bullet3

#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h"
#include "Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h"

extern int gArgc;
extern char** gArgv;

namespace
{
	struct CompileBullet3BroadphaseKernels : 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;

		CompileBullet3BroadphaseKernels()
			: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 ~CompileBullet3BroadphaseKernels() 
		{
			// 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(CompileBullet3BroadphaseKernels,sapKernels)
	{
		cl_int errNum=0;
		cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,sapCL,&errNum,"",0,true);
		{
			ASSERT_EQ(CL_SUCCESS,errNum );
			cl_kernel copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "copyAabbsKernel",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(copyAabbsKernel==0);
			clReleaseKernel(copyAabbsKernel);
		}
		{
			cl_kernel sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "computePairsKernelTwoArrays",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(sap2Kernel==0);
			clReleaseKernel(sap2Kernel);
		}
		{
			cl_kernel sapKernelBruteForce = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "computePairsKernelBruteForce",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(sapKernelBruteForce==0);
			clReleaseKernel(sapKernelBruteForce);
		}
		{
			cl_kernel sapKernelOriginal = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "computePairsKernelOriginal",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(sapKernelOriginal==0);
			clReleaseKernel(sapKernelOriginal);
		}

		{
			cl_kernel sapKernelBarrier = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "computePairsKernelBarrier",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(sapKernelBarrier==0);
			clReleaseKernel(sapKernelBarrier);
			}
		{
			cl_kernel sapKernelLocalShared = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(sapKernelLocalShared==0);
			clReleaseKernel(sapKernelLocalShared);
			}
		{
			cl_kernel prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "prepareSumVarianceKernel",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(prepareSumVarianceKernel==0);
			clReleaseKernel(prepareSumVarianceKernel);
		}
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "flipFloatKernel",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,sapCL, "scatterKernel",&errNum,sapProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		
		clReleaseProgram(sapProg);

	};
	
		
	
	TEST_F(CompileBullet3BroadphaseKernels,gridBroadphaseKernels)
	{
		cl_int errNum=0;
		cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,gridBroadphaseCL,&errNum,"",0,true);
		ASSERT_EQ(CL_SUCCESS,errNum);

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,gridBroadphaseCL, "kCalcHashAABB",&errNum,gridProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);
		}
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,gridBroadphaseCL, "kClearCellStart",&errNum,gridProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);
		}

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,gridBroadphaseCL, "kFindCellStart",&errNum,gridProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);
		}

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,gridBroadphaseCL, "kFindOverlappingPairs",&errNum,gridProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);
		}

		clReleaseProgram(gridProg);
	}
};