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#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h"
#include "Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h"
extern int gArgc;
extern char** gArgv;
namespace
{
struct CompileBullet3BroadphaseKernels : 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;
CompileBullet3BroadphaseKernels()
: 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 ~CompileBullet3BroadphaseKernels()
{
// 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(CompileBullet3BroadphaseKernels, sapKernels)
{
cl_int errNum = 0;
cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, sapCL, &errNum, "", 0, true);
{
ASSERT_EQ(CL_SUCCESS, errNum);
cl_kernel copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "copyAabbsKernel", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(copyAabbsKernel == 0);
clReleaseKernel(copyAabbsKernel);
}
{
cl_kernel sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "computePairsKernelTwoArrays", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(sap2Kernel == 0);
clReleaseKernel(sap2Kernel);
}
{
cl_kernel sapKernelBruteForce = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "computePairsKernelBruteForce", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(sapKernelBruteForce == 0);
clReleaseKernel(sapKernelBruteForce);
}
{
cl_kernel sapKernelOriginal = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "computePairsKernelOriginal", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(sapKernelOriginal == 0);
clReleaseKernel(sapKernelOriginal);
}
{
cl_kernel sapKernelBarrier = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "computePairsKernelBarrier", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(sapKernelBarrier == 0);
clReleaseKernel(sapKernelBarrier);
}
{
cl_kernel sapKernelLocalShared = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "computePairsKernelLocalSharedMemory", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(sapKernelLocalShared == 0);
clReleaseKernel(sapKernelLocalShared);
}
{
cl_kernel prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "prepareSumVarianceKernel", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(prepareSumVarianceKernel == 0);
clReleaseKernel(prepareSumVarianceKernel);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "flipFloatKernel", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, sapCL, "scatterKernel", &errNum, sapProg);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
clReleaseProgram(sapProg);
};
TEST_F(CompileBullet3BroadphaseKernels, gridBroadphaseKernels)
{
cl_int errNum = 0;
cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, gridBroadphaseCL, &errNum, "", 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, gridBroadphaseCL, "kCalcHashAABB", &errNum, gridProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, gridBroadphaseCL, "kClearCellStart", &errNum, gridProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, gridBroadphaseCL, "kFindCellStart", &errNum, gridProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, gridBroadphaseCL, "kFindOverlappingPairs", &errNum, gridProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
clReleaseProgram(gridProg);
}
}; // namespace
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