ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
433 lines
12 KiB
C++
433 lines
12 KiB
C++
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#include <gtest/gtest.h>
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#include "Bullet3Common/b3Logging.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3Common/b3CommandLineArgs.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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#ifdef B3_USE_ZLIB
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#include "minizip/unzip.h"
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#endif
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.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 ExecuteBullet3NarrowphaseKernels : 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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ExecuteBullet3NarrowphaseKernels()
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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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initCL();
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}
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virtual ~ExecuteBullet3NarrowphaseKernels()
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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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#include "initCL.h"
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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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#if 0
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TEST_F(ExecuteBullet3NarrowphaseKernels,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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(ExecuteBullet3NarrowphaseKernels,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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(ExecuteBullet3NarrowphaseKernels,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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(ExecuteBullet3NarrowphaseKernels,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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(ExecuteBullet3NarrowphaseKernels,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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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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(CL_SUCCESS,errNum);
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clReleaseKernel(k);
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}
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clReleaseProgram(primitiveContactsProg);
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}
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#endif
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unsigned char* openFile(const char* fileName, int* sizeInBytesPtr)
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{
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*sizeInBytesPtr = 0;
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unsigned char* buffer = 0;
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const char* prefix[] = {"./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
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int numPrefixes = sizeof(prefix) / sizeof(const char*);
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char relativeFileName[1024];
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#ifdef B3_USE_ZLIB
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{
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FILE* f = 0;
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int result = 0;
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for (int i = 0; !f && i < numPrefixes; i++)
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{
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sprintf(relativeFileName, "%s%s", prefix[i], "unittest_data.zip");
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f = fopen(relativeFileName, "rb");
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}
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if (f)
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{
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fclose(f);
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unzFile zipfile = unzOpen(relativeFileName);
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if (zipfile == NULL)
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{
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printf("%s: not found\n", relativeFileName);
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}
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// Get info about the zip file
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unz_global_info global_info;
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result = unzGetGlobalInfo(zipfile, &global_info);
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if (result != UNZ_OK)
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{
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b3Printf("could not read file global info\n");
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unzClose(zipfile);
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}
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else
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{
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result = unzLocateFile(zipfile, fileName, 0);
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if (result == UNZ_OK)
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{
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unz_file_info info;
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result = unzGetCurrentFileInfo(zipfile, &info, NULL, 0, NULL, 0, NULL, 0);
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if (result != UNZ_OK)
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{
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b3Printf("unzGetCurrentFileInfo() != UNZ_OK (%d)\n", result);
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}
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else
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{
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result = unzOpenCurrentFile(zipfile);
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if (result == UNZ_OK)
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{
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buffer = (unsigned char*)malloc(info.uncompressed_size);
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result = unzReadCurrentFile(zipfile, buffer, info.uncompressed_size);
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if (result < 0)
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{
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free(buffer);
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buffer = 0;
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}
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else
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{
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*sizeInBytesPtr = info.uncompressed_size;
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}
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unzCloseCurrentFile(zipfile);
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}
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else
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{
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b3Printf("cannot open file %s!\n", fileName);
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}
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}
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}
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else
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{
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b3Printf("cannot find file %s\n", fileName);
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}
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unzClose(zipfile);
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}
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}
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}
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#endif //B3_USE_ZLIB
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if (!buffer)
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{
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FILE* f = 0;
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int result = 0;
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for (int i = 0; !f && i < numPrefixes; i++)
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{
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sprintf(relativeFileName, "%s%s", prefix[i], fileName);
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f = fopen(relativeFileName, "rb");
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}
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//first try from data.zip, otherwise directly load the file from disk
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if (f)
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{
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int sizeInBytes = 0;
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if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
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{
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b3Printf("error, cannot get file size\n");
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}
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buffer = (unsigned char*)malloc(sizeInBytes);
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int actualRead = fread(buffer, sizeInBytes, 1, f);
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if (actualRead != 1)
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{
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free(buffer);
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buffer = 0;
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}
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else
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{
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*sizeInBytesPtr = sizeInBytes;
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}
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fclose(f);
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}
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}
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return buffer;
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}
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void testLauncher(const char* fileName2, b3LauncherCL& launcher, cl_context ctx)
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{
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int sizeInBytes = 0;
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unsigned char* buf = openFile(fileName2, &sizeInBytes);
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ASSERT_FALSE(buf == NULL);
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if (buf)
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{
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int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, ctx);
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int num = *(int*)&buf[serializedBytes];
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launcher.launch1D(num);
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free(buf);
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//this clFinish is for testing on errors
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}
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}
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TEST_F(ExecuteBullet3NarrowphaseKernels, 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(CL_SUCCESS, errNum);
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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(CL_SUCCESS, errNum);
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if (1)
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{
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const char* fileNames[] = {"mprPenetrationKernel60.bin", "mprPenetrationKernel61.bin", "mprPenetrationKernel70.bin", "mprPenetrationKernel128.bin"};
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int results[] = {0, 1, 46, 98};
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int numTests = sizeof(fileNames) / sizeof(const char*);
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for (int i = 0; i < numTests; i++)
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{
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b3LauncherCL launcher(m_clQueue, k, fileNames[i]);
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testLauncher(fileNames[i], launcher, m_clContext);
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clFinish(m_clQueue);
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ASSERT_EQ(launcher.getNumArguments(), 11);
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b3KernelArgData data = launcher.getArgument(8);
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ASSERT_TRUE(data.m_isBuffer);
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b3OpenCLArray<int> totalContactsOut(this->m_clContext, this->m_clQueue);
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totalContactsOut.setFromOpenCLBuffer(data.m_clBuffer, 1);
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int numContacts = totalContactsOut.at(0);
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ASSERT_EQ(results[i], numContacts);
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}
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//printf("numContacts = %d\n",numContacts);
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//nContacts = m_totalContactsOut.at(0);
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}
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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(CL_SUCCESS, errNum);
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clReleaseKernel(k);
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}
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clReleaseProgram(mprProg);
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}
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}; // namespace
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