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#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h"
extern int gArgc;
extern char** gArgv;
namespace
{
struct CompileBullet3NarrowphaseKernels : 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;
CompileBullet3NarrowphaseKernels()
: 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 ~CompileBullet3NarrowphaseKernels()
{
// 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(CompileBullet3NarrowphaseKernels, satKernelsCL)
{
cl_int errNum = 0;
char flags[1024] = {0};
cl_program satProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, satKernelsCL, &errNum, flags, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel m_findSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satKernelsCL, "findSeparatingAxisKernel", &errNum, satProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_findSeparatingAxisKernel);
}
{
cl_kernel m_findSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satKernelsCL, "findSeparatingAxisVertexFaceKernel", &errNum, satProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_findSeparatingAxisVertexFaceKernel);
}
{
cl_kernel m_findSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satKernelsCL, "findSeparatingAxisEdgeEdgeKernel", &errNum, satProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_findSeparatingAxisEdgeEdgeKernel);
}
{
cl_kernel m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satKernelsCL, "findConcaveSeparatingAxisKernel", &errNum, satProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_findConcaveSeparatingAxisKernel);
}
{
cl_kernel m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satKernelsCL, "findCompoundPairsKernel", &errNum, satProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_findCompoundPairsKernel);
}
{
cl_kernel m_processCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satKernelsCL, "processCompoundPairsKernel", &errNum, satProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_processCompoundPairsKernel);
}
clReleaseProgram(satProg);
}
TEST_F(CompileBullet3NarrowphaseKernels, satConcaveKernelsCL)
{
cl_int errNum = 0;
char flags[1024] = {0};
cl_program satConcaveProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, satConcaveKernelsCL, &errNum, flags, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satConcaveKernelsCL, "findConcaveSeparatingAxisVertexFaceKernel", &errNum, satConcaveProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_findConcaveSeparatingAxisVertexFaceKernel);
}
{
cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satConcaveKernelsCL, "findConcaveSeparatingAxisEdgeEdgeKernel", &errNum, satConcaveProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_findConcaveSeparatingAxisEdgeEdgeKernel);
}
clReleaseProgram(satConcaveProg);
}
TEST_F(CompileBullet3NarrowphaseKernels, satClipKernelsCL)
{
char flags[1024] = {0};
cl_int errNum = 0;
//#ifdef CL_PLATFORM_INTEL
// sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/satClipHullContacts.cl");
//#endif
cl_program satClipContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, satClipKernelsCL, &errNum, flags, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel m_clipHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satClipKernelsCL, "clipHullHullKernel", &errNum, satClipContactsProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_clipHullHullKernel);
}
{
cl_kernel m_clipCompoundsHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satClipKernelsCL, "clipCompoundsHullHullKernel", &errNum, satClipContactsProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(m_clipCompoundsHullHullKernel);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satClipKernelsCL, "findClippingFacesKernel", &errNum, satClipContactsProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satClipKernelsCL, "clipFacesAndFindContactsKernel", &errNum, satClipContactsProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satClipKernelsCL, "clipHullHullConcaveConvexKernel", &errNum, satClipContactsProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, satClipKernelsCL,
"newContactReductionKernel", &errNum, satClipContactsProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
clReleaseProgram(satClipContactsProg);
}
TEST_F(CompileBullet3NarrowphaseKernels, bvhTraversalKernels)
{
cl_int errNum = 0;
cl_program bvhTraversalProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, bvhTraversalKernelCL, &errNum, "", 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, bvhTraversalKernelCL, "bvhTraversalKernel", &errNum, bvhTraversalProg, "");
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
clReleaseProgram(bvhTraversalProg);
}
TEST_F(CompileBullet3NarrowphaseKernels, primitiveContactsKernelsCL)
{
cl_int errNum = 0;
cl_program primitiveContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, primitiveContactsKernelsCL, &errNum, "", 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, primitiveContactsKernelsCL, "primitiveContactsKernel", &errNum, primitiveContactsProg, "");
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, primitiveContactsKernelsCL, "findConcaveSphereContactsKernel", &errNum, primitiveContactsProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, primitiveContactsKernelsCL, "processCompoundPairsPrimitivesKernel", &errNum, primitiveContactsProg, "");
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
clReleaseProgram(primitiveContactsProg);
}
TEST_F(CompileBullet3NarrowphaseKernels, mprKernelsCL)
{
cl_int errNum = 0;
const char* srcConcave = satConcaveKernelsCL;
char flags[1024] = {0};
cl_program mprProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, mprKernelsCL, &errNum, flags, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, mprKernelsCL, "mprPenetrationKernel", &errNum, mprProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, mprKernelsCL, "findSeparatingAxisUnitSphereKernel", &errNum, mprProg);
ASSERT_EQ(CL_SUCCESS, errNum);
clReleaseKernel(k);
}
clReleaseProgram(mprProg);
}
}; // namespace
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