// // Test_qtmul.cpp // BulletTest // // Copyright (c) 2011 Apple Inc. // #include "LinearMath/btScalar.h" #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #include "Test_qtmul.h" #include "vector.h" #include "Utils.h" #include "main.h" #include #include #include #define BT_OP(a, b) ((a) *= (b)) // reference code for testing purposes static inline btQuaternion& qtmul_ref(btQuaternion& q1, btQuaternion& q2); static inline btQuaternion& qtmul_ref(btQuaternion& q1, btQuaternion& q2) { float x,y,z,w; x = q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(), y = q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(), z = q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(), w = q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z(); q1.setValue(x, y, z, w); return q1; } #define LOOPCOUNT 1024 #define NUM_CYCLES 1000 int Test_qtmul(void) { btQuaternion q1, q2, q3; float x, y, z, w, vNaN; // Init the data x = RANDF_01; y = RANDF_01; z = RANDF_01; w = RANDF_01; vNaN = BT_NAN; // w channel NaN q1.setValue(x,y,z,w); x = RANDF_01; y = RANDF_01; z = RANDF_01; w = RANDF_01; q2.setValue(x,y,z,w); q3 = q1; btQuaternion correct_res, test_res; { float vNaN = BT_NAN; correct_res.setValue(vNaN, vNaN, vNaN, vNaN); test_res.setValue(vNaN, vNaN, vNaN, vNaN); correct_res = qtmul_ref(q1, q2); test_res = BT_OP(q3,q2); if( fabsf(correct_res.x() - test_res.x()) + fabsf(correct_res.y() - test_res.y()) + fabsf(correct_res.z() - test_res.z()) + fabsf(correct_res.w() - test_res.w()) > FLT_EPSILON*10 ) { vlog( "Error - qtmul result error! " "\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) " "\ntested = (%10.4f, %10.4f, %10.4f, %10.4f) \n", correct_res.x(), correct_res.y(), correct_res.z(), correct_res.w(), test_res.x(), test_res.y(), test_res.z(), test_res.w()); return 1; } } #define DATA_SIZE LOOPCOUNT btQuaternion qt_arr1[DATA_SIZE]; btQuaternion qt_arr2[DATA_SIZE]; uint64_t scalarTime; uint64_t vectorTime; size_t j, k; { uint64_t startTime, bestTime, currentTime; bestTime = -1LL; scalarTime = 0; for (j = 0; j < NUM_CYCLES; j++) { for( k = 0; k < DATA_SIZE; k++ ) { x = RANDF_01; y = RANDF_01; z = RANDF_01; w = RANDF_01; qt_arr1[k].setValue(x,y,z,w); x = RANDF_01; y = RANDF_01; z = RANDF_01; w = RANDF_01; qt_arr2[k].setValue(x,y,z,w); } startTime = ReadTicks(); for( k = 0; k < LOOPCOUNT; k++ ) { qt_arr1[k] = qtmul_ref(qt_arr1[k], qt_arr2[k]); } 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++) { for( k = 0; k < DATA_SIZE; k++ ) { x = RANDF_01; y = RANDF_01; z = RANDF_01; w = RANDF_01; qt_arr1[k].setValue(x,y,z,w); x = RANDF_01; y = RANDF_01; z = RANDF_01; w = RANDF_01; qt_arr2[k].setValue(x,y,z,w); } startTime = ReadTicks(); for( k = 0; k < LOOPCOUNT; k++ ) { qt_arr1[k] = BT_OP(qt_arr1[k], qt_arr2[k]); } 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; } #endif //BT_USE_SSE