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[SofaCUDA] ElementForceField(s): add support for Prisms and Pyramids #6171

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Merged
hugtalbot merged 4 commits into from
Jul 16, 2026
Merged

[SofaCUDA] ElementForceField(s): add support for Prisms and Pyramids #6171

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a90a2cc
add instanciations and registration for nodalmass density (explicit d…
fredroy Jul 3, 2026
9d1a5a1
SofaCUDA: add instanciations and registrations for FEMMass
fredroy Jul 3, 2026
e029e98
SofaCUDA: add support for pyramid and prism
fredroy Jul 3, 2026
c667b2d
Merge branch 'master' into cuda_fem_add_prism_pyramid
hugtalbot Jul 16, 2026
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40 changes: 10 additions & 30 deletions ...onent/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaCorotationalFEMForceField.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,13 +35,17 @@ template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTyp
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Quad>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Prism>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Pyramid>;

#ifdef SOFA_GPU_CUDA_DOUBLE
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Edge>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Quad>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Prism>;
template class SOFACUDA_COMPONENT_API CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Pyramid>;
#endif

} // namespace sofa::component::solidmechanics::fem::elastic
Expand All @@ -54,48 +58,24 @@ void registerCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
using namespace sofa::component::solidmechanics::fem::elastic;

factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for EdgeCorotationalFEMForceField")
"Supports GPU-side computations using CUDA for CorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Edge> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for TriangleCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Triangle> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for QuadCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Quad> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for TetrahedronCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for HexahedronCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron> >()
);

.add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Prism> >()
.add< CudaCorotationalFEMForceField<CudaVec3fTypes, sofa::geometry::Pyramid> >()
#ifdef SOFA_GPU_CUDA_DOUBLE
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for EdgeCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Edge> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for TriangleCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for QuadCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Quad> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for TetrahedronCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for HexahedronCorotationalFEMForceField")
.add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron> >()
);
.add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Prism> >()
.add< CudaCorotationalFEMForceField<CudaVec3dTypes, sofa::geometry::Pyramid> >()
#endif
);
}

} // namespace sofa::gpu::cuda
8 changes: 8 additions & 0 deletions ...ponent/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaCorotationalFEMForceField.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -315,17 +315,25 @@ void CorotationalFEMForceFieldCuda_addDForce(
INSTANTIATE_COROTATIONAL(float, 2)
INSTANTIATE_COROTATIONAL(float, 3)
INSTANTIATE_COROTATIONAL(float, 4)
INSTANTIATE_COROTATIONAL(float, 5) // Pyramid
INSTANTIATE_COROTATIONAL(float, 6) // Prism
INSTANTIATE_COROTATIONAL(float, 8)
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 3)
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 4)
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 5) // Pyramid
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 6) // Prism
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(float, 8)

INSTANTIATE_COROTATIONAL(double, 2)
INSTANTIATE_COROTATIONAL(double, 3)
INSTANTIATE_COROTATIONAL(double, 4)
INSTANTIATE_COROTATIONAL(double, 5) // Pyramid
INSTANTIATE_COROTATIONAL(double, 6) // Prism
INSTANTIATE_COROTATIONAL(double, 8)
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 3)
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 4)
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 5) // Pyramid
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 6) // Prism
INSTANTIATE_COROTATIONAL_WITH_ROTATIONS(double, 8)

#undef INSTANTIATE_COROTATIONAL
Expand Down
40 changes: 10 additions & 30 deletions .../src/SofaCUDA/component/solidmechanics/fem/elastic/CudaLinearSmallStrainFEMForceField.cpp
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Expand Up @@ -35,13 +35,17 @@ template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Quad>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Prism>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Pyramid>;

#ifdef SOFA_GPU_CUDA_DOUBLE
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Edge>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Quad>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Prism>;
template class SOFACUDA_COMPONENT_API CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Pyramid>;
#endif

} // namespace sofa::component::solidmechanics::fem::elastic
Expand All @@ -54,48 +58,24 @@ void registerLinearSmallStrainFEMForceField(sofa::core::ObjectFactory* factory)
using namespace sofa::component::solidmechanics::fem::elastic;

factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for EdgeLinearSmallStrainFEMForceField")
"Supports GPU-side computations using CUDA for LinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Edge> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for TriangleLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Triangle> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for QuadLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Quad> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for TetrahedronLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Tetrahedron> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA for HexahedronLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Hexahedron> >()
);

.add< CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Prism> >()
.add< CudaLinearSmallStrainFEMForceField<CudaVec3fTypes, sofa::geometry::Pyramid> >()
#ifdef SOFA_GPU_CUDA_DOUBLE
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for EdgeLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Edge> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for TriangleLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Triangle> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for QuadLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Quad> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for TetrahedronLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Tetrahedron> >()
);
factory->registerObjects(sofa::core::ObjectRegistrationData(
"Supports GPU-side computations using CUDA (double) for HexahedronLinearSmallStrainFEMForceField")
.add< CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Hexahedron> >()
);
.add< CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Prism> >()
.add< CudaLinearSmallStrainFEMForceField<CudaVec3dTypes, sofa::geometry::Pyramid> >()
#endif
);
}

} // namespace sofa::gpu::cuda
4 changes: 4 additions & 0 deletions ...t/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaLinearSmallStrainFEMForceField.cu
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Expand Up @@ -177,11 +177,15 @@ void LinearSmallStrainFEMForceFieldCuda_addDForce(
INSTANTIATE_LINEAR(float, 2)
INSTANTIATE_LINEAR(float, 3)
INSTANTIATE_LINEAR(float, 4)
INSTANTIATE_LINEAR(float, 5) // Pyramid
INSTANTIATE_LINEAR(float, 6) // Prism
INSTANTIATE_LINEAR(float, 8)

INSTANTIATE_LINEAR(double, 2)
INSTANTIATE_LINEAR(double, 3)
INSTANTIATE_LINEAR(double, 4)
INSTANTIATE_LINEAR(double, 5) // Pyramid
INSTANTIATE_LINEAR(double, 6) // Prism
INSTANTIATE_LINEAR(double, 8)

#undef INSTANTIATE_LINEAR
Expand Down
43 changes: 43 additions & 0 deletions ...ns/plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_prism.scn
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@@ -0,0 +1,43 @@
<?xml version="1.0" ?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
<RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Mapping"/>
<RequiredPlugin pluginName="Sofa.Component.Visual"/>
<RequiredPlugin pluginName="SofaCUDA"/>

<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />

<Node name="Prism">
<Node name="Beam">
<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
</Node>

<Node name="Simulated">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />

<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>

<MeshTopology name="Container" />
<Hexa2PrismTopologicalMapping input="@../Beam/grid" output="@Container" />

<NodalMassDensity property="0.2"/>
<FEMMass template="CudaVec3f,Prism"/>
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

<FixedProjectiveConstraint indices="@ROI1.indices" />
<CudaCorotationalFEMForceField name="FEM" template="CudaVec3f,Prism"
youngModulus="2000" poissonRatio="0.3"/>
</Node>
</Node>

</Node>
50 changes: 50 additions & 0 deletions .../plugins/SofaCUDA/examples/ElementFEMForcefield/CudaCorotationalFEMForceField_pyramid.scn
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@@ -0,0 +1,50 @@
<?xml version="1.0" ?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
<RequiredPlugin pluginName="Sofa.Component.Visual"/>
<RequiredPlugin pluginName="SofaCUDA"/>

<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />

<Node name="Pyramid">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />

<!-- A cube made of 6 pyramids -->
<MeshTopology name="Container" pyramids="
0 1 5 4 8
1 5 6 2 8
2 3 7 6 8
0 3 7 4 8
3 2 1 0 8
6 7 4 5 8
"
position="
-1 -1 -1
1 -1 -1
1 1 -1
-1 1 -1
-1 -1 1
1 -1 1
1 1 1
-1 1 1
0 0 0
"/>
<MechanicalObject template="CudaVec3f" name="Volume" />

<NodalMassDensity property="10"/>
<FEMMass template="CudaVec3f,Pyramid"/>
<FixedProjectiveConstraint indices="2 3 7 6"/>
<CudaCorotationalFEMForceField name="FEM" template="CudaVec3f,Pyramid"
youngModulus="500" poissonRatio="0.45"/>
</Node>

</Node>
43 changes: 43 additions & 0 deletions ...ugins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_prism.scn
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<?xml version="1.0" ?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
<RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Mapping"/>
<RequiredPlugin pluginName="Sofa.Component.Visual"/>
<RequiredPlugin pluginName="SofaCUDA"/>

<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />

<Node name="Prism">
<Node name="Beam">
<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
</Node>

<Node name="Simulated">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />

<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>

<MeshTopology name="Container" />
<Hexa2PrismTopologicalMapping input="@../Beam/grid" output="@Container" />

<NodalMassDensity property="0.2"/>
<FEMMass template="CudaVec3f,Prism"/>
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

<FixedProjectiveConstraint indices="@ROI1.indices" />
<CudaLinearSmallStrainFEMForceField name="FEM" template="CudaVec3f,Prism"
youngModulus="2000" poissonRatio="0.3"/>
</Node>
</Node>

</Node>
50 changes: 50 additions & 0 deletions ...ins/SofaCUDA/examples/ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_pyramid.scn
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<?xml version="1.0" ?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
<RequiredPlugin pluginName="Sofa.Component.Visual"/>
<RequiredPlugin pluginName="SofaCUDA"/>

<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />

<Node name="Pyramid">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-12" threshold="1.0e-12" />

<!-- A cube made of 6 pyramids -->
<MeshTopology name="Container" pyramids="
0 1 5 4 8
1 5 6 2 8
2 3 7 6 8
0 3 7 4 8
3 2 1 0 8
6 7 4 5 8
"
position="
-1 -1 -1
1 -1 -1
1 1 -1
-1 1 -1
-1 -1 1
1 -1 1
1 1 1
-1 1 1
0 0 0
"/>
<MechanicalObject template="CudaVec3f" name="Volume" />

<NodalMassDensity property="10"/>
<FEMMass template="CudaVec3f,Pyramid"/>
<FixedProjectiveConstraint indices="2 3 7 6"/>
<CudaLinearSmallStrainFEMForceField name="FEM" template="CudaVec3f,Pyramid"
youngModulus="500" poissonRatio="0.45"/>
</Node>

</Node>
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