bullet3

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

#include "Bullet3OpenCL/RigidBody/kernels/solverSetup.h"
#include "Bullet3OpenCL/RigidBody/kernels/solverSetup2.h"
#include "Bullet3OpenCL/RigidBody/kernels/solveContact.h"
#include "Bullet3OpenCL/RigidBody/kernels/solveFriction.h"
#include "Bullet3OpenCL/RigidBody/kernels/batchingKernels.h"
#include "Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h"

extern int gArgc;
extern char** gArgv;

namespace
{
struct CompileBullet3PgsContactSolverKernels : 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;

	CompileBullet3PgsContactSolverKernels()
		: 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 ~CompileBullet3PgsContactSolverKernels()
	{
		// 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(CompileBullet3PgsContactSolverKernels, solveFrictionCL)
{
	const char* additionalMacros = "";
	cl_int errNum = 0;
	cl_program solveFrictionProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solveFrictionCL, &errNum, additionalMacros, 0, true);
	ASSERT_EQ(CL_SUCCESS, errNum);

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveFrictionCL, "BatchSolveKernelFriction", &errNum, solveFrictionProg, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveFrictionCL, "solveSingleFrictionKernel", &errNum, solveFrictionProg, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}
	clReleaseProgram(solveFrictionProg);
}

TEST_F(CompileBullet3PgsContactSolverKernels, solverSetupCL)
{
	const char* additionalMacros = "";
	cl_int errNum = 0;
	cl_program solverSetupProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solverSetupCL, &errNum, additionalMacros, 0, true);
	ASSERT_EQ(CL_SUCCESS, errNum);

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetupCL, "ContactToConstraintKernel", &errNum, solverSetupProg, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	clReleaseProgram(solverSetupProg);
}

TEST_F(CompileBullet3PgsContactSolverKernels, solverSetup2CL)
{
	const char* additionalMacros = "";
	cl_int errNum = 0;

	cl_program solverSetup2Prog = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solverSetup2CL, &errNum, additionalMacros, 0, true);
	ASSERT_EQ(CL_SUCCESS, errNum);

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetSortDataKernel", &errNum, solverSetup2Prog, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataBodyA", &errNum, solverSetup2Prog, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataBodyB", &errNum, solverSetup2Prog, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataChildShapeA", &errNum, solverSetup2Prog, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "SetDeterminismSortDataChildShapeB", &errNum, solverSetup2Prog, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "ReorderContactKernel", &errNum, solverSetup2Prog, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solverSetup2CL, "CopyConstraintKernel", &errNum, solverSetup2Prog, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	clReleaseProgram(solverSetup2Prog);
}

TEST_F(CompileBullet3PgsContactSolverKernels, solveContactCL)
{
	const char* additionalMacros = "";
	cl_int errNum = 0;

	cl_program solveContactProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, solveContactCL, &errNum, additionalMacros, 0, true);
	ASSERT_EQ(CL_SUCCESS, errNum);

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveContactCL, "BatchSolveKernelContact", &errNum, solveContactProg, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, solveContactCL, "solveSingleContactKernel", &errNum, solveContactProg, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	clReleaseProgram(solveContactProg);
}

TEST_F(CompileBullet3PgsContactSolverKernels, batchingKernelsCL)
{
	const char* additionalMacros = "";
	cl_int errNum = 0;

	cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, batchingKernelsCL, &errNum, additionalMacros, 0, true);
	ASSERT_EQ(CL_SUCCESS, errNum);

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, batchingKernelsCL, "CreateBatches", &errNum, batchingProg, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}

	clReleaseProgram(batchingProg);
}

TEST_F(CompileBullet3PgsContactSolverKernels, batchingKernelsNewCL)
{
	const char* additionalMacros = "";
	cl_int errNum = 0;

	cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString(m_clContext, m_clDevice, batchingKernelsNewCL, &errNum, additionalMacros, 0, true);
	ASSERT_EQ(CL_SUCCESS, errNum);

	{
		cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice, batchingKernelsNewCL, "CreateBatchesNew", &errNum, batchingNewProg, additionalMacros);
		ASSERT_EQ(CL_SUCCESS, errNum);
		ASSERT_FALSE(k == 0);
		clReleaseKernel(k);
	}
	clReleaseProgram(batchingNewProg);
}

};  // namespace