* Adjustment: Initial CMake reworking.

2026-07-12 15:14:35 +00:00 · 2022-05-13 23:42:41 -04:00 · 2022-05-13 23:42:41 -04:00 · d7cdf54661
commit d7cdf54661
parent 516163fd5d
5394 changed files with 2615532 additions and 8711 deletions
--- a/Engine/lib/bullet/test/OpenCL/AllBullet3Kernels/testCompileBullet3NarrowphaseKernels.cpp
+++ b/Engine/lib/bullet/test/OpenCL/AllBullet3Kernels/testCompileBullet3NarrowphaseKernels.cpp
@ -0,0 +1,272 @@
+
+#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);
+	}
+
+
+};