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[SofaCUDA] Remove commented code & unreachable code (issue sofa-frame…
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…work#1691)
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@damienmarchal
damienmarchal committed Jan 5, 2021
1 parent 3045e04 commit 0e64b36
Showing 1 changed file with 0 additions and 153 deletions.
153 changes: 0 additions & 153 deletions applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollisionDetection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,6 @@ void CudaCollisionDetection::addCollisionPair( const std::pair<core::CollisionMo
entry.test = createTest(finalcm1, finalcm2);
}
entry.index = 0; // active pair
//Inherit::addCollisionPair( cmPair );
}

void CudaCollisionDetection::endNarrowPhase()
Expand All @@ -90,9 +89,6 @@ void CudaCollisionDetection::endNarrowPhase()
ntests += test->init();
}
}
//if (ntests>0)
//std::cout << "CudaCollisionDetection: Launching "<<ntests<<"/"<<tests.size()<<" tests on GPU..."<<std::endl;

if (ntests > 0)
{
// resize vectors
Expand Down Expand Up @@ -126,11 +122,6 @@ void CudaCollisionDetection::endNarrowPhase()
Test* test = it->second.test;
if (!test->useGPU())
{
//core::CollisionModel* model1 = it->first.first;
//core::CollisionModel* model2 = it->first.second;
//for (core::CollisionElementIterator e1 = model1->begin(); e1 != model1->end(); ++e1)
// for (core::CollisionElementIterator e2 = model2->begin(); e2 != model2->end(); ++e2)
// Inherit::addCollisionPair( std::make_pair(e1, e2) );
core::CollisionModel *cm1 = it->first.first->getFirst(); //->getNext();
core::CollisionModel *cm2 = it->first.second->getFirst(); //->getNext();
Inherit::addCollisionPair( std::make_pair(cm1, cm2) );
Expand Down Expand Up @@ -260,103 +251,6 @@ void CudaCollisionDetection::RigidRigidTest::fillInfo(GPUTest* tests)
test.translation = elem2.getRotation().multTranspose(elem1.getTranslation()-elem2.getTranslation());
}
}
/*
/// Fill the info to send to the graphics card
void CudaCollisionDetection::RigidRigidTest::fillInfo(GPUTest& test, CudaVector<GPUContact>& gpucontacts, CudaRigidDistanceGridCollisionElement elem1, CudaRigidDistanceGridCollisionElement elem2)
{
const CudaVector<Vec3f>& p1 = elem1.getGrid()->meshPts;
CudaDistanceGrid& g2 = *elem2.getGrid();
test.nbPoints = p1.size();
gpucontacts.fastResize(test.nbPoints);
test.result = gpucontacts.deviceWrite();
test.points = p1.deviceRead();
test.radius = NULL;
test.gridnx = g2.getNx();
test.gridny = g2.getNy();
test.gridnz = g2.getNz();
test.gridbbmin = g2.getBBMin();
test.gridbbmax = g2.getBBMax();
test.gridp0 = g2.getPMin();
test.gridinvdp = g2.getInvCellWidth();
test.grid = g2.getDists().deviceRead();
test.margin = 0;
test.rotation = elem2.getRotation().multTranspose(elem1.getRotation());
test.translation = elem2.getRotation().multTranspose(elem1.getTranslation()-elem2.getTranslation());
gpucontacts.fastResize(test.nbPoints);
test.result = gpucontacts.deviceWrite();
}
*/
/*
/// Create the list of SOFA contacts from the contacts detected by the GPU
void CudaCollisionDetection::RigidRigidTest::fillContacts(DetectionOutputVector& contacts, const int* nresults)
{
if (!model1->isActive() || !model2->isActive()) return;
bool useP1 = model1->usePoints.getValue();
bool useP2 = model2->usePoints.getValue();
if (!useP1 && !useP2) return;
int n = 0;
for (CudaRigidDistanceGridCollisionElement e1 = CudaRigidDistanceGridCollisionElement(model1->begin()); e1!=model1->end();++e1)
for (CudaRigidDistanceGridCollisionElement e2 = CudaRigidDistanceGridCollisionElement(model2->begin()); e2!=model2->end();++e2)
{
CudaDistanceGrid* g1 = e1.getGrid();
CudaDistanceGrid* g2 = e2.getGrid();
if (g1 && g2)
{
if (useP1 && !g1->meshPts.empty())
{
if (n < (int)results.size() && results[n])
fillContacts(contacts, nresults[n], *results[n], e1, e2, false);
++n;
}
if (useP2 && !g2->meshPts.empty())
{
if (n < (int)results.size() && results[n])
fillContacts(contacts, nresults[n], *results[n], e2, e1, true);
++n;
}
}
}
}
void CudaCollisionDetection::RigidRigidTest::fillContacts(DetectionOutputVector& contacts, int nresults, CudaVector<GPUContact>& gpucontacts, CudaRigidDistanceGridCollisionElement elem1, CudaRigidDistanceGridCollisionElement elem2, bool invert)
{
if (!nresults) return;
const CudaVector<Vec3f>& p1 = elem1.getGrid()->meshPts;
CudaDistanceGrid& g2 = *elem2.getGrid();
gpucontacts.fastResize(nresults);
const GPUContact* gpuc = gpucontacts.hostRead();
int c0 = contacts.size();
contacts.resize(c0 + nresults);
if (!invert)
{
for (int i=0; i<nresults; i++, gpuc++)
{
core::collision::DetectionOutput& detection = contacts[c0+i];
detection.elem = std::make_pair(elem1, elem2);
detection.distance = gpuc->distance;
detection.normal = gpuc->normal;
detection.point[0] = p1[gpuc->p1];
detection.point[1] = gpuc->p2;
detection.id = gpuc->p1;
}
}
else
{
int id0 = g2.meshPts.size();
for (int i=0; i<nresults; i++, gpuc++)
{
core::collision::DetectionOutput& detection = contacts[c0+i];
detection.elem = std::make_pair(elem2, elem1);
detection.distance = gpuc->distance;
detection.normal = -gpuc->normal;
detection.point[1] = p1[gpuc->p1];
detection.point[0] = gpuc->p2;
detection.id = id0+gpuc->p1;
}
}
}
*/

CudaCollisionDetection::SphereRigidTest::SphereRigidTest(sofa::component::collision::SphereCollisionModel<gpu::cuda::CudaVec3Types> *model1, CudaRigidDistanceGridCollisionModel* model2 )
: model1(model1), model2(model2)
Expand All @@ -381,8 +275,6 @@ int CudaCollisionDetection::SphereRigidTest::init()
results.addTest(std::make_pair(0, e2.getIndex()), p1.size());
}
return results.nbTests();

return 0;
}

/// Fill the info to send to the graphics card
Expand All @@ -399,7 +291,6 @@ void CudaCollisionDetection::SphereRigidTest::fillInfo(GPUTest* tests)
{
const GPUOutputVector::TestEntry& e = results.rtest(i);
GPUTest& test = tests[i];
//CudaRigidDistanceGridCollisionElement elem1((e.elems.first < i0)?model1:model2,(e.elems.first < i0)?e.elems.first :e.elems.first -i0);
CudaRigidDistanceGridCollisionElement elem2(model2, e.elems.second);
CudaDistanceGrid* g2 = elem2.getGrid();
test.nbPoints = p1.size();
Expand All @@ -424,49 +315,6 @@ void CudaCollisionDetection::SphereRigidTest::fillInfo(GPUTest* tests)

}

/*
/// Create the list of SOFA contacts from the contacts detected by the GPU
void CudaCollisionDetection::SphereRigidTest::fillContacts(DetectionOutputVector& contacts, const int* nresults)
{
if (!model1->isActive() || !model2->isActive()) return;
const CudaVector<Vec3f>& p1 = *model1->getMechanicalState()->getX();
if (p1.empty()) return;
int n = 0;
for (CudaRigidDistanceGridCollisionElement elem2 = CudaRigidDistanceGridCollisionElement(model2->begin()); elem2!=model2->end(); ++elem2)
{
CudaDistanceGrid* g2 = elem2.getGrid();
if (g2)
{
if (n < (int)results.size() && results[n])
{
CudaVector<GPUContact>& gpucontacts = *results[n];
int nr = nresults[n];
if (nr)
{
gpucontacts.fastResize(nr);
const GPUContact* gpuc = gpucontacts.hostRead();
int c0 = contacts.size();
contacts.resize(c0 + nr);
for (int i=0; i<nr; i++, gpuc++)
{
core::collision::DetectionOutput& detection = contacts[c0+i];
detection.elem = std::make_pair(CudaSphere(model1, gpuc->p1), elem2);
detection.distance = gpuc->distance;
detection.normal = gpuc->normal;
detection.point[0] = p1[gpuc->p1];
detection.point[1] = gpuc->p2;
detection.id = gpuc->p1;
std::cout << "GPU c"<<i<<": p1 = "<<gpuc->p1<<" p2 = "<<gpuc->p2<<" normal = "<<gpuc->normal<<" distance = "<<gpuc->distance<<"\n";
}
}
}
++n;
}
}
}
*/

CudaCollisionDetection::PointRigidTest::PointRigidTest( CudaPointCollisionModel* model1, CudaRigidDistanceGridCollisionModel* model2 )
: model1(model1), model2(model2)
{
Expand All @@ -481,7 +329,6 @@ int CudaCollisionDetection::PointRigidTest::init()
for (CudaPoint e1 = CudaPoint(model1->begin()); e1!=model1->end(); ++e1)
for (CudaRigidDistanceGridCollisionElement e2 = CudaRigidDistanceGridCollisionElement(model2->begin()); e2!=model2->end(); ++e2)
{
//CudaDistanceGrid* g1 = e1.getGrid();
CudaDistanceGrid* g2 = e2.getGrid();
if (g2)
results.addTest(std::make_pair(e1.getIndex(), e2.getIndex()), e1.getSize());
Expand Down

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