stuff

include/amsculib2/cuvect3f.hpp

@@ -92,34 +92,11 @@ namespace amscuda
     __host__ __device__ cuvect3f hodge_dual(const cumat3f &min);
     __host__ __device__ cumat3f rotmat_from_axisangle(const cuvect3f &axis, const float &angle);
 
-
-    //3x3 matrix operations
-    //matrix order is assumed to be mat[I,J] = mat[I+3*J]
-    
-    //transposes a 3x3 (9 element) matrix
-    __host__ __device__ void mat3f_transpose(float *mat3inout);
-
-    //copies src to dest
-    __host__ __device__ void mat3f_copy(float *mat3f_dest, const float *mat3f_src);
-
-    //returns determinant of 3x3 matrix
-    __host__ __device__ float mat3f_det(float *mat3in);
-
-    //inverts a 3x3 (9 element) matrix
-    __host__ __device__ void mat3f_inverse(float *mat3inout);
-
-    __host__ __device__ cuvect3f mat3f_mult(float *mat3in, const cuvect3f &cvin);
-    __host__ __device__ void mat3f_mult(float *matina, float *matinb, float *matout);
-
-    __host__ __device__ void mat3f_hodgedual(const cuvect3f &vecin, float *matout);
-    __host__ __device__ void mat3f_hodgedual(float *matin, cuvect3f &vecout);
-
-    //returns direction cosine rotation matrix from axis and angle
-    __host__ __device__ void mat3f_rot_from_axisangle(cuvect3f axis, float angle, float *matout);
-
     __host__ void test_cudavectf_logic1();
 
 };
 
+#include <amsculib2/cuvect3f_legacy.hpp>
+
 #endif
 

include/amsculib2/cuvect3f_legacy.hpp

@@ -0,0 +1,34 @@
+#ifndef __CUVECT3_LEGACY_HPP__
+#define __CUVECT3_LEGACY_HPP__
+
+namespace amscuda
+{
+
+    //3x3 matrix operations
+    //matrix order is assumed to be mat[I,J] = mat[I+3*J]
+    
+    //transposes a 3x3 (9 element) matrix
+    __host__ __device__ void mat3f_transpose(float *mat3inout);
+
+    //copies src to dest
+    __host__ __device__ void mat3f_copy(float *mat3f_dest, const float *mat3f_src);
+
+    //returns determinant of 3x3 matrix
+    __host__ __device__ float mat3f_det(float *mat3in);
+
+    //inverts a 3x3 (9 element) matrix
+    __host__ __device__ void mat3f_inverse(float *mat3inout);
+
+    __host__ __device__ cuvect3f mat3f_mult(float *mat3in, const cuvect3f &cvin);
+    __host__ __device__ void mat3f_mult(float *matina, float *matinb, float *matout);
+
+    __host__ __device__ void mat3f_hodgedual(const cuvect3f &vecin, float *matout);
+    __host__ __device__ void mat3f_hodgedual(float *matin, cuvect3f &vecout);
+
+    //returns direction cosine rotation matrix from axis and angle
+    __host__ __device__ void mat3f_rot_from_axisangle(cuvect3f axis, float angle, float *matout);
+
+
+};
+
+#endif

include/amsculib2/cuvect4f.hpp

@@ -85,10 +85,10 @@ namespace amscuda
         __host__ __device__ cumat4f& operator*=(const cumat4f &rhs);
     };
 
-    __host__ __device__ float cuvect4f_dot(cuvect4f a, cuvect4f b);
+    __host__ __device__ float cuvect4f_dot(cuvect4f &a, cuvect4f &b);
-    __host__ __device__ float cuvect4f_norm(cuvect4f a);
+    __host__ __device__ float cuvect4f_norm(cuvect4f &a);
-    __host__ __device__ cuvect4f cuvect4f_normalize(cuvect4f a);
+    __host__ __device__ cuvect4f cuvect4f_normalize(cuvect4f &a);
-    __host__ __device__ cuvect4f cuvect4f_proj(cuvect4f a, cuvect4f b);
+    __host__ __device__ cuvect4f cuvect4f_proj(cuvect4f &a, cuvect4f &b);
 
 
 };

src/amsculib2/cuvect3f.cu

@@ -5,13 +5,13 @@ namespace amscuda
 
     __host__ __device__ cuvect3f::cuvect3f()
     {
-        x = 0.0; y = 0.0; z = 0.0;
+        x = 0.0f; y = 0.0f; z = 0.0f;
         return;
     }
 
     __host__ __device__ cuvect3f::~cuvect3f()
     {
-        x = 0.0; y = 0.0; z = 0.0;
+        x = 0.0f; y = 0.0f; z = 0.0f;
         return;
     }
 
@@ -144,7 +144,7 @@ namespace amscuda
         }
         else
         {
-            ret.x = 0.0; ret.y = 0.0; ret.z = 0.0;
+            ret.x = 0.0f; ret.y = 0.0f; ret.z = 0.0f;
         }
 
         return ret;
@@ -390,7 +390,7 @@ __host__ __device__ cumat3f cumat3f::operator*(const cumat3f &rhs)
 
 __host__ __device__ float cumat3f::det()
 {
-    float ret = 0.0;
+    float ret = 0.0f;
 
     ret += m00*m11*m22;
     ret += m01*m12*m20;
@@ -587,186 +587,6 @@ __host__ __device__ const float* cumat3f::data() const
     return (const float*) this;
 }
 
-//transposes a 3x3 (9 element) matrix
-__host__ __device__ void mat3f_transpose(float *mat3inout)
-{
-    int I,J;
-    float matint[9];
-    for(I=0;I<9;I++)
-    {
-        matint[I] = mat3inout[I];
-    }
-
-    for(I=0;I<3;I++)
-    {
-        for(J=0;J<3;J++)
-        {
-            mat3inout[I+J*3] = matint[J+I*3];
-        }
-    }
-
-    return;
-}
-
-//copies src to dest
-__host__ __device__ void mat3f_copy(float *mat3f_dest, const float *mat3f_src)
-{
-    int I;
-    if(mat3f_dest==NULL || mat3f_src==NULL)
-        return;
-
-    for(I=0;I<9;I++)
-        mat3f_dest[I] = mat3f_src[I];
-
-    return;
-}
-
-
-__host__ __device__ float mat3f_det(float *mat3in)
-{
-    float ret = 0.0;
-
-    ret = ret + mat3in[0+0*3]*mat3in[1+1*3]*mat3in[2+2*3];
-    ret = ret + mat3in[0+1*3]*mat3in[1+2*3]*mat3in[2+0*3];
-    ret = ret + mat3in[0+2*3]*mat3in[1+0*3]*mat3in[2+1*3];
-    ret = ret - mat3in[0+0*3]*mat3in[1+2*3]*mat3in[2+1*3];
-    ret = ret - mat3in[0+1*3]*mat3in[1+0*3]*mat3in[2+2*3];
-    ret = ret - mat3in[0+2*3]*mat3in[1+1*3]*mat3in[2+0*3];
-
-    return ret;
-}
-
-//inverts a 3x3 (9 element) matrix
-__host__ __device__ void mat3f_inverse(float *mat3inout)
-{
-    int I;
-    float matint[9];
-    float det = mat3f_det(mat3inout);
-
-    for(I=0;I<9;I++)
-    {
-        matint[I] = mat3inout[I];
-    }
-
-    mat3inout[0+0*3] =  (matint[1+1*3]*matint[2+2*3]-matint[1+2*3]*matint[2+1*3])/det;
-    mat3inout[0+1*3] = -(matint[1+0*3]*matint[2+2*3]-matint[1+2*3]*matint[2+0*3])/det;
-    mat3inout[0+2*3] =  (matint[1+0*3]*matint[2+1*3]-matint[1+1*3]*matint[2+0*3])/det;
-    mat3inout[1+0*3] = -(matint[0+1*3]*matint[2+2*3]-matint[0+2*3]*matint[2+1*3])/det;
-    mat3inout[1+1*3] =  (matint[0+0*3]*matint[2+2*3]-matint[0+2*3]*matint[2+0*3])/det;
-    mat3inout[1+2*3] = -(matint[0+0*3]*matint[2+1*3]-matint[0+1*3]*matint[2+0*3])/det;
-    mat3inout[2+0*3] =  (matint[0+1*3]*matint[1+2*3]-matint[0+2*3]*matint[1+1*3])/det;
-    mat3inout[2+1*3] = -(matint[0+0*3]*matint[1+2*3]-matint[0+2*3]*matint[1+0*3])/det;
-    mat3inout[2+2*3] =  (matint[0+0*3]*matint[1+1*3]-matint[0+1*3]*matint[1+0*3])/det;
-
-    mat3f_transpose(mat3inout);
-
-    return;
-}
-
-__host__ __device__ cuvect3f mat3f_mult(float *mat3in, const cuvect3f &cvin)
-{
-    int I,J;
-    cuvect3f ret;
-    for(I=0;I<3;I++)
-    {
-        ret[I] = 0.0;
-        for(J=0;J<3;J++)
-        {
-            ret[I] = ret[I] + mat3in[I+3*J]*cvin[J];
-        }
-    }
-
-    return ret;
-}
-
-__host__ __device__ void mat3f_mult(float *matina, float *matinb, float *matout)
-{
-    float wrk[9];
-    int I,J,K;
-
-    for(I=0;I<3;I++)
-    {
-        for(J=0;J<3;J++)
-        {
-            wrk[I+3*J] = 0.0;
-        }
-    }
-
-    for(I=0;I<3;I++)
-    {
-        for(J=0;J<3;J++)
-        {
-            for(K=0;K<3;K++)
-            {
-                wrk[I+3*K] = wrk[I+3*K] + matina[I+3*J]*matinb[J+3*K];
-            }
-        }
-    }
-
-    for(I=0;I<3;I++)
-    {
-        for(J=0;J<3;J++)
-        {
-            matout[I+3*J] = wrk[I+3*J];
-        }
-    }
-
-    return;
-}
-
-__host__ __device__ void mat3f_hodgedual(const cuvect3f &vecin, float *matout)
-{
-    matout[0 + 0*3] = 0.0f;
-    matout[1 + 0*3] = -vecin[2];
-    matout[2 + 0*3] = vecin[1];
-
-    matout[0 + 1*3] = vecin[2];
-    matout[1 + 1*3] = 0.0f;
-    matout[2 + 1*3] = -vecin[0];
-
-    matout[0 + 2*3] = -vecin[1];
-    matout[1 + 2*3] = vecin[0];
-    matout[2 + 2*3] = 0.0f;
-    return;
-}
-
-__host__ __device__ void mat3f_hodgedual(float *matin, cuvect3f &vecout)
-{
-    vecout[0] = 0.5*(matin[1 + 2*3] - matin[2 + 1*3]);
-    vecout[1] = 0.5*(matin[2 + 0*3] - matin[0 + 2*3]);
-    vecout[2] = 0.5*(matin[0 + 1*3] - matin[1 + 0*3]);
-    
-    return;
-}
-
-//returns direction cosine rotation matrix from axis and angle
-__host__ __device__ void mat3f_rot_from_axisangle(cuvect3f axis, float angle, float *matout)
-{
-    int I;
-    float H[9];
-    float Hsq[9];
-    float II[9];
-
-    for(I=0;I<9;I++) II[I] = 0.0;
-    II[0+0*3] = 1.0;
-    II[1+1*3] = 1.0;
-    II[2+2*3] = 1.0;
-
-    axis = cuvect3f_normalize(axis);
-    
-    mat3f_hodgedual(axis,H);
-    mat3f_mult(H,H,Hsq);
-
-    for(I=0;I<9;I++)
-    {
-        matout[I] = (II[I] + Hsq[I]) + H[I]*sinf(angle) - Hsq[I]*cosf(angle);
-    }
-
-    return;
-}
-
-
-
 __host__ void test_cudavectf_logic1()
 {
     //3 dim vector and matrix functional tests on host side

src/amsculib2/cuvect3f_legacy.cu

@@ -0,0 +1,185 @@
+#include <amsculib2/amsculib2.hpp>
+
+namespace amscuda
+{
+
+
+//transposes a 3x3 (9 element) matrix
+__host__ __device__ void mat3f_transpose(float *mat3inout)
+{
+    int I,J;
+    float matint[9];
+    for(I=0;I<9;I++)
+    {
+        matint[I] = mat3inout[I];
+    }
+
+    for(I=0;I<3;I++)
+    {
+        for(J=0;J<3;J++)
+        {
+            mat3inout[I+J*3] = matint[J+I*3];
+        }
+    }
+
+    return;
+}
+
+//copies src to dest
+__host__ __device__ void mat3f_copy(float *mat3f_dest, const float *mat3f_src)
+{
+    int I;
+    if(mat3f_dest==NULL || mat3f_src==NULL)
+        return;
+
+    for(I=0;I<9;I++)
+        mat3f_dest[I] = mat3f_src[I];
+
+    return;
+}
+
+
+__host__ __device__ float mat3f_det(float *mat3in)
+{
+    float ret = 0.0f;
+
+    ret = ret + mat3in[0+0*3]*mat3in[1+1*3]*mat3in[2+2*3];
+    ret = ret + mat3in[0+1*3]*mat3in[1+2*3]*mat3in[2+0*3];
+    ret = ret + mat3in[0+2*3]*mat3in[1+0*3]*mat3in[2+1*3];
+    ret = ret - mat3in[0+0*3]*mat3in[1+2*3]*mat3in[2+1*3];
+    ret = ret - mat3in[0+1*3]*mat3in[1+0*3]*mat3in[2+2*3];
+    ret = ret - mat3in[0+2*3]*mat3in[1+1*3]*mat3in[2+0*3];
+
+    return ret;
+}
+
+//inverts a 3x3 (9 element) matrix
+__host__ __device__ void mat3f_inverse(float *mat3inout)
+{
+    int I;
+    float matint[9];
+    float det = mat3f_det(mat3inout);
+
+    for(I=0;I<9;I++)
+    {
+        matint[I] = mat3inout[I];
+    }
+
+    mat3inout[0+0*3] =  (matint[1+1*3]*matint[2+2*3]-matint[1+2*3]*matint[2+1*3])/det;
+    mat3inout[0+1*3] = -(matint[1+0*3]*matint[2+2*3]-matint[1+2*3]*matint[2+0*3])/det;
+    mat3inout[0+2*3] =  (matint[1+0*3]*matint[2+1*3]-matint[1+1*3]*matint[2+0*3])/det;
+    mat3inout[1+0*3] = -(matint[0+1*3]*matint[2+2*3]-matint[0+2*3]*matint[2+1*3])/det;
+    mat3inout[1+1*3] =  (matint[0+0*3]*matint[2+2*3]-matint[0+2*3]*matint[2+0*3])/det;
+    mat3inout[1+2*3] = -(matint[0+0*3]*matint[2+1*3]-matint[0+1*3]*matint[2+0*3])/det;
+    mat3inout[2+0*3] =  (matint[0+1*3]*matint[1+2*3]-matint[0+2*3]*matint[1+1*3])/det;
+    mat3inout[2+1*3] = -(matint[0+0*3]*matint[1+2*3]-matint[0+2*3]*matint[1+0*3])/det;
+    mat3inout[2+2*3] =  (matint[0+0*3]*matint[1+1*3]-matint[0+1*3]*matint[1+0*3])/det;
+
+    mat3f_transpose(mat3inout);
+
+    return;
+}
+
+__host__ __device__ cuvect3f mat3f_mult(float *mat3in, const cuvect3f &cvin)
+{
+    int I,J;
+    cuvect3f ret;
+    for(I=0;I<3;I++)
+    {
+        ret[I] = 0.0f;
+        for(J=0;J<3;J++)
+        {
+            ret[I] = ret[I] + mat3in[I+3*J]*cvin[J];
+        }
+    }
+
+    return ret;
+}
+
+__host__ __device__ void mat3f_mult(float *matina, float *matinb, float *matout)
+{
+    float wrk[9];
+    int I,J,K;
+
+    for(I=0;I<3;I++)
+    {
+        for(J=0;J<3;J++)
+        {
+            wrk[I+3*J] = 0.0f;
+        }
+    }
+
+    for(I=0;I<3;I++)
+    {
+        for(J=0;J<3;J++)
+        {
+            for(K=0;K<3;K++)
+            {
+                wrk[I+3*K] = wrk[I+3*K] + matina[I+3*J]*matinb[J+3*K];
+            }
+        }
+    }
+
+    for(I=0;I<3;I++)
+    {
+        for(J=0;J<3;J++)
+        {
+            matout[I+3*J] = wrk[I+3*J];
+        }
+    }
+
+    return;
+}
+
+__host__ __device__ void mat3f_hodgedual(const cuvect3f &vecin, float *matout)
+{
+    matout[0 + 0*3] = 0.0f;
+    matout[1 + 0*3] = -vecin[2];
+    matout[2 + 0*3] = vecin[1];
+
+    matout[0 + 1*3] = vecin[2];
+    matout[1 + 1*3] = 0.0f;
+    matout[2 + 1*3] = -vecin[0];
+
+    matout[0 + 2*3] = -vecin[1];
+    matout[1 + 2*3] = vecin[0];
+    matout[2 + 2*3] = 0.0f;
+    return;
+}
+
+__host__ __device__ void mat3f_hodgedual(float *matin, cuvect3f &vecout)
+{
+    vecout[0] = 0.5*(matin[1 + 2*3] - matin[2 + 1*3]);
+    vecout[1] = 0.5*(matin[2 + 0*3] - matin[0 + 2*3]);
+    vecout[2] = 0.5*(matin[0 + 1*3] - matin[1 + 0*3]);
+    
+    return;
+}
+
+//returns direction cosine rotation matrix from axis and angle
+__host__ __device__ void mat3f_rot_from_axisangle(cuvect3f axis, float angle, float *matout)
+{
+    int I;
+    float H[9];
+    float Hsq[9];
+    float II[9];
+
+    for(I=0;I<9;I++) II[I] = 0.0f;
+    II[0+0*3] = 1.0;
+    II[1+1*3] = 1.0;
+    II[2+2*3] = 1.0;
+
+    axis = cuvect3f_normalize(axis);
+    
+    mat3f_hodgedual(axis,H);
+    mat3f_mult(H,H,Hsq);
+
+    for(I=0;I<9;I++)
+    {
+        matout[I] = (II[I] + Hsq[I]) + H[I]*sinf(angle) - Hsq[I]*cosf(angle);
+    }
+
+    return;
+}
+
+};

src/amsculib2/cuvect4f.cu

@@ -674,30 +674,30 @@ __host__ __device__ cumat4f& cumat4f::operator*=(const cumat4f &rhs)
 }
 
 
-__host__ __device__ float cuvect4f_dot(cuvect4f a, cuvect4f b)
+__host__ __device__ float cuvect4f_dot(cuvect4f &a, cuvect4f &b)
 {
-    float ret = 0.0;
+    float ret = 0.0f;
     ret = a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w;
     return ret;
 }
 
-__host__ __device__ float cuvect4f_norm(cuvect4f a)
+__host__ __device__ float cuvect4f_norm(cuvect4f &a)
 {
-    float ret = 0.0;
+    float ret = 0.0f;
     ret = ::sqrtf(cuvect4f_dot(a,a));
     return ret;
 }
 
-__host__ __device__ cuvect4f cuvect4f_normalize(cuvect4f a)
+__host__ __device__ cuvect4f cuvect4f_normalize(cuvect4f &a)
 {
     cuvect4f ret = cuvect4f(0.0f,0.0f,0.0f,0.0f);
     float nrm = cuvect4f_norm(a);
-    if(nrm>0.0)
+    if(nrm>0.0f)
         ret = a/nrm;
     return ret;
 }
 
-__host__ __device__ cuvect4f cuvect4f_proj(cuvect4f a, cuvect4f b)
+__host__ __device__ cuvect4f cuvect4f_proj(cuvect4f &a, cuvect4f &b)
 {
     cuvect4f ret;
     cuvect4f bn = cuvect4f_normalize(b);