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move OpenCL initialization for the unit tests in a shared header file, and support some basic command-line arguments

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--cl_device=1 --cl_platform=1 --allow_opencl_cpu
add chaindemo, test for mass ratios
restore sleeping/activation mode in featherstone demo
Use _VARIADIC_MAX=10 to avoid Google Test issues with Visual Studio 2012, thanks to Mobeen for the report
Enable verbose printf for unit tests
This commit is contained in:
erwincoumans
2014-02-11 10:33:00 -08:00
parent bd5c2ff5ec
commit 122ceacb6d
26 changed files with 389 additions and 1388 deletions
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37
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@@ -9,11 +9,11 @@ bool searchIncremental3dSapOnGpu = true;
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "kernels/sapKernels.h"
#include "kernels/sapFastKernels.h"
#include "Bullet3Common/b3MinMax.h"
#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
#define B3_BROADPHASE_SAPFAST_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl"
b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q , b3GpuSapKernelType kernelType)
:m_context(ctx),
@@ -48,7 +48,7 @@ m_addedCountGPU(ctx,q),
m_removedCountGPU(ctx,q)
{
const char* sapSrc = sapCL;
const char* sapFastSrc = sapFastCL;
cl_int errNum=0;
@@ -56,8 +56,8 @@ m_removedCountGPU(ctx,q)
b3Assert(m_device);
cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
b3Assert(errNum==CL_SUCCESS);
cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapFastSrc,&errNum,"",B3_BROADPHASE_SAPFAST_PATH);
//cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"",B3_BROADPHASE_SAPFAST_PATH,true);
b3Assert(errNum==CL_SUCCESS);
#ifndef __APPLE__
m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context,m_device,m_queue);
@@ -95,11 +95,6 @@ m_removedCountGPU(ctx,q)
break;
}
case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY_BATCH_WRITE:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapFastSrc, "computePairsKernelLocalSharedMemoryBatchWrite",&errNum,sapFastProg );
break;
}
default:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
@@ -115,24 +110,7 @@ m_removedCountGPU(ctx,q)
m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "prepareSumVarianceKernel",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
m_computePairsIncremental3dSapKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapFastSrc, "computePairsIncremental3dSapKernel",&errNum,sapFastProg );
b3Assert(errNum==CL_SUCCESS);
/*
#if 0
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
#else
#ifndef __APPLE__
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapFastSrc, "computePairsKernelLocalSharedMemoryBatchWrite",&errNum,sapFastProg );
b3Assert(errNum==CL_SUCCESS);
#else
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
#endif
#endif
*/
m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "flipFloatKernel",&errNum,sapProg );
m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg );
@@ -153,7 +131,7 @@ b3GpuSapBroadphase::~b3GpuSapBroadphase()
clReleaseKernel(m_sapKernel);
clReleaseKernel(m_sap2Kernel);
clReleaseKernel(m_prepareSumVarianceKernel);
clReleaseKernel(m_computePairsIncremental3dSapKernel);
}
@@ -469,7 +447,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
int c = m_objectMinMaxIndexCPU[2][m_currentBuffer].size();
b3Assert(a==b);
b3Assert(b==c);
/*
if (searchIncremental3dSapOnGpu)
{
B3_PROFILE("computePairsIncremental3dSapKernelGPU");
@@ -547,6 +525,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
}
else
*/
{
int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();