1 files changed, 308 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
new file mode 100644
index 0000000000..94590d11ca
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
@@ -0,0 +1,308 @@
+#include "b3LauncherCL.h"
+
+bool gDebugLauncherCL = false;
+    
+b3LauncherCL::b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name)
+:m_commandQueue(queue),
+m_kernel(kernel),
+m_idx(0),
+m_enableSerialization(false),
+m_name(name)
+{
+	if (gDebugLauncherCL)
+	{
+		static int counter = 0;
+		printf("[%d] Prepare to launch OpenCL kernel %s\n", counter++, name);
+	}
+
+      m_serializationSizeInBytes = sizeof(int);
+}
+    
+b3LauncherCL::~b3LauncherCL()
+  {
+      for (int i=0;i<m_arrays.size();i++)
+      {
+		  delete (m_arrays[i]);
+      }
+
+	  m_arrays.clear();
+	  if (gDebugLauncherCL)
+	  {
+		static int counter = 0;
+		printf("[%d] Finished launching OpenCL kernel %s\n", counter++,m_name);
+	  }
+  }
+
+void b3LauncherCL::setBuffer( cl_mem clBuffer)
+{
+		if (m_enableSerialization)
+		{
+			b3KernelArgData kernelArg;
+			kernelArg.m_argIndex = m_idx;
+			kernelArg.m_isBuffer = 1;
+			kernelArg.m_clBuffer = clBuffer;
+		
+			cl_mem_info param_name = CL_MEM_SIZE;
+			size_t param_value;
+			size_t sizeInBytes = sizeof(size_t);
+			size_t actualSizeInBytes;
+			cl_int err;
+			err = clGetMemObjectInfo (	kernelArg.m_clBuffer,
+									  param_name,
+									  sizeInBytes,
+									  &param_value,
+									  &actualSizeInBytes);
+			
+			b3Assert( err == CL_SUCCESS );
+			kernelArg.m_argSizeInBytes = param_value;
+			
+			m_kernelArguments.push_back(kernelArg);
+			m_serializationSizeInBytes+= sizeof(b3KernelArgData);
+			m_serializationSizeInBytes+=param_value;
+            }
+            cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &clBuffer);
+		b3Assert( status == CL_SUCCESS );
+}
+
+
+void b3LauncherCL::setBuffers( b3BufferInfoCL* buffInfo, int n )
+{
+	for(int i=0; i<n; i++)
+	{
+		if (m_enableSerialization)
+		{
+			b3KernelArgData kernelArg;
+			kernelArg.m_argIndex = m_idx;
+			kernelArg.m_isBuffer = 1;
+			kernelArg.m_clBuffer = buffInfo[i].m_clBuffer;
+		
+			cl_mem_info param_name = CL_MEM_SIZE;
+			size_t param_value;
+			size_t sizeInBytes = sizeof(size_t);
+			size_t actualSizeInBytes;
+			cl_int err;
+			err = clGetMemObjectInfo (	kernelArg.m_clBuffer,
+									  param_name,
+									  sizeInBytes,
+									  &param_value,
+									  &actualSizeInBytes);
+			
+			b3Assert( err == CL_SUCCESS );
+			kernelArg.m_argSizeInBytes = param_value;
+			
+			m_kernelArguments.push_back(kernelArg);
+			m_serializationSizeInBytes+= sizeof(b3KernelArgData);
+			m_serializationSizeInBytes+=param_value;
+            }
+            cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &buffInfo[i].m_clBuffer);
+		b3Assert( status == CL_SUCCESS );
+        }
+}
+
+struct b3KernelArgDataUnaligned
+{
+    int m_isBuffer;
+    int m_argIndex;
+    int m_argSizeInBytes;
+	int m_unusedPadding;
+    union
+    {
+        cl_mem m_clBuffer;
+        unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
+    };
+    
+};
+#include <string.h>
+
+
+
+int b3LauncherCL::deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx)
+{
+    int index=0;
+    
+    int numArguments = *(int*) &buf[index];
+    index+=sizeof(int);
+    
+    for (int i=0;i<numArguments;i++)
+    {
+        b3KernelArgDataUnaligned* arg = (b3KernelArgDataUnaligned*)&buf[index];
+
+        index+=sizeof(b3KernelArgData);
+        if (arg->m_isBuffer)
+        {
+            b3OpenCLArray<unsigned char>* clData = new b3OpenCLArray<unsigned char>(ctx,m_commandQueue, arg->m_argSizeInBytes);
+            clData->resize(arg->m_argSizeInBytes);
+            
+            clData->copyFromHostPointer(&buf[index], arg->m_argSizeInBytes);
+            
+            arg->m_clBuffer = clData->getBufferCL();
+            
+            m_arrays.push_back(clData);
+            
+            cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &arg->m_clBuffer);
+		b3Assert( status == CL_SUCCESS );
+            index+=arg->m_argSizeInBytes;
+        } else 
+        {
+            cl_int status = clSetKernelArg( m_kernel, m_idx++, arg->m_argSizeInBytes, &arg->m_argData);
+		b3Assert( status == CL_SUCCESS );
+        }
+		b3KernelArgData b;
+		memcpy(&b,arg,sizeof(b3KernelArgDataUnaligned));
+	m_kernelArguments.push_back(b);
+    }
+m_serializationSizeInBytes = index;
+    return index;
+}
+
+int b3LauncherCL::validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx)
+  {
+	 int index=0;
+      
+      int numArguments = *(int*) &goldBuffer[index];
+      index+=sizeof(int);
+
+	if (numArguments != m_kernelArguments.size())
+	{
+		printf("failed validation: expected %d arguments, found %d\n",numArguments, m_kernelArguments.size());
+		return -1;
+	}
+      
+      for (int ii=0;ii<numArguments;ii++)
+      {
+          b3KernelArgData* argGold = (b3KernelArgData*)&goldBuffer[index];
+
+		if (m_kernelArguments[ii].m_argSizeInBytes != argGold->m_argSizeInBytes)
+		{
+			printf("failed validation: argument %d sizeInBytes expected: %d, found %d\n",ii, argGold->m_argSizeInBytes, m_kernelArguments[ii].m_argSizeInBytes);
+			return -2;
+		}
+
+		{
+			int expected = argGold->m_isBuffer;
+			int found = m_kernelArguments[ii].m_isBuffer;
+
+			if (expected != found)
+			{
+				printf("failed validation: argument %d isBuffer expected: %d, found %d\n",ii,expected, found);
+				return -3;
+			}
+		}
+		index+=sizeof(b3KernelArgData);
+
+		if (argGold->m_isBuffer)
+          {
+
+			unsigned char* memBuf= (unsigned char*) malloc(m_kernelArguments[ii].m_argSizeInBytes);
+			unsigned char* goldBuf = &goldBuffer[index];
+			for (int j=0;j<m_kernelArguments[j].m_argSizeInBytes;j++)
+			{
+				memBuf[j] = 0xaa;
+			}
+
+			cl_int status = 0;
+			status = clEnqueueReadBuffer( m_commandQueue, m_kernelArguments[ii].m_clBuffer, CL_TRUE, 0, m_kernelArguments[ii].m_argSizeInBytes,
+                                           memBuf, 0,0,0 );
+              b3Assert( status==CL_SUCCESS );
+              clFinish(m_commandQueue);
+
+			for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
+			{
+				int expected = goldBuf[b];
+				int found = memBuf[b];
+				if (expected != found)
+				{
+					printf("failed validation: argument %d OpenCL data at byte position %d expected: %d, found %d\n",
+						ii, b, expected, found);
+					return -4;
+				}
+			}
+
+              
+              index+=argGold->m_argSizeInBytes;
+          } else 
+          {
+			
+			//compare content
+			for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
+			{
+				int expected = argGold->m_argData[b];
+				int found =m_kernelArguments[ii].m_argData[b];
+				if (expected != found)
+				{
+					printf("failed validation: argument %d const data at byte position %d expected: %d, found %d\n",
+						ii, b, expected, found);
+					return -5;
+				}
+			}
+
+          }
+      }
+      return index;
+
+}
+
+int b3LauncherCL::serializeArguments(unsigned char* destBuffer, int destBufferCapacity)
+{
+//initialize to known values
+for (int i=0;i<destBufferCapacity;i++)
+	destBuffer[i] = 0xec;
+
+    assert(destBufferCapacity>=m_serializationSizeInBytes);
+    
+    //todo: use the b3Serializer for this to allow for 32/64bit, endianness etc        
+    int numArguments = m_kernelArguments.size();
+    int curBufferSize = 0;
+    int* dest = (int*)&destBuffer[curBufferSize];
+    *dest = numArguments;
+    curBufferSize += sizeof(int);
+    
+    
+    
+    for (int i=0;i<this->m_kernelArguments.size();i++)
+    {
+        b3KernelArgData* arg = (b3KernelArgData*) &destBuffer[curBufferSize];
+        *arg = m_kernelArguments[i];
+        curBufferSize+=sizeof(b3KernelArgData);
+        if (arg->m_isBuffer==1)
+        {
+            //copy the OpenCL buffer content
+            cl_int status = 0;
+            status = clEnqueueReadBuffer( m_commandQueue, arg->m_clBuffer, 0, 0, arg->m_argSizeInBytes,
+                                         &destBuffer[curBufferSize], 0,0,0 );
+            b3Assert( status==CL_SUCCESS );
+            clFinish(m_commandQueue);
+            curBufferSize+=arg->m_argSizeInBytes;
+        }
+        
+    }
+    return curBufferSize;
+}
+
+void b3LauncherCL::serializeToFile(const char* fileName, int numWorkItems)
+{
+	int num = numWorkItems;
+	int buffSize = getSerializationBufferSize();
+	unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
+	for (int i=0;i<buffSize+1;i++)
+	{
+		unsigned char* ptr = (unsigned char*)&buf[i];
+		*ptr = 0xff;
+	}
+//	int actualWrite = serializeArguments(buf,buffSize);
+              
+//	unsigned char* cptr = (unsigned char*)&buf[buffSize];
+//            printf("buf[buffSize] = %d\n",*cptr);
+              
+	assert(buf[buffSize]==0xff);//check for buffer overrun
+	int* ptr = (int*)&buf[buffSize];
+              
+	*ptr = num;
+              
+	FILE* f = fopen(fileName,"wb");
+	fwrite(buf,buffSize+sizeof(int),1,f);
+	fclose(f);
+
+	delete[] buf;
+}		
+