change lcpp Lua preprocessor, to keep #defines and comments, remove empty lines
remove duplicate data in b3Contact4 (now in btContact4Data shared between CPU/C++ and OpenCL) OpenCL kernels use #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" Increase number of batches back to 250 (from 50), need to fix this hard coded number (see https://github.com/erwincoumans/bullet3/issues/12) Work towards GJK/EPA, in addition to SAT/clipping (early on)
This commit is contained in:
erwincoumans
221
test/OpenCL/KernelLaunch/main.cpp
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221
test/OpenCL/KernelLaunch/main.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///original author: Erwin Coumans
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include <stdio.h>
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#include <string.h>
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#include "Bullet3Common/b3Vector3.h"
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typedef b3Vector3 b3Float4;
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typedef struct b3Contact4Data b3Contact4Data_t;
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struct b3Contact4Data
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{
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b3Float4 m_worldPos[4];
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b3Float4 m_localPosA[4];
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b3Float4 m_localPosB[4];
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b3Float4 m_worldNormal; // w: m_nPoints
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unsigned short m_restituitionCoeffCmp;
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unsigned short m_frictionCoeffCmp;
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int m_batchIdx;
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int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr
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int m_bodyBPtrAndSignBit;
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int m_childIndexA;
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int m_childIndexB;
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int m_unused1;
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int m_unused2;
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};
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#define MSTRINGIFY(A) #A
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static const char* s_testKernelString= MSTRINGIFY(
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struct MyTest
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{
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int bla;
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};
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typedef float4 b3Float4;
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typedef struct b3Contact4Data b3Contact4Data_t;
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struct b3Contact4Data
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{
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b3Float4 m_worldPos[4];
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b3Float4 m_localPosA[4];
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b3Float4 m_localPosB[4];
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b3Float4 m_worldNormal; // w: m_nPoints
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unsigned short m_restituitionCoeffCmp;
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unsigned short m_frictionCoeffCmp;
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int m_batchIdx;
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int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr
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int m_bodyBPtrAndSignBit;
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int m_childIndexA;
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int m_childIndexB;
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int m_unused1;
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int m_unused2;
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};
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inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)
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{
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return (int)contact->m_worldNormal.w;
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};
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inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)
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{
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contact->m_worldNormal.w = (float)numPoints;
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};
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typedef volatile __global int* my_counter32_t;
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__kernel void testKernel( __global int* testData, __global b3Contact4Data_t* contactData, my_counter32_t numElements)
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{
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int id = get_local_id(0);
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int sz = sizeof(b3Contact4Data_t);
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testData[id]=sz;
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__private b3Contact4Data_t tmp;
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if (id==0)
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{
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tmp = contactData[1];
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contactData[1] = contactData[0];
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contactData[0] = tmp;
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}
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}
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);
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#include "Bullet3Common/b3Logging.h"
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void myprintf(const char* msg)
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{
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//OutputDebugStringA(msg);
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printf(msg);
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}
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int main(int argc, char* argv[])
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{
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b3SetCustomPrintfFunc(myprintf);
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//b3SetCustomWarningMessageFunc(myprintf);
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//b3SetCustomErrorMessageFunc(myprintf);
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b3Printf("test b3Printf\n");
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b3Warning("test warning\n");
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b3Error("test error\n");
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int ciErrNum = 0;
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cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
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const char* vendorSDK = b3OpenCLUtils::getSdkVendorName();
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b3Printf("This program was compiled using the %s OpenCL SDK\n",vendorSDK);
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int numPlatforms = b3OpenCLUtils::getNumPlatforms();
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b3Printf("Num Platforms = %d\n", numPlatforms);
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for (int i=0;i<numPlatforms;i++)
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{
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cl_platform_id platform = b3OpenCLUtils::getPlatform(i);
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b3OpenCLPlatformInfo platformInfo;
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b3OpenCLUtils::getPlatformInfo(platform,&platformInfo);
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b3Printf("--------------------------------\n");
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b3Printf("Platform info for platform nr %d:\n",i);
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b3Printf(" CL_PLATFORM_VENDOR: \t\t\t%s\n",platformInfo.m_platformVendor);
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b3Printf(" CL_PLATFORM_NAME: \t\t\t%s\n",platformInfo.m_platformName);
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b3Printf(" CL_PLATFORM_VERSION: \t\t\t%s\n",platformInfo.m_platformVersion);
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cl_context context = b3OpenCLUtils::createContextFromPlatform(platform,deviceType,&ciErrNum);
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if (context)
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{
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int numDevices = b3OpenCLUtils::getNumDevices(context);
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b3Printf("Num Devices = %d\n", numDevices);
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for (int j=0;j<numDevices;j++)
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{
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cl_device_id dev = b3OpenCLUtils::getDevice(context,j);
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b3OpenCLDeviceInfo devInfo;
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b3OpenCLUtils::getDeviceInfo(dev,&devInfo);
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b3OpenCLUtils::printDeviceInfo(dev);
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int errNum;
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cl_command_queue queue = clCreateCommandQueue(context, dev, 0, &errNum);
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cl_program pairBenchProg=0;
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cl_kernel testKernel = b3OpenCLUtils::compileCLKernelFromString(context,dev,s_testKernelString,"testKernel",&errNum,pairBenchProg);
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if (testKernel)
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{
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printf("kernel compiled ok\n");
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int numWorkItems = 64;
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b3OpenCLArray<int> deviceElements(context,queue);
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b3OpenCLArray<int> atomicCounter(context,queue);
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b3OpenCLArray<b3Contact4Data> deviceContacts(context,queue);
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b3AlignedObjectArray<b3Contact4Data> hostContacts;
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b3Contact4Data tmp;
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int sz = sizeof(b3Contact4Data);
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memset(&tmp,1,sz);
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deviceContacts.push_back(tmp);
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b3Contact4Data tmp2 = tmp;
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memset(&tmp,2,sz);
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deviceContacts.push_back(tmp);
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b3Contact4Data tmp3 = tmp;
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atomicCounter.push_back(0);
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deviceElements.resize(numWorkItems);
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b3LauncherCL run(queue,testKernel);
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run.setBuffer(deviceElements.getBufferCL());
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run.setBuffer(deviceContacts.getBufferCL());
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run.setBuffer(atomicCounter.getBufferCL());
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run.launch1D(numWorkItems);
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b3AlignedObjectArray<int> hostElements;
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deviceElements.copyToHost(hostElements);
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deviceContacts.copyToHost(hostContacts);
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tmp2 = hostContacts[0];
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tmp3 = hostContacts[1];
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printf("...\n");
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} else
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{
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printf("kernel failed to compile\n");
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}
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}
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}
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clReleaseContext(context);
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}
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b3Printf("\npress <Enter>\n");
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getchar();
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return 0;
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}
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33
test/OpenCL/KernelLaunch/premake4.lua
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33
test/OpenCL/KernelLaunch/premake4.lua
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@@ -0,0 +1,33 @@
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function createProject(vendor)
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hasCL = findOpenCL(vendor)
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if (hasCL) then
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project ("Test_OpenCL_kernel_launch_" .. vendor)
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initOpenCL(vendor)
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language "C++"
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kind "ConsoleApp"
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targetdir "../../../bin"
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includedirs {"../../../src"}
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files {
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"main.cpp",
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"../../../src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp",
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"../../../src/Bullet3Common/b3AlignedAllocator.cpp",
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"../../../src/Bullet3OpenCL/Initialize/b3OpenCLUtils.h",
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"../../../src/Bullet3Common/b3Logging.cpp",
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}
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end
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end
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createProject("clew")
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createProject("Apple")
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createProject("AMD")
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createProject("Intel")
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createProject("NVIDIA")
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