//
//  Test_btDbvt.cpp
//  BulletTest
//
//  Copyright (c) 2011 Apple Inc., Inc.
//



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

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

#include <BulletCollision/BroadphaseCollision/btDbvt.h>

// reference code for testing purposes
SIMD_FORCE_INLINE bool Intersect_ref( btDbvtAabbMm& a,  btDbvtAabbMm& b)
{
    return(	(a.tMins().x()<=b.tMaxs().x())&&
           (a.tMaxs().x()>=b.tMins().x())&&
           (a.tMins().y()<=b.tMaxs().y())&&
           (a.tMaxs().y()>=b.tMins().y())&&
           (a.tMins().z()<=b.tMaxs().z())&&		
           (a.tMaxs().z()>=b.tMins().z()));
    
   }


SIMD_FORCE_INLINE btScalar	Proximity_ref(	 btDbvtAabbMm& a,
								   btDbvtAabbMm& b)
{
	const btVector3	d=(a.tMins()+a.tMaxs())-(b.tMins()+b.tMaxs());
	return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
}



SIMD_FORCE_INLINE int			Select_ref(	 btDbvtAabbMm& o,
							    btDbvtAabbMm& a,
							    btDbvtAabbMm& b)
{
	return(Proximity_ref(o,a)<Proximity_ref(o,b)?0:1);
}


SIMD_FORCE_INLINE void		Merge_ref(	 btDbvtAabbMm& a,
							   btDbvtAabbMm& b,
							  btDbvtAabbMm& r)
{
    //
    //Changing '3' into '4' to compare with the vector code which changes all 4 floats.
    //Erwin: don't do this because the 4th component is ignore and not computed on non-vector code (there is no NEON version and scalar is just 3 components)
    //
	for(int i=0;i<3;++i)
	{
		if(a.tMins().m_floats[i]<b.tMins().m_floats[i]) 
            r.tMins().m_floats[i] = a.tMins().m_floats[i]; 
        else 
            r.tMins().m_floats[i] = b.tMins().m_floats[i];
		
        
        if(a.tMaxs().m_floats[i]>b.tMaxs().m_floats[i]) 
            r.tMaxs().m_floats[i]=a.tMaxs().m_floats[i]; 
        else 
            r.tMaxs().m_floats[i]=b.tMaxs().m_floats[i];
	}
}
/*
[0]	float32_t	0.0318338
[1]	float32_t	0.0309355
[2]	float32_t	0.93264
[3]	float32_t	0.88788

[0]	float32_t	0.59133
[1]	float32_t	0.478779
[2]	float32_t	0.833354
[3]	float32_t	0.186335

[0]	float32_t	0.242578
[1]	float32_t	0.0134696
[2]	float32_t	0.383139
[3]	float32_t	0.414653

[0]	float32_t	0.067769
[1]	float32_t	0.993127
[2]	float32_t	0.484308
[3]	float32_t	0.765338
*/

#define LOOPCOUNT 1000
#define NUM_CYCLES 10000
#define DATA_SIZE 1024

int Test_btDbvt(void)
{
    btDbvtAabbMm a[DATA_SIZE], b[DATA_SIZE], c[DATA_SIZE];
    btDbvtAabbMm a_ref[DATA_SIZE], b_ref[DATA_SIZE], c_ref[DATA_SIZE];
        
    int i;
        
    bool Intersect_Test_Res[DATA_SIZE], Intersect_Ref_Res[DATA_SIZE];
    int Select_Test_Res[DATA_SIZE], Select_Ref_Res[DATA_SIZE];
    
    
    for (i = 0; i < DATA_SIZE; i++)
    {
        a[i].tMins().m_floats[0] = (float)rand() / (float)RAND_MAX;
        a[i].tMins().m_floats[1] = (float)rand() / (float)RAND_MAX;
        a[i].tMins().m_floats[2] = (float)rand() / (float)RAND_MAX;
        a[i].tMins().m_floats[3] = (float)rand() / (float)RAND_MAX;
        
        a[i].tMaxs().m_floats[0] = (float)rand() / (float)RAND_MAX;
        a[i].tMaxs().m_floats[1] = (float)rand() / (float)RAND_MAX;
        a[i].tMaxs().m_floats[2] = (float)rand() / (float)RAND_MAX;
        a[i].tMaxs().m_floats[3] = (float)rand() / (float)RAND_MAX;
        
        b[i].tMins().m_floats[0] = (float)rand() / (float)RAND_MAX;
        b[i].tMins().m_floats[1] = (float)rand() / (float)RAND_MAX;
        b[i].tMins().m_floats[2] = (float)rand() / (float)RAND_MAX;
        b[i].tMins().m_floats[3] = (float)rand() / (float)RAND_MAX;
        
        b[i].tMaxs().m_floats[0] = (float)rand() / (float)RAND_MAX;
        b[i].tMaxs().m_floats[1] = (float)rand() / (float)RAND_MAX;
        b[i].tMaxs().m_floats[2] = (float)rand() / (float)RAND_MAX;
        b[i].tMaxs().m_floats[3] = (float)rand() / (float)RAND_MAX;
        
        c[i].tMins().m_floats[0] = (float)rand() / (float)RAND_MAX;
        c[i].tMins().m_floats[1] = (float)rand() / (float)RAND_MAX;
        c[i].tMins().m_floats[2] = (float)rand() / (float)RAND_MAX;
        c[i].tMins().m_floats[3] = (float)rand() / (float)RAND_MAX;
        
        c[i].tMaxs().m_floats[0] = (float)rand() / (float)RAND_MAX;
        c[i].tMaxs().m_floats[1] = (float)rand() / (float)RAND_MAX;
        c[i].tMaxs().m_floats[2] = (float)rand() / (float)RAND_MAX;
        c[i].tMaxs().m_floats[3] = (float)rand() / (float)RAND_MAX;
        
        
        a_ref[i].tMins().m_floats[0] = a[i].tMins().m_floats[0];
        a_ref[i].tMins().m_floats[1] = a[i].tMins().m_floats[1];
        a_ref[i].tMins().m_floats[2] = a[i].tMins().m_floats[2];
        a_ref[i].tMins().m_floats[3] = a[i].tMins().m_floats[3];
        
        a_ref[i].tMaxs().m_floats[0] = a[i].tMaxs().m_floats[0];
        a_ref[i].tMaxs().m_floats[1] = a[i].tMaxs().m_floats[1];
        a_ref[i].tMaxs().m_floats[2] = a[i].tMaxs().m_floats[2];
        a_ref[i].tMaxs().m_floats[3] = a[i].tMaxs().m_floats[3];
        
        b_ref[i].tMins().m_floats[0] = b[i].tMins().m_floats[0];
        b_ref[i].tMins().m_floats[1] = b[i].tMins().m_floats[1];
        b_ref[i].tMins().m_floats[2] = b[i].tMins().m_floats[2];
        b_ref[i].tMins().m_floats[3] = b[i].tMins().m_floats[3];
        
        b_ref[i].tMaxs().m_floats[0] = b[i].tMaxs().m_floats[0];
        b_ref[i].tMaxs().m_floats[1] = b[i].tMaxs().m_floats[1];
        b_ref[i].tMaxs().m_floats[2] = b[i].tMaxs().m_floats[2];
        b_ref[i].tMaxs().m_floats[3] = b[i].tMaxs().m_floats[3];
        
        c_ref[i].tMins().m_floats[0] = c[i].tMins().m_floats[0];
        c_ref[i].tMins().m_floats[1] = c[i].tMins().m_floats[1];
        c_ref[i].tMins().m_floats[2] = c[i].tMins().m_floats[2];
        c_ref[i].tMins().m_floats[3] = c[i].tMins().m_floats[3];
        
        c_ref[i].tMaxs().m_floats[0] = c[i].tMaxs().m_floats[0];
        c_ref[i].tMaxs().m_floats[1] = c[i].tMaxs().m_floats[1];
        c_ref[i].tMaxs().m_floats[2] = c[i].tMaxs().m_floats[2];
        c_ref[i].tMaxs().m_floats[3] = c[i].tMaxs().m_floats[3];
        
    }
    
    
#if 1
    for (i = 0; i < DATA_SIZE; i++)
    {
        
        Intersect_Test_Res[i] = Intersect(a[i], b[i]);
        Intersect_Ref_Res[i]  = Intersect_ref(a_ref[i], b_ref[i]);
        
        if(Intersect_Test_Res[i] != Intersect_Ref_Res[i])
        {
            printf("Diff on %d\n", i); 
            
            printf("a_mx_f[0] = %.3f, a_mx_f[1] = %.3f, a_mx_f[2] = %.3f, a_mx_f[3] = %.3f\n", a[i].tMaxs().m_floats[0], a[i].tMaxs().m_floats[1], a[i].tMaxs().m_floats[2], a[i].tMaxs().m_floats[3]);
            printf("a_mi_f[0] = %.3f, a_mi_f[1] = %.3f, a_mi_f[2] = %.3f, a_mi_f[3] = %.3f\n", a[i].tMins().m_floats[0], a[i].tMins().m_floats[1], a[i].tMins().m_floats[2], a[i].tMins().m_floats[3]);
            printf("b_mx_f[0] = %.3f, b_mx_f[1] = %.3f, b_mx_f[2] = %.3f, b_mx_f[3] = %.3f\n", b[i].tMaxs().m_floats[0], b[i].tMaxs().m_floats[1], b[i].tMaxs().m_floats[2], b[i].tMaxs().m_floats[3]);
            printf("b_mi_f[0] = %.3f, b_mi_f[1] = %.3f, b_mi_f[2] = %.3f, b_mi_f[3] = %.3f\n", b[i].tMins().m_floats[0], b[i].tMins().m_floats[1], b[i].tMins().m_floats[2], b[i].tMins().m_floats[3]);
            
            printf("a_mx_f_ref[0] = %.3f, a_mx_f_ref[1] = %.3f, a_mx_f_ref[2] = %.3f, a_mx_f_ref[3] = %.3f\n", a_ref[i].tMaxs().m_floats[0], a_ref[i].tMaxs().m_floats[1], a_ref[i].tMaxs().m_floats[2], a_ref[i].tMaxs().m_floats[3]);
            printf("a_mi_f_ref[0] = %.3f, a_mi_f_ref[1] = %.3f, a_mi_f_ref[2] = %.3f, a_mi_f_ref[3] = %.3f\n", a_ref[i].tMins().m_floats[0], a_ref[i].tMins().m_floats[1], a_ref[i].tMins().m_floats[2], a_ref[i].tMins().m_floats[3]);
            printf("b_mx_f_ref[0] = %.3f, b_mx_f_ref[1] = %.3f, b_mx_f_ref[2] = %.3f, b_mx_f_ref[3] = %.3f\n", b_ref[i].tMaxs().m_floats[0], b_ref[i].tMaxs().m_floats[1], b_ref[i].tMaxs().m_floats[2], b_ref[i].tMaxs().m_floats[3]);
            printf("b_mi_f_ref[0] = %.3f, b_mi_f_ref[1] = %.3f, b_mi_f_ref[2] = %.3f, b_mi_f_ref[3] = %.3f\n", b_ref[i].tMins().m_floats[0], b_ref[i].tMins().m_floats[1], b_ref[i].tMins().m_floats[2], b_ref[i].tMins().m_floats[3]);   
        }
    }
#endif    
        
    uint64_t scalarTime;
    uint64_t vectorTime;
    size_t j;
        
    
    ////////////////////////////////////
    //
    // Time and Test Intersect
    //
    ////////////////////////////////////
	{
        uint64_t startTime, bestTime, currentTime;
        
        bestTime = -1LL;
        scalarTime = 0;
        for (j = 0; j < NUM_CYCLES; j++) 
		{
            startTime = ReadTicks();
            
            
            for (i = 0; i < DATA_SIZE; i++)
            {
                Intersect_Ref_Res[i]  = Intersect_ref(a_ref[i], b_ref[i]);
            }
            
			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 (i = 0; i < DATA_SIZE; i++)
            {
                Intersect_Test_Res[i] = Intersect(a[i], b[i]);
            }

			currentTime = ReadTicks() - startTime;
            vectorTime += currentTime;
            if( currentTime < bestTime )
                bestTime = currentTime;
        }
        if( 0 == gReportAverageTimes )
            vectorTime = bestTime;        
        else
            vectorTime /= NUM_CYCLES;
    }
    
    vlog( "Intersect Timing:\n" );
    vlog( "     \t    scalar\t    vector\n" );
    vlog( "    \t%10.4f\t%10.4f\n", TicksToCycles( scalarTime ) / LOOPCOUNT, TicksToCycles( vectorTime ) / LOOPCOUNT );
    
    //printf("scalar = %llu, vector = %llu\n", scalarTime, vectorTime);
    
    for (i = 0; i < DATA_SIZE; i++)
    {
        if(Intersect_Test_Res[i] != Intersect_Ref_Res[i])
        {
            printf("Intersect fail at %d\n", i);
			return 1;
        }
    }
    
    ////////////////////////////////////
    //
    // Time and Test Merge
    //
    ////////////////////////////////////
	{
        uint64_t startTime, bestTime, currentTime;
        
        bestTime = -1LL;
        scalarTime = 0;
        for (j = 0; j < NUM_CYCLES; j++) 
		{
            startTime = ReadTicks();
            
            
            for (i = 0; i < DATA_SIZE; i++)
            {
                Merge_ref(a_ref[i], b_ref[i], c_ref[i]);
            }
            
			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 (i = 0; i < DATA_SIZE; i++)
            {
                Merge(a[i], b[i], c[i]);
            }
            
			currentTime = ReadTicks() - startTime;
            vectorTime += currentTime;
            if( currentTime < bestTime )
                bestTime = currentTime;
        }
        if( 0 == gReportAverageTimes )
            vectorTime = bestTime;        
        else
            vectorTime /= NUM_CYCLES;
    }
    
    vlog( "Merge Timing:\n" );
    vlog( "     \t    scalar\t    vector\n" );
    vlog( "    \t%10.4f\t%10.4f\n", TicksToCycles( scalarTime ) / LOOPCOUNT, TicksToCycles( vectorTime ) / LOOPCOUNT );
    
    //printf("scalar = %llu, vector = %llu\n", scalarTime, vectorTime);
    /*
 c  [0]	float32_t	0.00455523
    [1]	float32_t	0.559712
    [2]	float32_t	0.0795838
    [3]	float32_t	0.10182
    
c_ref
    [0]	float32_t	0.00455523
    [1]	float32_t	0.559712
    [2]	float32_t	0.0795838
    [3]	float32_t	0.552081
    
    
c   [0]	float32_t	0.829904
    [1]	float32_t	0.692891
    [2]	float32_t	0.961654
    [3]	float32_t	0.666956
    
 c_ref
    [0]	float32_t	0.829904
    [1]	float32_t	0.692891
    [2]	float32_t	0.961654
    [3]	float32_t	0.522878
    */
    for (i = 0; i < DATA_SIZE; i++)
    {
        //ignore 4th component because it is not computed in all code-paths
        if( (fabs(c[i].tMaxs().m_floats[0] - c_ref[i].tMaxs().m_floats[0]) > 0.001) || 
           (fabs(c[i].tMaxs().m_floats[1] - c_ref[i].tMaxs().m_floats[1]) > 0.001) || 
           (fabs(c[i].tMaxs().m_floats[2] - c_ref[i].tMaxs().m_floats[2]) > 0.001) || 
          // (fabs(c[i].tMaxs().m_floats[3] - c_ref[i].tMaxs().m_floats[3]) > 0.001) || 
           (fabs(c[i].tMins().m_floats[0] - c_ref[i].tMins().m_floats[0]) > 0.001) || 
           (fabs(c[i].tMins().m_floats[1] - c_ref[i].tMins().m_floats[1]) > 0.001) || 
           (fabs(c[i].tMins().m_floats[2] - c_ref[i].tMins().m_floats[2]) > 0.001)  
          //|| (fabs(c[i].tMins().m_floats[3] - c_ref[i].tMins().m_floats[3]) > 0.001) 
           )
           
        
        //if((c[i].tMaxs().m_floats[0] != c_ref[i].tMaxs().m_floats[0]) || (c[i].tMaxs().m_floats[1] != c_ref[i].tMaxs().m_floats[1]) || (c[i].tMaxs().m_floats[2] != c_ref[i].tMaxs().m_floats[2]) || (c[i].tMaxs().m_floats[3] != c_ref[i].tMaxs().m_floats[3]) || (c[i].tMins().m_floats[0] != c_ref[i].tMins().m_floats[0]) || (c[i].tMins().m_floats[1] != c_ref[i].tMins().m_floats[1]) || (c[i].tMins().m_floats[2] != c_ref[i].tMins().m_floats[2]) || (c[i].tMins().m_floats[3] != c_ref[i].tMins().m_floats[3]))
        {
            printf("Merge fail at %d with test = %d, ref = %d\n", i, Select_Test_Res[i], Select_Ref_Res[i]);
            
            printf("a_mx_f[0] = %.3f, a_mx_f[1] = %.3f, a_mx_f[2] = %.3f, a_mx_f[3] = %.3f\n", a[i].tMaxs().m_floats[0], a[i].tMaxs().m_floats[1], a[i].tMaxs().m_floats[2], a[i].tMaxs().m_floats[3]);
            printf("a_mi_f[0] = %.3f, a_mi_f[1] = %.3f, a_mi_f[2] = %.3f, a_mi_f[3] = %.3f\n", a[i].tMins().m_floats[0], a[i].tMins().m_floats[1], a[i].tMins().m_floats[2], a[i].tMins().m_floats[3]);
            printf("b_mx_f[0] = %.3f, b_mx_f[1] = %.3f, b_mx_f[2] = %.3f, b_mx_f[3] = %.3f\n", b[i].tMaxs().m_floats[0], b[i].tMaxs().m_floats[1], b[i].tMaxs().m_floats[2], b[i].tMaxs().m_floats[3]);
            printf("b_mi_f[0] = %.3f, b_mi_f[1] = %.3f, b_mi_f[2] = %.3f, b_mi_f[3] = %.3f\n", b[i].tMins().m_floats[0], b[i].tMins().m_floats[1], b[i].tMins().m_floats[2], b[i].tMins().m_floats[3]);
            printf("c_mx_f[0] = %.3f, c_mx_f[1] = %.3f, c_mx_f[2] = %.3f, c_mx_f[3] = %.3f\n", c[i].tMaxs().m_floats[0], c[i].tMaxs().m_floats[1], c[i].tMaxs().m_floats[2], c[i].tMaxs().m_floats[3]);
            printf("c_mi_f[0] = %.3f, c_mi_f[1] = %.3f, c_mi_f[2] = %.3f, c_mi_f[3] = %.3f\n", c[i].tMins().m_floats[0], c[i].tMins().m_floats[1], c[i].tMins().m_floats[2], c[i].tMins().m_floats[3]);
            
            printf("a_mx_f_ref[0] = %.3f, a_mx_f_ref[1] = %.3f, a_mx_f_ref[2] = %.3f, a_mx_f_ref[3] = %.3f\n", a_ref[i].tMaxs().m_floats[0], a_ref[i].tMaxs().m_floats[1], a_ref[i].tMaxs().m_floats[2], a_ref[i].tMaxs().m_floats[3]);
            printf("a_mi_f_ref[0] = %.3f, a_mi_f_ref[1] = %.3f, a_mi_f_ref[2] = %.3f, a_mi_f_ref[3] = %.3f\n", a_ref[i].tMins().m_floats[0], a_ref[i].tMins().m_floats[1], a_ref[i].tMins().m_floats[2], a_ref[i].tMins().m_floats[3]);
            printf("b_mx_f_ref[0] = %.3f, b_mx_f_ref[1] = %.3f, b_mx_f_ref[2] = %.3f, b_mx_f_ref[3] = %.3f\n", b_ref[i].tMaxs().m_floats[0], b_ref[i].tMaxs().m_floats[1], b_ref[i].tMaxs().m_floats[2], b_ref[i].tMaxs().m_floats[3]);
            printf("b_mi_f_ref[0] = %.3f, b_mi_f_ref[1] = %.3f, b_mi_f_ref[2] = %.3f, b_mi_f_ref[3] = %.3f\n", b_ref[i].tMins().m_floats[0], b_ref[i].tMins().m_floats[1], b_ref[i].tMins().m_floats[2], b_ref[i].tMins().m_floats[3]);
            printf("c_mx_f_ref[0] = %.3f, c_mx_f_ref[1] = %.3f, c_mx_f_ref[2] = %.3f, c_mx_f_ref[3] = %.3f\n", c_ref[i].tMaxs().m_floats[0], c_ref[i].tMaxs().m_floats[1], c_ref[i].tMaxs().m_floats[2], c_ref[i].tMaxs().m_floats[3]);
            printf("c_mi_f_ref[0] = %.3f, c_mi_f_ref[1] = %.3f, c_mi_f_ref[2] = %.3f, c_mi_f_ref[3] = %.3f\n", c_ref[i].tMins().m_floats[0], c_ref[i].tMins().m_floats[1], c_ref[i].tMins().m_floats[2], c_ref[i].tMins().m_floats[3]);
			return 1;

		}
        
    }
    
    ////////////////////////////////////
    //
    // Time and Test Select
    //
    ////////////////////////////////////
	{
        uint64_t startTime, bestTime, currentTime;
        
        bestTime = -1LL;
        scalarTime = 0;
        for (j = 0; j < NUM_CYCLES; j++) 
		{
            startTime = ReadTicks();
            
            
            for (i = 0; i < DATA_SIZE; i++)
            {
                Select_Ref_Res[i]  = Select_ref(a_ref[i], b_ref[i], c_ref[i]);
            }
            
			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 (i = 0; i < DATA_SIZE; i++)
            {
                Select_Test_Res[i] = Select(a[i], b[i], c[i]);
            }
            
			currentTime = ReadTicks() - startTime;
            vectorTime += currentTime;
            if( currentTime < bestTime )
                bestTime = currentTime;
        }
        if( 0 == gReportAverageTimes )
            vectorTime = bestTime;        
        else
            vectorTime /= NUM_CYCLES;
    }
    
    vlog( "Select Timing:\n" );
    vlog( "     \t    scalar\t    vector\n" );
    vlog( "    \t%10.4f\t%10.4f\n", TicksToCycles( scalarTime ) / LOOPCOUNT, TicksToCycles( vectorTime ) / LOOPCOUNT );
    
    //printf("scalar = %llu, vector = %llu\n", scalarTime, vectorTime);
    
    for (i = 0; i < DATA_SIZE; i++)
    {
        Select_Ref_Res[i]  = Select_ref(a_ref[i], b_ref[i], c_ref[i]);
        Select_Test_Res[i] = Select(a[i], b[i], c[i]);
        
        if(Select_Test_Res[i] != Select_Ref_Res[i])
        {
            printf("Select fail at %d with test = %d, ref = %d\n", i, Select_Test_Res[i], Select_Ref_Res[i]);
            
            printf("a_mx_f[0] = %.3f, a_mx_f[1] = %.3f, a_mx_f[2] = %.3f, a_mx_f[3] = %.3f\n", a[i].tMaxs().m_floats[0], a[i].tMaxs().m_floats[1], a[i].tMaxs().m_floats[2], a[i].tMaxs().m_floats[3]);
            printf("a_mi_f[0] = %.3f, a_mi_f[1] = %.3f, a_mi_f[2] = %.3f, a_mi_f[3] = %.3f\n", a[i].tMins().m_floats[0], a[i].tMins().m_floats[1], a[i].tMins().m_floats[2], a[i].tMins().m_floats[3]);
            printf("b_mx_f[0] = %.3f, b_mx_f[1] = %.3f, b_mx_f[2] = %.3f, b_mx_f[3] = %.3f\n", b[i].tMaxs().m_floats[0], b[i].tMaxs().m_floats[1], b[i].tMaxs().m_floats[2], b[i].tMaxs().m_floats[3]);
            printf("b_mi_f[0] = %.3f, b_mi_f[1] = %.3f, b_mi_f[2] = %.3f, b_mi_f[3] = %.3f\n", b[i].tMins().m_floats[0], b[i].tMins().m_floats[1], b[i].tMins().m_floats[2], b[i].tMins().m_floats[3]);
            printf("c_mx_f[0] = %.3f, c_mx_f[1] = %.3f, c_mx_f[2] = %.3f, c_mx_f[3] = %.3f\n", c[i].tMaxs().m_floats[0], c[i].tMaxs().m_floats[1], c[i].tMaxs().m_floats[2], c[i].tMaxs().m_floats[3]);
            printf("c_mi_f[0] = %.3f, c_mi_f[1] = %.3f, c_mi_f[2] = %.3f, c_mi_f[3] = %.3f\n", c[i].tMins().m_floats[0], c[i].tMins().m_floats[1], c[i].tMins().m_floats[2], c[i].tMins().m_floats[3]);
            
            printf("a_mx_f_ref[0] = %.3f, a_mx_f_ref[1] = %.3f, a_mx_f_ref[2] = %.3f, a_mx_f_ref[3] = %.3f\n", a_ref[i].tMaxs().m_floats[0], a_ref[i].tMaxs().m_floats[1], a_ref[i].tMaxs().m_floats[2], a_ref[i].tMaxs().m_floats[3]);
            printf("a_mi_f_ref[0] = %.3f, a_mi_f_ref[1] = %.3f, a_mi_f_ref[2] = %.3f, a_mi_f_ref[3] = %.3f\n", a_ref[i].tMins().m_floats[0], a_ref[i].tMins().m_floats[1], a_ref[i].tMins().m_floats[2], a_ref[i].tMins().m_floats[3]);
            printf("b_mx_f_ref[0] = %.3f, b_mx_f_ref[1] = %.3f, b_mx_f_ref[2] = %.3f, b_mx_f_ref[3] = %.3f\n", b_ref[i].tMaxs().m_floats[0], b_ref[i].tMaxs().m_floats[1], b_ref[i].tMaxs().m_floats[2], b_ref[i].tMaxs().m_floats[3]);
            printf("b_mi_f_ref[0] = %.3f, b_mi_f_ref[1] = %.3f, b_mi_f_ref[2] = %.3f, b_mi_f_ref[3] = %.3f\n", b_ref[i].tMins().m_floats[0], b_ref[i].tMins().m_floats[1], b_ref[i].tMins().m_floats[2], b_ref[i].tMins().m_floats[3]);
            printf("c_mx_f_ref[0] = %.3f, c_mx_f_ref[1] = %.3f, c_mx_f_ref[2] = %.3f, c_mx_f_ref[3] = %.3f\n", c_ref[i].tMaxs().m_floats[0], c_ref[i].tMaxs().m_floats[1], c_ref[i].tMaxs().m_floats[2], c_ref[i].tMaxs().m_floats[3]);
            printf("c_mi_f_ref[0] = %.3f, c_mi_f_ref[1] = %.3f, c_mi_f_ref[2] = %.3f, c_mi_f_ref[3] = %.3f\n", c_ref[i].tMins().m_floats[0], c_ref[i].tMins().m_floats[1], c_ref[i].tMins().m_floats[2], c_ref[i].tMins().m_floats[3]);
			return 1;
		}
        
    }
    
    return 0;
}
#endif