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#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/RigidBody/kernels/jointSolver.h"
extern int gArgc;
extern char** gArgv;
namespace
{
struct testCompileBullet3PgsJointSolverKernels : public ::testing::Test
{
cl_context m_clContext;
cl_device_id m_clDevice;
cl_command_queue m_clQueue;
char* m_clDeviceName;
cl_platform_id m_platformId;
testCompileBullet3PgsJointSolverKernels()
:m_clDeviceName(0),
m_clContext(0),
m_clDevice(0),
m_clQueue(0),
m_platformId(0)
{
// You can do set-up work for each test here.
b3CommandLineArgs args(gArgc,gArgv);
int preferredDeviceIndex=-1;
int preferredPlatformIndex = -1;
bool allowCpuOpenCL = false;
initCL();
}
virtual ~testCompileBullet3PgsJointSolverKernels()
{
// You can do clean-up work that doesn't throw exceptions here.
exitCL();
}
// If the constructor and destructor are not enough for setting up
// and cleaning up each test, you can define the following methods:
#include "initCL.h"
virtual void SetUp()
{
// Code here will be called immediately after the constructor (right
// before each test).
}
virtual void TearDown()
{
// Code here will be called immediately after each test (right
// before the destructor).
}
};
TEST_F(testCompileBullet3PgsJointSolverKernels,solveConstraintRowsCL)
{
cl_int errNum=0;
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,solveConstraintRowsCL,&errNum,"",0,true);
ASSERT_EQ(CL_SUCCESS,errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,solveConstraintRowsCL, "solveJointConstraintRows",&errNum,prog);
ASSERT_EQ(CL_SUCCESS,errNum);
ASSERT_FALSE(k==0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"initSolverBodies",&errNum,prog);
ASSERT_EQ(CL_SUCCESS,errNum);
ASSERT_FALSE(k==0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"getInfo1Kernel",&errNum,prog);
ASSERT_EQ(CL_SUCCESS,errNum);
ASSERT_FALSE(k==0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"initBatchConstraintsKernel",&errNum,prog);
ASSERT_EQ(CL_SUCCESS,errNum);
ASSERT_FALSE(k==0);
clReleaseKernel(k);
}
{
cl_kernel k= b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"getInfo2Kernel",&errNum,prog);
ASSERT_EQ(CL_SUCCESS,errNum);
ASSERT_FALSE(k==0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"writeBackVelocitiesKernel",&errNum,prog);
ASSERT_EQ(CL_SUCCESS,errNum);
ASSERT_FALSE(k==0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"breakViolatedConstraintsKernel",&errNum,prog);
ASSERT_EQ(CL_SUCCESS,errNum);
ASSERT_FALSE(k==0);
clReleaseKernel(k);
}
clReleaseProgram(prog);
}
};
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