bullet3

#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"

#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h"
#include "Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h"


extern int gArgc;
extern char** gArgv;

namespace
{
	struct CompileBullet3NarrowphaseKernels : 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;

		CompileBullet3NarrowphaseKernels()
			: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 ~CompileBullet3NarrowphaseKernels() 
		{
			// 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(CompileBullet3NarrowphaseKernels,satKernelsCL)
	{
		cl_int errNum=0;
		
		char flags[1024]={0};

		cl_program satProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,satKernelsCL,&errNum,flags,0,true);
		ASSERT_EQ(CL_SUCCESS,errNum);

		
		{
			cl_kernel m_findSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findSeparatingAxisKernel",&errNum,satProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_findSeparatingAxisKernel );
		}

		{
			cl_kernel m_findSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findSeparatingAxisVertexFaceKernel",&errNum,satProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_findSeparatingAxisVertexFaceKernel);
		}

		{
			cl_kernel m_findSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findSeparatingAxisEdgeEdgeKernel",&errNum,satProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_findSeparatingAxisEdgeEdgeKernel);
		}

		{
			cl_kernel m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findConcaveSeparatingAxisKernel",&errNum,satProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_findConcaveSeparatingAxisKernel );
		}
        
		    
		{	
			cl_kernel m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "findCompoundPairsKernel",&errNum,satProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_findCompoundPairsKernel);
		}

		{
			cl_kernel m_processCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satKernelsCL, "processCompoundPairsKernel",&errNum,satProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_processCompoundPairsKernel);
		}

		clReleaseProgram(satProg);

	}

	TEST_F(CompileBullet3NarrowphaseKernels,satConcaveKernelsCL)
	{
		cl_int errNum=0;
		
		char flags[1024]={0};

		cl_program satConcaveProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,satConcaveKernelsCL,&errNum,flags,0,true);
		ASSERT_EQ(CL_SUCCESS,errNum);

		{
			cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satConcaveKernelsCL, "findConcaveSeparatingAxisVertexFaceKernel",&errNum,satConcaveProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_findConcaveSeparatingAxisVertexFaceKernel);
		}
        
		{
			cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satConcaveKernelsCL, "findConcaveSeparatingAxisEdgeEdgeKernel",&errNum,satConcaveProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_findConcaveSeparatingAxisEdgeEdgeKernel);
		}
        
		clReleaseProgram(satConcaveProg);
	}


	TEST_F(CompileBullet3NarrowphaseKernels,satClipKernelsCL)
	{
		
		char flags[1024]={0};
		cl_int errNum=0;
//#ifdef CL_PLATFORM_INTEL
//		sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/satClipHullContacts.cl");
//#endif

		cl_program satClipContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,satClipKernelsCL,&errNum,flags,0,true);
		ASSERT_EQ(CL_SUCCESS,errNum);

		{
			cl_kernel m_clipHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipHullHullKernel",&errNum,satClipContactsProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_clipHullHullKernel);
		}

		{
			cl_kernel m_clipCompoundsHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipCompoundsHullHullKernel",&errNum,satClipContactsProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(m_clipCompoundsHullHullKernel);
		}
		
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "findClippingFacesKernel",&errNum,satClipContactsProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);
		}

		{
			cl_kernel k  = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipFacesAndFindContactsKernel",&errNum,satClipContactsProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}

		{
			cl_kernel k  = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL, "clipHullHullConcaveConvexKernel",&errNum,satClipContactsProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}


        {
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,satClipKernelsCL,
                            "newContactReductionKernel",&errNum,satClipContactsProg);
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}
	
		clReleaseProgram(satClipContactsProg);
	}


	TEST_F(CompileBullet3NarrowphaseKernels,bvhTraversalKernels)
	{

		
		cl_int errNum=0;
		cl_program bvhTraversalProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,bvhTraversalKernelCL,&errNum,"",0,true);
		ASSERT_EQ(CL_SUCCESS,errNum);

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,bvhTraversalKernelCL, "bvhTraversalKernel",&errNum,bvhTraversalProg,"");
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}
		clReleaseProgram(bvhTraversalProg);
	}

	TEST_F(CompileBullet3NarrowphaseKernels,primitiveContactsKernelsCL)
	{
		cl_int errNum=0;
		cl_program primitiveContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,primitiveContactsKernelsCL,&errNum,"",0,true);
		ASSERT_EQ(CL_SUCCESS,errNum);


		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,primitiveContactsKernelsCL, "primitiveContactsKernel",&errNum,primitiveContactsProg,"");
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,primitiveContactsKernelsCL, "findConcaveSphereContactsKernel",&errNum,primitiveContactsProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,primitiveContactsKernelsCL, "processCompoundPairsPrimitivesKernel",&errNum,primitiveContactsProg,"");
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k); 
		}
		 
		clReleaseProgram(primitiveContactsProg);
	}


	TEST_F(CompileBullet3NarrowphaseKernels,mprKernelsCL)
	{
		
		cl_int errNum=0;
		const char* srcConcave = satConcaveKernelsCL;
		char flags[1024]={0};
		cl_program mprProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,mprKernelsCL,&errNum,flags,0,true);
		ASSERT_EQ(CL_SUCCESS,errNum);
		
		{
			cl_kernel k  = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,mprKernelsCL, "mprPenetrationKernel",&errNum,mprProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}

		{
			cl_kernel k =  b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,mprKernelsCL, "findSeparatingAxisUnitSphereKernel",&errNum,mprProg );
			ASSERT_EQ(CL_SUCCESS,errNum);
			clReleaseKernel(k);     
		}
		

		clReleaseProgram(mprProg);
	}


};