't speed up the sofacuda plug-in when I called it in the xml file, I suspected that there was something wrong with my writing.
Are you saying that the "surface"node's Mechanicalobjects should not use Vec3d's computing templates? But if I use CudaVec3f, many components fail to be created. Can you give me some suggestions for revision? My scene currently needs cuda to speed it up.

This is my error when I use all cudavec3f：

[alxbilger]

In terms of performances, you can visit the dedicated page on the documentation: https://www.sofa-framework.org/community/doc/using-sofa/performances/improve-performances/
Most importantly, you need to profile your simulation to find the bottleneck. For example, your scene does not change anything on the collision detection step. If this step takes a large amount of time, converting other steps to cuda won't change anything (noticeably).

[yangwxb]

I uploaded my model, this is a temporary scene I built, if you have time to help have a look.

[yangwxb]

Yes, I tried, but it didn't speed up. Maybe I didn't succeed.

[alxbilger]

Indeed, your try to move to CUDA does not really affect the performances. My guess is that not everything is on CUDA, therefore there are many CPU-GPU data transfers slowing down the computation.
In any cases, collision detection is a bottleneck. It won't be solved by converting mechanical states to CUDA. I tried parallel implementations and I get a speed up.
In the end, I applied the following changes to your scene:

• convert to Vec3
• use ParallelBruteForceBroadPhase and ParallelBVHNarrowPhase
• use ParallelTetrahedronFEMForceField
  and I get ~58 fps on 1000 time steps. What performances do you expect to reach?

[yangwxb]

Sorry to reply you so late, I originally intended to use cuda to achieve a qualitative change in performance improvement(my bottleneck is constraint solving and collision analysis).Because I had multiple models in my formal scene, it only had ~15 fps.
I tried to apply the three components you recommended, and none of them could be created. Is it because my version (23.06) is too low?

[yangwxb]

I have fixed these errors, but it seems that the frame rate has not improved, mine is still ~42fps.