//
//  Test_v3skew.cpp
//  BulletTest
//
//  Copyright (c) 2011 Apple Inc.
//



#include "LinearMath/btScalar.h"
#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)

#include "Test_v3skew.h"
#include "vector.h"
#include "Utils.h"
#include "main.h"
#include <math.h>
#include <string.h>

#include <LinearMath/btVector3.h>

// reference code for testing purposes
static void 
v3skew_ref(
	const btVector3* v, 
	btVector3* v1,
	btVector3* v2,
    btVector3* v3);

#define LOOPCOUNT 2048
#define NUM_CYCLES 10000

int Test_v3skew(void)
{
    btVector3 v, v1, v2, v3, vt1, vt2, vt3;
   
    float x,y,z,w;
    
    // Init the data
    x = RANDF_01;
    y = RANDF_01;
    z = RANDF_01;
    w = BT_NAN;     // w channel NaN
    v.setValue(x,y,z);
	v.setW(w);

    v1.setValue(w,w,w);
	v1.setW(w);

    vt3 = vt2 = vt1 = v3 = v2 = v1;
	
    {
		v3skew_ref(&v, &v1, &v2, &v3);
		v.getSkewSymmetricMatrix(&vt1, &vt2, &vt3);
	   /*
		if( v1.m_floats[0] != vt1.m_floats[0] || 
			v1.m_floats[1] != vt1.m_floats[1] ||
			v1.m_floats[2] != vt1.m_floats[2] )
		*/
        if(!(v1 == vt1))
        {	
			vlog( "Error - v3skew result error! "
					"\ncorrect v1 = (%10.4f, %10.4f, %10.4f) "
					"\ntested  v1 = (%10.4f, %10.4f, %10.4f) \n", 
					v1.m_floats[0], v1.m_floats[1], v1.m_floats[2], 
					vt1.m_floats[0], vt1.m_floats[1], vt1.m_floats[2]);
		
			return 1;
		}

		/*
        if( v2.m_floats[0] != vt2.m_floats[0] || 
			v2.m_floats[1] != vt2.m_floats[1] ||
			v2.m_floats[2] != vt2.m_floats[2] )
		*/
        if(!(v2 == vt2))
        {	
			vlog( "Error - v3skew result error! "
					"\ncorrect v2 = (%10.4f, %10.4f, %10.4f) "
					"\ntested  v2 = (%10.4f, %10.4f, %10.4f) \n", 
					v2.m_floats[0], v2.m_floats[1], v2.m_floats[2], 
					vt2.m_floats[0], vt2.m_floats[1], vt2.m_floats[2]);
		
			return 1;
		}

		/*
        if( v3.m_floats[0] != vt3.m_floats[0] || 
			v3.m_floats[1] != vt3.m_floats[1] ||
			v3.m_floats[2] != vt3.m_floats[2] )
		*/
        if(!(v3 == vt3))
        {	
			vlog( "Error - v3skew result error! "
					"\ncorrect v3 = (%10.4f, %10.4f, %10.4f) "
					"\ntested  v3 = (%10.4f, %10.4f, %10.4f) \n", 
					v3.m_floats[0], v3.m_floats[1], v3.m_floats[2], 
					vt3.m_floats[0], vt3.m_floats[1], vt3.m_floats[2]);
		
			return 1;
		}
	}
    
#define DATA_SIZE 256

	btVector3 v3_arr0[DATA_SIZE];
	btVector3 v3_arr1[DATA_SIZE];
	btVector3 v3_arr2[DATA_SIZE];
	btVector3 v3_arr3[DATA_SIZE];

    uint64_t scalarTime;
    uint64_t vectorTime;
    size_t j, k;

	for( k = 0; k < DATA_SIZE; k++ )
	{
        x = RANDF_01;
        y = RANDF_01;
        z = RANDF_01;
		v3_arr0[k].setValue(x,y,z);
		v3_arr0[k].setW(w);

		v3_arr1[k].setValue(w,w,w);
		v3_arr1[k].setW(w);

		v3_arr3[k] = v3_arr2[k] = v3_arr1[k];
	}
    
	{
        uint64_t startTime, bestTime, currentTime;
        
        bestTime = -1LL;
        scalarTime = 0;
        for (j = 0; j < NUM_CYCLES; j++) 
		{
            startTime = ReadTicks();
            for( k = 0; k < LOOPCOUNT; k++ )
			{
				size_t k32 = (k & (DATA_SIZE-1)); 
                v3skew_ref( &v3_arr0[k32], &v3_arr1[k32], &v3_arr2[k32], &v3_arr3[k32]); 
			}
			currentTime = ReadTicks() - startTime;
            scalarTime += currentTime;
            if( currentTime < bestTime )
                bestTime = currentTime;
        }
        if( 0 == gReportAverageTimes )
            scalarTime = bestTime;        
        else
            scalarTime /= NUM_CYCLES;
    }
    
    {
        uint64_t startTime, bestTime, currentTime;
        
        bestTime = -1LL;
        vectorTime = 0;
        for (j = 0; j < NUM_CYCLES; j++) 
		{
            startTime = ReadTicks();
            for( k = 0; k < LOOPCOUNT; k++ )
			{
				size_t k32 = (k & (DATA_SIZE -1)); 
                v3_arr0[k32].getSkewSymmetricMatrix(&v3_arr1[k32], &v3_arr2[k32], &v3_arr3[k32]); 
			}
			currentTime = ReadTicks() - startTime;
            vectorTime += currentTime;
            if( currentTime < bestTime )
                bestTime = currentTime;
        }
        if( 0 == gReportAverageTimes )
            vectorTime = bestTime;        
        else
            vectorTime /= NUM_CYCLES;
    }

    vlog( "Timing:\n" );
    vlog( "    \t    scalar\t    vector\n" );
    vlog( "    \t%10.4f\t%10.4f\n", TicksToCycles( scalarTime ) / LOOPCOUNT, TicksToCycles( vectorTime ) / LOOPCOUNT );

    return 0;
}


static void 
v3skew_ref(
	const btVector3* v, 
	btVector3* v1, 
	btVector3* v2, 
	btVector3* v3)
{
    v1->setValue(0.		,-v->z(),v->y());
    v2->setValue(v->z()	,0.		,-v->x());
    v3->setValue(-v->y(),v->x()	,0.);
}

#endif //BT_USE_SSE