bullet3/test/OpenCL/AllBullet3Kernels/testExecuteBullet3NarrowphaseKernels.cpp

#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"

#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3Common/b3CommandLineArgs.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"

#ifdef B3_USE_ZLIB
#include "minizip/unzip.h"
#endif

#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
extern int gArgc;
extern char** gArgv;

namespace
{
	struct ExecuteBullet3NarrowphaseKernels : 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;

		ExecuteBullet3NarrowphaseKernels()
			: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.

			initCL();
		}

		virtual ~ExecuteBullet3NarrowphaseKernels()
		{
			// 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).
		}
	};

#if 0
	TEST_F(ExecuteBullet3NarrowphaseKernels,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(ExecuteBullet3NarrowphaseKernels,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(ExecuteBullet3NarrowphaseKernels,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(ExecuteBullet3NarrowphaseKernels,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(ExecuteBullet3NarrowphaseKernels,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);
	}

#endif

	unsigned char* openFile(const char* fileName, int* sizeInBytesPtr)
	{
		*sizeInBytesPtr=0;

		unsigned char* buffer = 0;
		const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
		int numPrefixes = sizeof(prefix)/sizeof(const char*);
		char relativeFileName[1024];


#ifdef B3_USE_ZLIB

		{
			FILE* f=0;
			int result = 0;

			for (int i=0;!f && i<numPrefixes;i++)
			{
				sprintf(relativeFileName,"%s%s",prefix[i],"unittest_data.zip");
				f = fopen(relativeFileName,"rb");
			}
			if (f)
			{
				fclose(f);

				unzFile zipfile = unzOpen( relativeFileName);
				if ( zipfile == NULL )
				{
					printf( "%s: not found\n" ,relativeFileName);

				}

				// Get info about the zip file
				unz_global_info global_info;
				result = unzGetGlobalInfo( zipfile, &global_info ) ;
				if (result != UNZ_OK )
				{
					b3Printf( "could not read file global info\n" );
					unzClose( zipfile );
				} else
				{
					result = unzLocateFile(zipfile, fileName, 0);
					if (result == UNZ_OK)
					{
						unz_file_info		info;
						result = unzGetCurrentFileInfo( zipfile, &info, NULL, 0, NULL, 0, NULL, 0 );
						if ( result != UNZ_OK )
						{
							b3Printf("unzGetCurrentFileInfo() != UNZ_OK (%d)\n", result);
						} else
						{
							result = unzOpenCurrentFile(zipfile);
							if (result == UNZ_OK)
							{
								buffer = (unsigned char*)malloc(info.uncompressed_size);
								result = unzReadCurrentFile(zipfile,buffer,info.uncompressed_size);
								if (result <0)
								{
									free(buffer);
									buffer=0;
								} else
								{
									*sizeInBytesPtr= info.uncompressed_size;
								}
								unzCloseCurrentFile(zipfile);
							} else
							{
								b3Printf("cannot open file %s!\n", fileName);
							}
						}
					} else
					{
						b3Printf("cannot find file %s\n", fileName);
					}
					unzClose( zipfile );
				}
			}
		}
#endif//B3_USE_ZLIB
		if (!buffer)
		{
			FILE* f=0;
			int result = 0;

			for (int i=0;!f && i<numPrefixes;i++)
			{
				sprintf(relativeFileName,"%s%s",prefix[i],fileName);
				f = fopen(relativeFileName,"rb");
			}
			//first try from data.zip, otherwise directly load the file from disk

			if (f)
			{
				int sizeInBytes=0;
				if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
				{
					b3Printf("error, cannot get file size\n");
				}

				buffer = (unsigned char*) malloc(sizeInBytes);
				int actualRead = fread(buffer,sizeInBytes,1,f);
				if (actualRead != 1)
				{
					free(buffer);
					buffer=0;
				} else
				{
					*sizeInBytesPtr = sizeInBytes;
				}
				fclose(f);
			}

		}

		return buffer;
	}

	void testLauncher(const char* fileName2, b3LauncherCL& launcher, cl_context ctx)
	{

		int sizeInBytes=0;

		unsigned char* buf = openFile(fileName2,&sizeInBytes);
		ASSERT_FALSE(buf==NULL);
		if (buf)
		{
			int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes,ctx);
			int num = *(int*)&buf[serializedBytes];

			launcher.launch1D( num);

			free(buf);
			//this clFinish is for testing on errors
		}
	}

	TEST_F(ExecuteBullet3NarrowphaseKernels,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);

			if (1)
			{
				const char* fileNames[]={"mprPenetrationKernel60.bin","mprPenetrationKernel61.bin","mprPenetrationKernel70.bin","mprPenetrationKernel128.bin"};
				int results[] = {0,1,46,98};

				int numTests = sizeof(fileNames)/sizeof(const char*);
				for (int i=0;i<numTests;i++)
				{
					b3LauncherCL launcher(m_clQueue, k,fileNames[i]);
					testLauncher(fileNames[i],launcher, m_clContext);
					clFinish(m_clQueue);
					ASSERT_EQ(launcher.getNumArguments(),11);

					b3KernelArgData data = launcher.getArgument(8);
					ASSERT_TRUE(data.m_isBuffer);
					b3OpenCLArray<int> totalContactsOut(this->m_clContext,this->m_clQueue);
					totalContactsOut.setFromOpenCLBuffer(data.m_clBuffer,1);
					int numContacts = totalContactsOut.at(0);
					ASSERT_EQ(results[i],numContacts);
				}
				//printf("numContacts = %d\n",numContacts);

				//nContacts = m_totalContactsOut.at(0);
			}





			clReleaseKernel(k);
		}

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


		clReleaseProgram(mprProg);
	}


};