Introduce CUDA extension

SofaDefrost · Jan 23, 2024 · 616f648 · 616f648
1 parent 7aa1f09
commit 616f648
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Showing 6 changed files with 187 additions and 0 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -305,4 +305,6 @@ if(SOFTROBOTS_BUILD_TESTS)
     add_subdirectory(tests)
 endif()
 
+sofa_add_subdirectory(plugin extensions/CUDA SoftRobots.CUDA)
+
 include(cmake/packaging.cmake)
diff --git a/extensions/CUDA/CMakeLists.txt b/extensions/CUDA/CMakeLists.txt
@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.12)
+project(SoftRobots.CUDA)
+
+set(HEADER_FILES
+    src/SoftRobots.CUDA/init.h
+    src/SoftRobots.CUDA/config.h.in
+)
+
+set(SOURCE_FILES
+    src/SoftRobots.CUDA/init.cpp
+)
+
+sofa_find_package(SoftRobots REQUIRED)
+sofa_find_package(SofaCUDA REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} SoftRobots)
+target_link_libraries(${PROJECT_NAME} SofaCUDA)
+
+sofa_create_package_with_targets(
+    PACKAGE_NAME ${PROJECT_NAME}
+    PACKAGE_VERSION ${Sofa_VERSION}
+    TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
+    INCLUDE_SOURCE_DIR "src"
+    INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
+    RELOCATABLE "plugins"
+)
diff --git a/extensions/CUDA/SoftRobots.CUDAConfig.cmake.in b/extensions/CUDA/SoftRobots.CUDAConfig.cmake.in
@@ -0,0 +1,9 @@
+# CMake package configuration file for the SoftRobots.CUDA library
+
+@PACKAGE_GUARD@
+@PACKAGE_INIT@
+
+find_package(SoftRobots QUIET REQUIRED)
+find_package(SofaCUDA QUIET REQUIRED)
+
+check_required_components(SoftRobots.CUDA)
diff --git a/extensions/CUDA/src/SoftRobots.CUDA/config.h.in b/extensions/CUDA/src/SoftRobots.CUDA/config.h.in
@@ -0,0 +1,43 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#pragma once
+
+#include <sofa/config.h>
+
+#ifdef SOFA_BUILD_SOFTROBOTS_CUDA
+#  define SOFA_TARGET @PROJECT_NAME@
+#  define SOFA_SOFTROBOTS_CUDA_API SOFA_EXPORT_DYNAMIC_LIBRARY
+#else
+#  define SOFA_SOFTROBOTS_CUDA_API SOFA_IMPORT_DYNAMIC_LIBRARY
+#endif
+
+namespace softrobots::cuda
+{
+	constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
+	constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
+} // namespace softrobots::cuda
diff --git a/extensions/CUDA/src/SoftRobots.CUDA/init.cpp b/extensions/CUDA/src/SoftRobots.CUDA/init.cpp
@@ -0,0 +1,71 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#include <SoftRobots.CUDA/init.h>
+#include <sofa/core/ObjectFactory.h>
+namespace softrobots::cuda
+{
+
+extern "C" {
+    SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleComponentList();
+}
+
+void initExternalModule()
+{
+    init();
+}
+
+const char* getModuleName()
+{
+    return MODULE_NAME;
+}
+
+const char* getModuleVersion()
+{
+    return MODULE_VERSION;
+}
+
+void init()
+{
+    static bool first = true;
+    if (first)
+    {
+        first = false;
+    }
+}
+
+const char* getModuleComponentList()
+{
+    /// string containing the names of the classes provided by the plugin
+    static std::string classes = sofa::core::ObjectFactory::getInstance()->listClassesFromTarget(MODULE_NAME);
+    return classes.c_str();
+}
+
+} // namespace softrobots::cuda
diff --git a/extensions/CUDA/src/SoftRobots.CUDA/init.h b/extensions/CUDA/src/SoftRobots.CUDA/init.h
@@ -0,0 +1,35 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+*                           Plugin SoftRobots                                 *
+*                                                                             *
+* This plugin is also distributed under the GNU LGPL (Lesser General          *
+* Public License) license with the same conditions than SOFA.                 *
+*                                                                             *
+* Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+*               Ecole Centrale de Lille)                                      *
+*                                                                             *
+* Contact information: https://project.inria.fr/softrobot/contact/            *
+******************************************************************************/
+#pragma once
+
+#include <SoftRobots.CUDA/config.h>
+
+namespace softrobots::cuda
+{
+SOFA_SOFTROBOTS_CUDA_API void init();
+} // namespace softrobots::cuda