redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

test/OpenCL/ParallelPrimitives/main.cpp
378 строк9 KB
Erwin Coumans
fix Mac OSX build
04 июн 2013, 20:09
04 июн 2013, 20:094dd5295
/*
Copyright (c) 2012 Advanced Micro Devices, Inc.  

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/


#include <stdio.h>
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3Common/b3MinMax.h"

int g_nPassed = 0;
int g_nFailed = 0;
bool g_testFailed = 0;

#define TEST_INIT g_testFailed = 0;
#define TEST_ASSERT(x) if( !(x) ){g_testFailed = 1;}
#define TEST_REPORT(testName) printf("[%s] %s\n",(g_testFailed)?"X":"O", testName); if(g_testFailed) g_nFailed++; else g_nPassed++;
#define NEXTMULTIPLEOF(num, alignment) (((num)/(alignment) + (((num)%(alignment)==0)?0:1))*(alignment))

cl_context g_context=0;
cl_device_id g_device=0;
cl_command_queue g_queue =0;
const char* g_deviceName = 0;

void initCL(int preferredDeviceIndex, int preferredPlatformIndex)
{
	//void* glCtx=0;
	//void* glDC = 0;
	int ciErrNum = 0;
	//bound search and radix sort only work on GPU right now (assume 32 or 64 width workgroup without barriers)

	cl_device_type deviceType = CL_DEVICE_TYPE_ALL;

	g_context = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, 0,0,preferredDeviceIndex, preferredPlatformIndex);
	oclCHECKERROR(ciErrNum, CL_SUCCESS);
	int numDev = b3OpenCLUtils::getNumDevices(g_context);
	if (numDev>0)
	{
		b3OpenCLDeviceInfo info;
		g_device= b3OpenCLUtils::getDevice(g_context,0);
		g_queue = clCreateCommandQueue(g_context, g_device, 0, &ciErrNum);
		oclCHECKERROR(ciErrNum, CL_SUCCESS);
        b3OpenCLUtils::printDeviceInfo(g_device);
		b3OpenCLUtils::getDeviceInfo(g_device,&info);
		g_deviceName = info.m_deviceName;
	}
}

void exitCL()
{
	clReleaseCommandQueue(g_queue);
	clReleaseContext(g_context);
}


inline void fillIntTest()
{
	TEST_INIT;

	b3FillCL* fillCL = new b3FillCL(g_context,g_device,g_queue);
	int maxSize=1024*256;
	b3OpenCLArray<int> intBuffer(g_context,g_queue,maxSize);
	intBuffer.resize(maxSize);
	
#define NUM_TESTS 7

	int dx = maxSize/NUM_TESTS;
	for (int iter=0;iter<NUM_TESTS;iter++)
	{
		int size = b3Min( 11+dx*iter, maxSize );

		int value = 2;
		

		int offset=0;
		fillCL->execute(intBuffer,value,size,offset);

		b3AlignedObjectArray<int> hostBuf2;
		hostBuf2.resize(size);
		fillCL->executeHost(hostBuf2,value,size,offset);

		b3AlignedObjectArray<int> hostBuf;
		intBuffer.copyToHost(hostBuf);

		for(int i=0; i<size; i++)
		{
				TEST_ASSERT( hostBuf[i] == hostBuf2[i] );
				TEST_ASSERT( hostBuf[i] == hostBuf2[i] );
		}
	}

	

	delete fillCL;

	TEST_REPORT( "fillIntTest" );
}


__inline
void seedRandom(int seed)
{
	srand( seed );
}

template<typename T>
__inline
T getRandom(const T& minV, const T& maxV)
{
	float r = (rand()%10000)/10000.f;
	T range = maxV - minV;
	return (T)(minV + r*range);
}

struct b3SortDataCompare
{
	inline bool operator()(const b3SortData& first, const b3SortData& second) const
	{
		return (first.m_key < second.m_key) || (first.m_key==second.m_key && first.m_value < second.m_value);
	}
};


void boundSearchTest( )
{
	TEST_INIT;

	int maxSize = 1024*256;
	int bucketSize = 256;

	b3OpenCLArray<b3SortData> srcCL(g_context,g_queue,maxSize);
	b3OpenCLArray<unsigned int> upperCL(g_context,g_queue,maxSize);
	b3OpenCLArray<unsigned int> lowerCL(g_context,g_queue,maxSize);
	
	b3AlignedObjectArray<b3SortData> srcHost;
	b3AlignedObjectArray<unsigned int> upperHost;
	b3AlignedObjectArray<unsigned int> lowerHost;
	b3AlignedObjectArray<unsigned int> upperHostCompare;
	b3AlignedObjectArray<unsigned int> lowerHostCompare;
	
	b3BoundSearchCL* search = new b3BoundSearchCL(g_context,g_device,g_queue, maxSize);


	int dx = maxSize/NUM_TESTS;
	for(int iter=0; iter<NUM_TESTS; iter++)
	{
		
		int size = b3Min( 128+dx*iter, maxSize );

		upperHost.resize(bucketSize);
		lowerHost.resize(bucketSize);
		upperHostCompare.resize(bucketSize);
		lowerHostCompare.resize(bucketSize);

		srcHost.resize(size);

		for(int i=0; i<size; i++) 
		{
			b3SortData v;
//			v.m_key = i<2? 0 : 5;
			v.m_key = getRandom(0,bucketSize);

			v.m_value = i;
			srcHost.at(i) = v;
		}

		srcHost.quickSort(b3SortDataCompare());
		srcCL.copyFromHost(srcHost);

		{
			
			for(int i=0; i<bucketSize; i++) 
			{
				lowerHost[i] = -1;
				lowerHostCompare[i] = -1;
				upperHost[i] = -1;
				upperHostCompare[i] = -1;
			}
			upperCL.copyFromHost(upperHost);
			lowerCL.copyFromHost(lowerHost);
		}

		search->execute(srcCL,size,upperCL,bucketSize,b3BoundSearchCL::BOUND_UPPER);
		search->execute(srcCL,size,lowerCL,bucketSize,b3BoundSearchCL::BOUND_LOWER);

		search->executeHost(srcHost,size,upperHostCompare,bucketSize,b3BoundSearchCL::BOUND_UPPER);
		search->executeHost(srcHost,size,lowerHostCompare,bucketSize,b3BoundSearchCL::BOUND_LOWER);

		lowerCL.copyToHost(lowerHost);
		upperCL.copyToHost(upperHost);
		for(int i=0; i<bucketSize; i++)
		{
			TEST_ASSERT(upperHostCompare[i] == upperHost[i]);
			TEST_ASSERT(lowerHostCompare[i] == lowerHost[i]);
		}
		/*
		for(int i=1; i<bucketSize; i++)
		{
			int lhi_1 = lowerHost[i-1];
			int lhi = lowerHost[i];

			for(int j=lhi_1; j<lhi; j++)
			//for(int j=lowerHost[i-1]; j<lowerHost[i]; j++)
			{
				TEST_ASSERT( srcHost[j].m_key < i );
			}
		}

		for(int i=0; i<bucketSize; i++)
		{
			int jMin = (i==0)?0:upperHost[i-1];
			for(int j=jMin; j<upperHost[i]; j++)
			{
				TEST_ASSERT( srcHost[j].m_key <= i );
			}
		}
		*/


		for(int i=0; i<bucketSize; i++)
		{
			int lhi = lowerHost[i];
			int uhi = upperHost[i];

			for(int j=lhi; j<uhi; j++)
			{
				if ( srcHost[j].m_key != i )
				{
					printf("error %d != %d\n",srcHost[j].m_key,i);
				}
				TEST_ASSERT( srcHost[j].m_key == i );
			}
		}

	}

	delete search;

	TEST_REPORT( "boundSearchTest" );
}


void prefixScanTest()
{
	TEST_INIT;

	int maxSize = 1024*256;

	b3AlignedObjectArray<unsigned int> buf0Host;
	b3AlignedObjectArray<unsigned int> buf1Host;

	b3OpenCLArray<unsigned int> buf2CL(g_context,g_queue,maxSize);
	b3OpenCLArray<unsigned int> buf3CL(g_context,g_queue,maxSize);
	
	
	b3PrefixScanCL* scan = new b3PrefixScanCL(g_context,g_device,g_queue,maxSize);
		
	int dx = maxSize/NUM_TESTS;
	for(int iter=0; iter<NUM_TESTS; iter++)
	{
		int size = b3Min( 128+dx*iter, maxSize );
		buf0Host.resize(size);
		buf1Host.resize(size);

		for(int i=0; i<size; i++) 
			buf0Host[i] = 1;
		
		buf2CL.copyFromHost( buf0Host);
	
		unsigned int sumHost, sumGPU;

		scan->executeHost(buf0Host, buf1Host, size, &sumHost );
		scan->execute( buf2CL, buf3CL, size, &sumGPU );

		buf3CL.copyToHost(buf0Host);
		
		TEST_ASSERT( sumHost == sumGPU );
		for(int i=0; i<size; i++) 
			TEST_ASSERT( buf1Host[i] == buf0Host[i] );
	}

	delete scan;

	TEST_REPORT( "scanTest" );
}


bool radixSortTest()
{
	TEST_INIT;
	
	int maxSize = 1024*256;

	b3AlignedObjectArray<b3SortData> buf0Host;
	buf0Host.resize(maxSize);
	b3AlignedObjectArray<b3SortData> buf1Host;
	buf1Host.resize(maxSize );
	b3OpenCLArray<b3SortData> buf2CL(g_context,g_queue,maxSize);

	b3RadixSort32CL* sort = new b3RadixSort32CL(g_context,g_device,g_queue,maxSize);

	int dx = maxSize/NUM_TESTS;
	for(int iter=0; iter<NUM_TESTS; iter++)
	{
		int size = b3Min( 128+dx*iter, maxSize-512 );
		size = NEXTMULTIPLEOF( size, 512 );//not necessary
		
		buf0Host.resize(size);

		for(int i=0; i<size; i++)
		{
			b3SortData v;
			v.m_key = getRandom(0,0xff);
			v.m_value = i;
			buf0Host[i] = v;
		}

		buf2CL.copyFromHost( buf0Host);
		

		sort->executeHost( buf0Host);
		sort->execute(buf2CL);

		buf2CL.copyToHost(buf1Host);
				
		for(int i=0; i<size; i++) 
		{
			TEST_ASSERT( buf0Host[i].m_value == buf1Host[i].m_value && buf0Host[i].m_key == buf1Host[i].m_key );
		}
	}

	delete sort;

	TEST_REPORT( "radixSort" );

	return g_testFailed;
}


int main(int argc, char** argv)
{
	int preferredDeviceIndex = -1;
	int preferredPlatformIndex = -1;

	b3CommandLineArgs args(argc, argv);
	args.GetCmdLineArgument("deviceId", preferredDeviceIndex);
	args.GetCmdLineArgument("platformId", preferredPlatformIndex);

	initCL(preferredDeviceIndex,preferredPlatformIndex);

	fillIntTest();

	boundSearchTest();

	prefixScanTest();

	radixSortTest();

	exitCL();

	printf("%d tests passed, %d tests failed\n",g_nPassed, g_nFailed);
	printf("End, press <enter>\n");
	getchar();
}