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GeoConstraint.cu
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GeoConstraint.cu
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#pragma once
#include <helper_cuda.h>
#include <device_launch_parameters.h>
#include "GeoConstraint.h"
#include "GNSolver.h"
#include "InputData.h"
#include "Helpers/UtilsMath.h"
#include <helper_cuda.h>
__forceinline__ __device__ int FindIndex(int* nodeVec, int val, int num)
{
for (int i = 0; i < num; i++)
{
if (nodeVec[i] == val)
{
return i;
}
}
return -1;
}
bool GeoConstraint::init(GNSolver* gnSolver, float weight)
{
assert(gnSolver);
m_gnSolver = gnSolver;
m_inputData = gnSolver->m_inputData;
setWeight(weight);
return true;
}
bool GeoConstraint::init()
{
return true;
}
void GeoConstraint::getJTJAndJTb(float* dJTJ_a, int* dJTJ_ia, thrust::device_vector<float>& dJTb, float3* dVars)
{
b(dVars);
directiveJTJ(dJTJ_a, dJTJ_ia);
directiveJTb(dJTb);
}
__global__ void bKernelGeo(float* dB,
int* dMatchingPointIndices,
int matchingPointNum,
float4* dVertexVec,
float4* dNormalVec,
float weight)
{
int idx = blockDim.x * blockIdx.x + threadIdx.x;
if (idx >= matchingPointNum)
{
return;
}
int srcVertexIdx = dMatchingPointIndices[2 * idx];
int targetVertexIdx = dMatchingPointIndices[2 * idx + 1];
if (srcVertexIdx < 0 || targetVertexIdx < 0)
{
dB[idx] = 0;
return;
}
float4 updatedVertexNormalTarget = dNormalVec[targetVertexIdx];
float4 residualDiff = dVertexVec[srcVertexIdx] - dVertexVec[targetVertexIdx];
dB[idx] = weight
* (updatedVertexNormalTarget.x * residualDiff.x
+ updatedVertexNormalTarget.y * residualDiff.y
+ updatedVertexNormalTarget.z * residualDiff.z);
}
void GeoConstraint::b(float3* dVars)
{
m_dB.resize(m_inputData->m_matchingPointNum);
int block = 1024;
int grid = (block + m_inputData->m_matchingPointNum - 1) / block;
bKernelGeo << <grid, block >> >(RAW_PTR(m_dB),
m_inputData->m_dMatchingPointIndices,
m_inputData->m_matchingPointNum,
RAW_PTR(m_inputData->m_deformed.m_dVertexVec),
RAW_PTR(m_inputData->m_deformed.m_dNormalVec),
m_weight);
checkCudaErrors(cudaDeviceSynchronize());
checkCudaErrors(cudaGetLastError());
#if 0
std::vector<float> bVec(m_dB.size());
checkCudaErrors(cudaMemcpy(bVec.data(), RAW_PTR(m_dB), bVec.size() * sizeof(float), cudaMemcpyDeviceToHost));
std::cout << "b: " << std::endl;
for (int i = 0; i < bVec.size(); ++i)
{
std::cout << bVec[i] << ", ";
}
std::cout << "----------------------------" << std::endl;
std::exit(0);
#endif
}
__global__ void DirectiveJTJKernelGeo(float* dJTJ_a,
int* dJTJ_ia,
int* dListIij,
int* dOffsetIij,
int* dNzIijCoo,
int* dNnzPre,
int* dDataItemNum,
float4* dSrcVertexVec,
int* dVertexRelaIdxVec,
float* dVertexRelaWeightVec,
float4* dNodeVec,
int nodeNum,
float4* dTargetNormalVec,
int* dMatchingPointIndices,
int matchingPointNum,
float weight)
{
__shared__ float Jci[160 * 12];
__shared__ float Jcj[160 * 12];
__shared__ float block_JTJ_res[12 * 12];
if (threadIdx.x < 144)
{
block_JTJ_res[threadIdx.x] = 0;
}
__syncthreads();
int nzIdx = dNzIijCoo[blockIdx.x];
int row = nzIdx / nodeNum;
int col = nzIdx - row * nodeNum;
int num = dDataItemNum[blockIdx.x];
int* fSet = dListIij + dOffsetIij[blockIdx.x];
int fIdx;
float weightV2N, tmp1, tmp2, tmp3;
float4 vnn, targetNormal;
int fullTimes = num / int(160);
int residualNum = num - fullTimes * 160;
int rowRes, colRes;
rowRes = threadIdx.x / 12;
colRes = threadIdx.x - rowRes * 12;
int currentIdx = threadIdx.x * 12;
#if 1
for (int iter_ft = 0; iter_ft < fullTimes; iter_ft++)
{
fIdx = fSet[threadIdx.x + iter_ft * 160];
int srcVertexIdx = dMatchingPointIndices[2 * fIdx];
int targetVertexIdx = dMatchingPointIndices[2 * fIdx + 1];
if (srcVertexIdx < 0 || targetVertexIdx < 0)
{
#pragma unroll
for (int iter = 0; iter < 12; iter++)
{
Jci[currentIdx + iter] = 0.0f;
Jcj[currentIdx + iter] = 0.0f;
}
}
else
{
int nodeIdxRow, nodeIdxCol, vertexIdxRow, vertexIdxCol;
float signRow = 1.0f, signCol = 1.0f;
int nodeIdxRow1 = FindIndex(dVertexRelaIdxVec + srcVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, row,
MAX_NEAR_NODE_NUM_VERTEX);
int nodeIdxRow2 = FindIndex(dVertexRelaIdxVec + targetVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, row,
MAX_NEAR_NODE_NUM_VERTEX);
int nodeIdxCol1 = FindIndex(dVertexRelaIdxVec + srcVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col,
MAX_NEAR_NODE_NUM_VERTEX);
int nodeIdxCol2 = FindIndex(dVertexRelaIdxVec + targetVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col,
MAX_NEAR_NODE_NUM_VERTEX);
if ((row / NODE_NUM_EACH_FRAG) == (col / NODE_NUM_EACH_FRAG))
{
if (nodeIdxRow1 > nodeIdxRow2)
{
nodeIdxRow = nodeIdxRow1;
nodeIdxCol = nodeIdxCol1;
vertexIdxRow = srcVertexIdx;
vertexIdxCol = srcVertexIdx;
}
else
{
nodeIdxRow = nodeIdxRow2;
nodeIdxCol = nodeIdxCol2;
vertexIdxRow = targetVertexIdx;
vertexIdxCol = targetVertexIdx;
}
}
else
{
if (nodeIdxRow1 > nodeIdxRow2)
{
nodeIdxRow = nodeIdxRow1;
nodeIdxCol = nodeIdxCol2;
vertexIdxRow = srcVertexIdx;
vertexIdxCol = targetVertexIdx;
signCol = -1.0f;
}
else
{
nodeIdxRow = nodeIdxRow2;
nodeIdxCol = nodeIdxCol1;
vertexIdxRow = targetVertexIdx;
vertexIdxCol = srcVertexIdx;
signRow = -1.0f;
}
}
// compute Jcj first.
targetNormal = dTargetNormalVec[targetVertexIdx];
targetNormal.w = 0.0f;
targetNormal = normalize(targetNormal);
weightV2N = signCol * weight * dVertexRelaWeightVec[vertexIdxCol * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxCol];
vnn = dSrcVertexVec[vertexIdxCol] -
dNodeVec[dVertexRelaIdxVec[vertexIdxCol * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxCol]];
tmp1 = weightV2N * targetNormal.x;
tmp2 = weightV2N * targetNormal.y;
tmp3 = weightV2N * targetNormal.z;
Jcj[currentIdx++] = tmp1 * vnn.x;
Jcj[currentIdx++] = tmp2 * vnn.x;
Jcj[currentIdx++] = tmp3 * vnn.x;
Jcj[currentIdx++] = tmp1 * vnn.y;
Jcj[currentIdx++] = tmp2 * vnn.y;
Jcj[currentIdx++] = tmp3 * vnn.y;
Jcj[currentIdx++] = tmp1 * vnn.z;
Jcj[currentIdx++] = tmp2 * vnn.z;
Jcj[currentIdx++] = tmp3 * vnn.z;
Jcj[currentIdx++] = tmp1;
Jcj[currentIdx++] = tmp2;
Jcj[currentIdx] = tmp3;
// compute Jci
weightV2N = signRow * weight * dVertexRelaWeightVec[vertexIdxRow * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxRow];
vnn = dSrcVertexVec[vertexIdxRow] -
dNodeVec[dVertexRelaIdxVec[vertexIdxRow * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxRow]];
tmp1 = weightV2N * targetNormal.x;
tmp2 = weightV2N * targetNormal.y;
tmp3 = weightV2N * targetNormal.z;
Jci[currentIdx--] = tmp3;
Jci[currentIdx--] = tmp2;
Jci[currentIdx--] = tmp1;
Jci[currentIdx--] = tmp3 * vnn.z;
Jci[currentIdx--] = tmp2 * vnn.z;
Jci[currentIdx--] = tmp1 * vnn.z;
Jci[currentIdx--] = tmp3 * vnn.y;
Jci[currentIdx--] = tmp2 * vnn.y;
Jci[currentIdx--] = tmp1 * vnn.y;
Jci[currentIdx--] = tmp3 * vnn.x;
Jci[currentIdx--] = tmp2 * vnn.x;
Jci[currentIdx] = tmp1 * vnn.x;
}
__syncthreads();
//reduction
if (threadIdx.x < 144)
{
#pragma unroll
for (int iter_redu = 0; iter_redu < 160; iter_redu++)
{
block_JTJ_res[threadIdx.x] += Jci[iter_redu * 12 + rowRes] * Jcj[iter_redu * 12 + colRes];
}
}
__syncthreads();
}
#endif
if (threadIdx.x < residualNum)
{
fIdx = fSet[threadIdx.x + fullTimes * 160];
int srcVertexIdx = dMatchingPointIndices[2 * fIdx];
int targetVertexIdx = dMatchingPointIndices[2 * fIdx + 1];
if (srcVertexIdx < 0 || targetVertexIdx < 0)
{
#pragma unroll
for (int iter = 0; iter < 12; iter++)
{
Jci[currentIdx + iter] = 0.0f;
Jcj[currentIdx + iter] = 0.0f;
}
}
else
{
int nodeIdxRow, nodeIdxCol, vertexIdxRow, vertexIdxCol;
float signRow = 1.0f, signCol = 1.0f;
int nodeIdxRow1 = FindIndex(dVertexRelaIdxVec + srcVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, row,
MAX_NEAR_NODE_NUM_VERTEX);
int nodeIdxRow2 = FindIndex(dVertexRelaIdxVec + targetVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, row,
MAX_NEAR_NODE_NUM_VERTEX);
int nodeIdxCol1 = FindIndex(dVertexRelaIdxVec + srcVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col,
MAX_NEAR_NODE_NUM_VERTEX);
int nodeIdxCol2 = FindIndex(dVertexRelaIdxVec + targetVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col,
MAX_NEAR_NODE_NUM_VERTEX);
if ((row / NODE_NUM_EACH_FRAG) == (col / NODE_NUM_EACH_FRAG))
{
if (nodeIdxRow1 > nodeIdxRow2)
{
nodeIdxRow = nodeIdxRow1;
nodeIdxCol = nodeIdxCol1;
vertexIdxRow = srcVertexIdx;
vertexIdxCol = srcVertexIdx;
}
else
{
nodeIdxRow = nodeIdxRow2;
nodeIdxCol = nodeIdxCol2;
vertexIdxRow = targetVertexIdx;
vertexIdxCol = targetVertexIdx;
}
}
else
{
if (nodeIdxRow1 > nodeIdxRow2)
{
nodeIdxRow = nodeIdxRow1;
nodeIdxCol = nodeIdxCol2;
vertexIdxRow = srcVertexIdx;
vertexIdxCol = targetVertexIdx;
signCol = -1.0f;
}
else
{
nodeIdxRow = nodeIdxRow2;
nodeIdxCol = nodeIdxCol1;
vertexIdxRow = targetVertexIdx;
vertexIdxCol = srcVertexIdx;
signRow = -1.0f;
}
}
// compute Jcj first.
targetNormal = dTargetNormalVec[targetVertexIdx];
targetNormal.w = 0.0f;
targetNormal = normalize(targetNormal);
weightV2N = signCol * weight * dVertexRelaWeightVec[vertexIdxCol * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxCol];
vnn = dSrcVertexVec[vertexIdxCol] -
dNodeVec[dVertexRelaIdxVec[vertexIdxCol * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxCol]];
tmp1 = weightV2N * targetNormal.x;
tmp2 = weightV2N * targetNormal.y;
tmp3 = weightV2N * targetNormal.z;
Jcj[currentIdx++] = tmp1 * vnn.x;
Jcj[currentIdx++] = tmp2 * vnn.x;
Jcj[currentIdx++] = tmp3 * vnn.x;
Jcj[currentIdx++] = tmp1 * vnn.y;
Jcj[currentIdx++] = tmp2 * vnn.y;
Jcj[currentIdx++] = tmp3 * vnn.y;
Jcj[currentIdx++] = tmp1 * vnn.z;
Jcj[currentIdx++] = tmp2 * vnn.z;
Jcj[currentIdx++] = tmp3 * vnn.z;
Jcj[currentIdx++] = tmp1;
Jcj[currentIdx++] = tmp2;
Jcj[currentIdx] = tmp3;
// compute Jci
weightV2N = signRow * weight * dVertexRelaWeightVec[vertexIdxRow * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxRow];
vnn = dSrcVertexVec[vertexIdxRow] -
dNodeVec[dVertexRelaIdxVec[vertexIdxRow * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxRow]];
tmp1 = weightV2N * targetNormal.x;
tmp2 = weightV2N * targetNormal.y;
tmp3 = weightV2N * targetNormal.z;
Jci[currentIdx--] = tmp3;
Jci[currentIdx--] = tmp2;
Jci[currentIdx--] = tmp1;
Jci[currentIdx--] = tmp3 * vnn.z;
Jci[currentIdx--] = tmp2 * vnn.z;
Jci[currentIdx--] = tmp1 * vnn.z;
Jci[currentIdx--] = tmp3 * vnn.y;
Jci[currentIdx--] = tmp2 * vnn.y;
Jci[currentIdx--] = tmp1 * vnn.y;
Jci[currentIdx--] = tmp3 * vnn.x;
Jci[currentIdx--] = tmp2 * vnn.x;
Jci[currentIdx] = tmp1 * vnn.x;
}
}
__syncthreads();
//reduction
if (threadIdx.x < 144)
{
for (int iter_redu = 0; iter_redu < residualNum; iter_redu++)
{
block_JTJ_res[threadIdx.x] += Jci[iter_redu * 12 + rowRes] * Jcj[iter_redu * 12 + colRes];
}
}
__syncthreads();
// write JTJ_block(i,j) to global memory.
int startPos;
if (threadIdx.x < 144)
{
if (row == col)
{
startPos = dNnzPre[row * nodeNum + col] * 12;
dJTJ_a[dJTJ_ia[row * 12 + rowRes] + startPos + colRes] += block_JTJ_res[rowRes * 12 + colRes];
}
else
{
startPos = dNnzPre[row * nodeNum + col] * 12;
dJTJ_a[dJTJ_ia[row * 12 + rowRes] + startPos + colRes] += block_JTJ_res[rowRes * 12 + colRes];
startPos = dNnzPre[col * nodeNum + row] * 12;
dJTJ_a[dJTJ_ia[col * 12 + rowRes] + startPos + colRes] += block_JTJ_res[colRes * 12 + rowRes];
}
}
}
void GeoConstraint::directiveJTJ(float* dJTJ_a, int* dJTJ_ia)
{
//std::cout << m_weight << std::endl;
//std::exit(0);
int block = 160; // fixed !!!
int grid = m_inputData->m_Iij.m_nnzIij; //each CUDA block handle one JTJ block.
DirectiveJTJKernelGeo << <grid, block >> >(dJTJ_a,
dJTJ_ia,
RAW_PTR(m_inputData->m_Iij.m_dListIij),
RAW_PTR(m_inputData->m_Iij.m_dOffsetIij),
RAW_PTR(m_inputData->m_Iij.m_dNzIijCoo),
RAW_PTR(m_inputData->m_Iij.m_dNnzPre),
RAW_PTR(m_inputData->m_Iij.m_dDataItemNum),
RAW_PTR(m_inputData->m_source.m_dVertexVec),
RAW_PTR(m_inputData->m_source.m_dVertexRelaIdxVec),
RAW_PTR(m_inputData->m_source.m_dVertexRelaWeightVec),
RAW_PTR(m_inputData->m_source.m_dNodeVec),
m_inputData->m_source.m_nodeNum,
RAW_PTR(m_inputData->m_deformed.m_dNormalVec),
m_inputData->m_dMatchingPointIndices,
m_inputData->m_matchingPointNum,
m_weight);
checkCudaErrors(cudaDeviceSynchronize());
checkCudaErrors(cudaGetLastError());
}
__global__ void DirectiveJTbKernelGeo(float* dJTb,
float* dB,
int* dListIij,
int* dOffsetIij,
int* dNzIijCoo,
int* dDataItemNum,
float4* dSrcVertexVec,
int* dVertexRelaIdxVec,
float* dVertexRelaWeightVec,
float4* dNodeVec,
int nodeNum,
float4* dTargetNormalVec,
int* dMatchingPointIndices,
int matchingPointNum,
float weight)
{
__shared__ float JTb_block_tmp[12 * 256];
__shared__ float JTb_block_res[12];
int nzIdx = dNzIijCoo[blockIdx.x];
int row = nzIdx / nodeNum;
int col = nzIdx - row * nodeNum;
if (row != col)
{
return;
}
if (threadIdx.x < 12)
{
JTb_block_res[threadIdx.x] = 0;
}
int num = dDataItemNum[blockIdx.x];
int fullTimes = num / 256;
int residualNum = num % 256;
int currentIdx = threadIdx.x * 12;
int fIdx = 0;
int* fSet = dListIij + dOffsetIij[blockIdx.x];
float4 targetNormal, nodePos = dNodeVec[col], vnn;
float weight_V2N = 0.0, tmp1 = 0.0, tmp2 = 0.0, tmp3 = 0.0;
int srcVertexIdx, targetVertexIdx;
int nodeIdxCol1, nodeIdxCol2, nodeIdxCol, vertexIdxCol, signCol = 1.0f;
for (int iter_ft = 0; iter_ft < fullTimes; iter_ft++)
{
fIdx = fSet[threadIdx.x + iter_ft * 256];
srcVertexIdx = dMatchingPointIndices[2 * fIdx];
targetVertexIdx = dMatchingPointIndices[2 * fIdx + 1];
if (srcVertexIdx < 0 || targetVertexIdx < 0)
{
JTb_block_tmp[currentIdx + 0] = 0;
JTb_block_tmp[currentIdx + 1] = 0;
JTb_block_tmp[currentIdx + 2] = 0;
JTb_block_tmp[currentIdx + 3] = 0;
JTb_block_tmp[currentIdx + 4] = 0;
JTb_block_tmp[currentIdx + 5] = 0;
JTb_block_tmp[currentIdx + 6] = 0;
JTb_block_tmp[currentIdx + 7] = 0;
JTb_block_tmp[currentIdx + 8] = 0;
JTb_block_tmp[currentIdx + 9] = 0;
JTb_block_tmp[currentIdx + 10] = 0;
JTb_block_tmp[currentIdx + 11] = 0;
}
else
{
nodeIdxCol1 = FindIndex(dVertexRelaIdxVec + srcVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col, MAX_NEAR_NODE_NUM_VERTEX);
nodeIdxCol2 = FindIndex(dVertexRelaIdxVec + targetVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col,
MAX_NEAR_NODE_NUM_VERTEX);
if (nodeIdxCol1 > nodeIdxCol2)
{
nodeIdxCol = nodeIdxCol1;
vertexIdxCol = srcVertexIdx;
signCol = 1.0f;
}
else
{
nodeIdxCol = nodeIdxCol2;
vertexIdxCol = targetVertexIdx;
signCol = -1.0f;
}
targetNormal = dTargetNormalVec[targetVertexIdx];
targetNormal.w = 0.0f;
targetNormal = normalize(targetNormal);
weight_V2N = signCol * weight * dVertexRelaWeightVec[vertexIdxCol * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxCol] * dB[fIdx
];
vnn = dSrcVertexVec[vertexIdxCol] - nodePos;
tmp1 = weight_V2N * targetNormal.x;
tmp2 = weight_V2N * targetNormal.y;
tmp3 = weight_V2N * targetNormal.z;
JTb_block_tmp[currentIdx + 0] = tmp1 * vnn.x;
JTb_block_tmp[currentIdx + 1] = tmp2 * vnn.x;
JTb_block_tmp[currentIdx + 2] = tmp3 * vnn.x;
JTb_block_tmp[currentIdx + 3] = tmp1 * vnn.y;
JTb_block_tmp[currentIdx + 4] = tmp2 * vnn.y;
JTb_block_tmp[currentIdx + 5] = tmp3 * vnn.y;
JTb_block_tmp[currentIdx + 6] = tmp1 * vnn.z;
JTb_block_tmp[currentIdx + 7] = tmp2 * vnn.z;
JTb_block_tmp[currentIdx + 8] = tmp3 * vnn.z;
JTb_block_tmp[currentIdx + 9] = tmp1;
JTb_block_tmp[currentIdx + 10] = tmp2;
JTb_block_tmp[currentIdx + 11] = tmp3;
}
__syncthreads();
//reduction
if (threadIdx.x < 12)
{
for (int iter_redu = 0; iter_redu < 256; iter_redu++)
{
JTb_block_res[threadIdx.x] += JTb_block_tmp[threadIdx.x + iter_redu * 12];
}
}
__syncthreads();
}
if (threadIdx.x < residualNum)
{
fIdx = fSet[threadIdx.x + fullTimes * 256];
srcVertexIdx = dMatchingPointIndices[2 * fIdx];
targetVertexIdx = dMatchingPointIndices[2 * fIdx + 1];
if (srcVertexIdx < 0 || targetVertexIdx < 0)
{
JTb_block_tmp[currentIdx + 0] = 0;
JTb_block_tmp[currentIdx + 1] = 0;
JTb_block_tmp[currentIdx + 2] = 0;
JTb_block_tmp[currentIdx + 3] = 0;
JTb_block_tmp[currentIdx + 4] = 0;
JTb_block_tmp[currentIdx + 5] = 0;
JTb_block_tmp[currentIdx + 6] = 0;
JTb_block_tmp[currentIdx + 7] = 0;
JTb_block_tmp[currentIdx + 8] = 0;
JTb_block_tmp[currentIdx + 9] = 0;
JTb_block_tmp[currentIdx + 10] = 0;
JTb_block_tmp[currentIdx + 11] = 0;
}
else
{
nodeIdxCol1 = FindIndex(dVertexRelaIdxVec + srcVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col, MAX_NEAR_NODE_NUM_VERTEX);
nodeIdxCol2 = FindIndex(dVertexRelaIdxVec + targetVertexIdx * MAX_NEAR_NODE_NUM_VERTEX, col,
MAX_NEAR_NODE_NUM_VERTEX);
if (nodeIdxCol1 > nodeIdxCol2)
{
nodeIdxCol = nodeIdxCol1;
vertexIdxCol = srcVertexIdx;
signCol = 1.0f;
}
else
{
nodeIdxCol = nodeIdxCol2;
vertexIdxCol = targetVertexIdx;
signCol = -1.0f;
}
targetNormal = dTargetNormalVec[targetVertexIdx];
targetNormal.w = 0.0f;
targetNormal = normalize(targetNormal);
weight_V2N = signCol * weight * dVertexRelaWeightVec[vertexIdxCol * MAX_NEAR_NODE_NUM_VERTEX + nodeIdxCol] * dB[fIdx
];
vnn = dSrcVertexVec[vertexIdxCol] - nodePos;
//printf("vnn: %f %f %f\n", vnn.x, vnn.y, vnn.z);
tmp1 = weight_V2N * targetNormal.x;
tmp2 = weight_V2N * targetNormal.y;
tmp3 = weight_V2N * targetNormal.z;
//printf("tmp: %f %f %f\n", tmp1, tmp2, tmp3);
JTb_block_tmp[currentIdx + 0] = tmp1 * vnn.x;
JTb_block_tmp[currentIdx + 1] = tmp2 * vnn.x;
JTb_block_tmp[currentIdx + 2] = tmp3 * vnn.x;
JTb_block_tmp[currentIdx + 3] = tmp1 * vnn.y;
JTb_block_tmp[currentIdx + 4] = tmp2 * vnn.y;
JTb_block_tmp[currentIdx + 5] = tmp3 * vnn.y;
JTb_block_tmp[currentIdx + 6] = tmp1 * vnn.z;
JTb_block_tmp[currentIdx + 7] = tmp2 * vnn.z;
JTb_block_tmp[currentIdx + 8] = tmp3 * vnn.z;
JTb_block_tmp[currentIdx + 9] = tmp1;
JTb_block_tmp[currentIdx + 10] = tmp2;
JTb_block_tmp[currentIdx + 11] = tmp3;
}
}
__syncthreads();
//reduction
if (threadIdx.x < 12)
{
for (int iter_redu = 0; iter_redu < residualNum; iter_redu++)
{
JTb_block_res[threadIdx.x] += JTb_block_tmp[threadIdx.x + iter_redu * 12];
}
}
__syncthreads();
// write_back
if (threadIdx.x < 12)
{
dJTb[col * 12 + threadIdx.x] -= JTb_block_res[threadIdx.x];
}
}
void GeoConstraint::directiveJTb(thrust::device_vector<float>& JTb)
{
int block = 256; // fixed!!!
int grid = m_inputData->m_Iij.m_nnzIij;
DirectiveJTbKernelGeo << <grid, block >> >(RAW_PTR(JTb),
RAW_PTR(m_dB),
RAW_PTR(m_inputData->m_Iij.m_dListIij),
RAW_PTR(m_inputData->m_Iij.m_dOffsetIij),
RAW_PTR(m_inputData->m_Iij.m_dNzIijCoo),
RAW_PTR(m_inputData->m_Iij.m_dDataItemNum),
RAW_PTR(m_inputData->m_source.m_dVertexVec),
RAW_PTR(m_inputData->m_source.m_dVertexRelaIdxVec),
RAW_PTR(m_inputData->m_source.m_dVertexRelaWeightVec),
RAW_PTR(m_inputData->m_source.m_dNodeVec),
m_inputData->m_source.m_nodeNum,
RAW_PTR(m_inputData->m_deformed.m_dNormalVec),
m_inputData->m_dMatchingPointIndices,
m_inputData->m_matchingPointNum,
m_weight);
checkCudaErrors(cudaDeviceSynchronize());
checkCudaErrors(cudaGetLastError());
#if 0
std::vector<float> JTbVec(m_inputData->m_source.m_nodeNum * 12);
checkCudaErrors(cudaMemcpy(JTbVec.data(), RAW_PTR(JTb), JTbVec.size() * sizeof(float), cudaMemcpyDeviceToHost));
for (int i = 0; i < JTbVec.size(); ++i)
{
std::cout << JTbVec[i] << ", ";
}
std::cout << "----------------------------" << std::endl;
exit(0);
#endif
}