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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/solverSetup.h"
#include "Bullet3OpenCL/RigidBody/kernels/solverSetup2.h"
#include "Bullet3OpenCL/RigidBody/kernels/solveContact.h"
#include "Bullet3OpenCL/RigidBody/kernels/solveFriction.h"
#include "Bullet3OpenCL/RigidBody/kernels/batchingKernels.h"
#include "Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h"
extern int gArgc;
extern char** gArgv;
namespace
{
struct CompileBullet3PgsContactSolverKernels : 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;
CompileBullet3PgsContactSolverKernels()
: 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 ~CompileBullet3PgsContactSolverKernels()
{
// 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(CompileBullet3PgsContactSolverKernels, solveFrictionCL)
{
const char* additionalMacros = "";
cl_int errNum = 0;
cl_program solveFrictionProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solveFrictionCL, &errNum, additionalMacros, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveFrictionCL, "BatchSolveKernelFriction", &errNum, solveFrictionProg, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveFrictionCL, "solveSingleFrictionKernel", &errNum, solveFrictionProg, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
clReleaseProgram(solveFrictionProg);
}
TEST_F(CompileBullet3PgsContactSolverKernels, solverSetupCL)
{
const char* additionalMacros = "";
cl_int errNum = 0;
cl_program solverSetupProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solverSetupCL, &errNum, additionalMacros, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetupCL, "ContactToConstraintKernel", &errNum, solverSetupProg, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
clReleaseProgram(solverSetupProg);
}
TEST_F(CompileBullet3PgsContactSolverKernels, solverSetup2CL)
{
const char* additionalMacros = "";
cl_int errNum = 0;
cl_program solverSetup2Prog = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solverSetup2CL, &errNum, additionalMacros, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetSortDataKernel", &errNum, solverSetup2Prog, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataBodyA", &errNum, solverSetup2Prog, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataBodyB", &errNum, solverSetup2Prog, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataChildShapeA", &errNum, solverSetup2Prog, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataChildShapeB", &errNum, solverSetup2Prog, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "ReorderContactKernel", &errNum, solverSetup2Prog, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "CopyConstraintKernel", &errNum, solverSetup2Prog, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
clReleaseProgram(solverSetup2Prog);
}
TEST_F(CompileBullet3PgsContactSolverKernels, solveContactCL)
{
const char* additionalMacros = "";
cl_int errNum = 0;
cl_program solveContactProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solveContactCL, &errNum, additionalMacros, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveContactCL, "BatchSolveKernelContact", &errNum, solveContactProg, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveContactCL, "solveSingleContactKernel", &errNum, solveContactProg, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
clReleaseProgram(solveContactProg);
}
TEST_F(CompileBullet3PgsContactSolverKernels, batchingKernelsCL)
{
const char* additionalMacros = "";
cl_int errNum = 0;
cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, batchingKernelsCL, &errNum, additionalMacros, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, batchingKernelsCL, "CreateBatches", &errNum, batchingProg, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
clReleaseProgram(batchingProg);
}
TEST_F(CompileBullet3PgsContactSolverKernels, batchingKernelsNewCL)
{
const char* additionalMacros = "";
cl_int errNum = 0;
cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, batchingKernelsNewCL, &errNum, additionalMacros, 0, true);
ASSERT_EQ(CL_SUCCESS, errNum);
{
cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, batchingKernelsNewCL, "CreateBatchesNew", &errNum, batchingNewProg, additionalMacros);
ASSERT_EQ(CL_SUCCESS, errNum);
ASSERT_FALSE(k == 0);
clReleaseKernel(k);
}
clReleaseProgram(batchingNewProg);
}
}; // namespace
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