add unit tests for OpenCL kernel compilation for all Bullet 3 kernels (using GoogleTest)
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erwincoumans
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#include <gtest/gtest.h>
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#include "Bullet3Common/b3Logging.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h"
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extern int gArgc;
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extern char** gArgv;
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namespace
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{
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struct CompileBullet3NarrowphaseKernels : public ::testing::Test
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{
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cl_context m_clContext;
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cl_device_id m_clDevice;
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cl_command_queue m_clQueue;
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char* m_clDeviceName;
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cl_platform_id m_platformId;
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CompileBullet3NarrowphaseKernels()
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:m_clDeviceName(0),
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m_clContext(0),
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m_clDevice(0),
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m_clQueue(0),
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m_platformId(0)
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{
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// You can do set-up work for each test here.
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b3CommandLineArgs args(gArgc,gArgv);
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int preferredDeviceIndex=-1;
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int preferredPlatformIndex = -1;
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bool allowCpuOpenCL = false;
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initCL(preferredDeviceIndex, preferredPlatformIndex, allowCpuOpenCL);
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}
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virtual ~CompileBullet3NarrowphaseKernels()
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{
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// You can do clean-up work that doesn't throw exceptions here.
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exitCL();
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}
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// If the constructor and destructor are not enough for setting up
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// and cleaning up each test, you can define the following methods:
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void initCL(int preferredDeviceIndex, int preferredPlatformIndex, bool allowCpuOpenCL)
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{
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void* glCtx=0;
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void* glDC = 0;
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int ciErrNum = 0;
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cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
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if (allowCpuOpenCL)
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deviceType = CL_DEVICE_TYPE_ALL;
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// if (useInterop)
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// {
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// m_data->m_clContext = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
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// } else
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{
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m_clContext = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, 0,0,preferredDeviceIndex, preferredPlatformIndex,&m_platformId);
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ASSERT_FALSE(m_clContext==0);
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}
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ASSERT_EQ(ciErrNum, CL_SUCCESS);
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int numDev = b3OpenCLUtils::getNumDevices(m_clContext);
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EXPECT_GT(numDev,0);
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if (numDev>0)
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{
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m_clDevice= b3OpenCLUtils::getDevice(m_clContext,0);
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ASSERT_FALSE(m_clDevice==0);
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m_clQueue = clCreateCommandQueue(m_clContext, m_clDevice, 0, &ciErrNum);
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ASSERT_FALSE(m_clQueue==0);
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ASSERT_EQ(ciErrNum, CL_SUCCESS);
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b3OpenCLDeviceInfo info;
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b3OpenCLUtils::getDeviceInfo(m_clDevice,&info);
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m_clDeviceName = info.m_deviceName;
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}
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}
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void exitCL()
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{
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clReleaseCommandQueue(m_clQueue);
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clReleaseContext(m_clContext);
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}
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virtual void SetUp()
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{
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// Code here will be called immediately after the constructor (right
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// before each test).
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}
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virtual void TearDown()
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{
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// Code here will be called immediately after each test (right
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// before the destructor).
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}
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};
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TEST_F(CompileBullet3NarrowphaseKernels,satKernelsCL)
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{
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cl_int errNum=0;
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char flags[1024]={0};
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cl_program satProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,satKernelsCL,&errNum,flags,0,true);
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ASSERT_EQ(errNum,CL_SUCCESS);
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{
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cl_kernel m_findSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findSeparatingAxisKernel",&errNum,satProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_findSeparatingAxisKernel );
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}
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{
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cl_kernel m_findSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findSeparatingAxisVertexFaceKernel",&errNum,satProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_findSeparatingAxisVertexFaceKernel);
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}
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{
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cl_kernel m_findSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findSeparatingAxisEdgeEdgeKernel",&errNum,satProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_findSeparatingAxisEdgeEdgeKernel);
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}
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{
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cl_kernel m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findConcaveSeparatingAxisKernel",&errNum,satProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_findConcaveSeparatingAxisKernel );
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}
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{
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cl_kernel m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findCompoundPairsKernel",&errNum,satProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_findCompoundPairsKernel);
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}
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{
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cl_kernel m_processCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "processCompoundPairsKernel",&errNum,satProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_processCompoundPairsKernel);
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}
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clReleaseProgram(satProg);
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}
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TEST_F(CompileBullet3NarrowphaseKernels,satConcaveKernelsCL)
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{
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cl_int errNum=0;
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char flags[1024]={0};
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cl_program satConcaveProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,satConcaveKernelsCL,&errNum,flags,0,true);
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ASSERT_EQ(errNum,CL_SUCCESS);
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{
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cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satConcaveKernelsCL, "findConcaveSeparatingAxisVertexFaceKernel",&errNum,satConcaveProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_findConcaveSeparatingAxisVertexFaceKernel);
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}
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{
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cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satConcaveKernelsCL, "findConcaveSeparatingAxisEdgeEdgeKernel",&errNum,satConcaveProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_findConcaveSeparatingAxisEdgeEdgeKernel);
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}
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clReleaseProgram(satConcaveProg);
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}
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TEST_F(CompileBullet3NarrowphaseKernels,satClipKernelsCL)
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{
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char flags[1024]={0};
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cl_int errNum=0;
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//#ifdef CL_PLATFORM_INTEL
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// sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/satClipHullContacts.cl");
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//#endif
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cl_program satClipContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,satClipKernelsCL,&errNum,flags,0,true);
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ASSERT_EQ(errNum,CL_SUCCESS);
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{
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cl_kernel m_clipHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipHullHullKernel",&errNum,satClipContactsProg);
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_clipHullHullKernel);
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}
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{
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cl_kernel m_clipCompoundsHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipCompoundsHullHullKernel",&errNum,satClipContactsProg);
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(m_clipCompoundsHullHullKernel);
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}
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "findClippingFacesKernel",&errNum,satClipContactsProg);
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipFacesAndFindContactsKernel",&errNum,satClipContactsProg);
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipHullHullConcaveConvexKernel",&errNum,satClipContactsProg);
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL,
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"newContactReductionKernel",&errNum,satClipContactsProg);
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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clReleaseProgram(satClipContactsProg);
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}
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TEST_F(CompileBullet3NarrowphaseKernels,bvhTraversalKernels)
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{
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cl_int errNum=0;
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cl_program bvhTraversalProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,bvhTraversalKernelCL,&errNum,"",0,true);
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ASSERT_EQ(errNum,CL_SUCCESS);
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,bvhTraversalKernelCL, "bvhTraversalKernel",&errNum,bvhTraversalProg,"");
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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clReleaseProgram(bvhTraversalProg);
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}
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TEST_F(CompileBullet3NarrowphaseKernels,primitiveContactsKernelsCL)
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{
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cl_int errNum=0;
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cl_program primitiveContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,primitiveContactsKernelsCL,&errNum,"",0,true);
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ASSERT_EQ(errNum,CL_SUCCESS);
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,primitiveContactsKernelsCL, "primitiveContactsKernel",&errNum,primitiveContactsProg,"");
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,primitiveContactsKernelsCL, "findConcaveSphereContactsKernel",&errNum,primitiveContactsProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,primitiveContactsKernelsCL, "processCompoundPairsPrimitivesKernel",&errNum,primitiveContactsProg,"");
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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clReleaseProgram(primitiveContactsProg);
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}
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TEST_F(CompileBullet3NarrowphaseKernels,mprKernelsCL)
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{
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cl_int errNum=0;
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const char* srcConcave = satConcaveKernelsCL;
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char flags[1024]={0};
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cl_program mprProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,mprKernelsCL,&errNum,flags,0,true);
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ASSERT_EQ(errNum,CL_SUCCESS);
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,mprKernelsCL, "mprPenetrationKernel",&errNum,mprProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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{
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cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,mprKernelsCL, "findSeparatingAxisUnitSphereKernel",&errNum,mprProg );
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ASSERT_EQ(errNum,CL_SUCCESS);
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clReleaseKernel(k);
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}
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clReleaseProgram(mprProg);
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}
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};
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