162 lines
4.0 KiB
C++
162 lines
4.0 KiB
C++
//
|
|
// Test_qtmulV3Q.cpp
|
|
// BulletTest
|
|
//
|
|
// Copyright (c) 2011 Apple Inc.
|
|
//
|
|
|
|
|
|
#include "LinearMath/btScalar.h"
|
|
#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
|
|
|
|
#include "Test_qtmulV3Q.h"
|
|
#include "vector.h"
|
|
#include "Utils.h"
|
|
#include "main.h"
|
|
#include <math.h>
|
|
#include <string.h>
|
|
|
|
#include <LinearMath/btQuaternion.h>
|
|
|
|
#define BT_OP(a, b) ((a) * (b))
|
|
// reference code for testing purposes
|
|
static inline btQuaternion qtmulV3Q_ref(const btVector3& w, const btQuaternion& q);
|
|
|
|
static inline btQuaternion qtmulV3Q_ref(const btVector3& w, const btQuaternion& q)
|
|
{
|
|
return btQuaternion(
|
|
+w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
|
|
+w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
|
|
+w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
|
|
-w.x() * q.x() - w.y() * q.y() - w.z() * q.z());
|
|
}
|
|
|
|
#define LOOPCOUNT 1024
|
|
#define NUM_CYCLES 1000
|
|
|
|
static inline btSimdFloat4 rand_f4(void)
|
|
{
|
|
return btAssign128( RANDF_m1p1, RANDF_m1p1, RANDF_m1p1, BT_NAN ); // w channel NaN
|
|
}
|
|
|
|
static inline btSimdFloat4 qtrand_f4(void)
|
|
{
|
|
return btAssign128( RANDF_m1p1, RANDF_m1p1, RANDF_m1p1, RANDF_m1p1 );
|
|
}
|
|
|
|
static inline btSimdFloat4 qtNAN_f4(void)
|
|
{
|
|
return btAssign128( BT_NAN, BT_NAN, BT_NAN, BT_NAN );
|
|
}
|
|
|
|
int Test_qtmulV3Q(void)
|
|
{
|
|
btQuaternion q;
|
|
btVector3 v3;
|
|
|
|
// Init the data
|
|
q = btQuaternion(qtrand_f4());
|
|
v3 = btVector3(rand_f4());
|
|
|
|
btQuaternion correct_res, test_res;
|
|
correct_res = btQuaternion(qtNAN_f4());
|
|
test_res = btQuaternion(qtNAN_f4());
|
|
|
|
{
|
|
correct_res = qtmulV3Q_ref(v3, q);
|
|
test_res = BT_OP(v3, q);
|
|
|
|
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*8 )
|
|
{
|
|
vlog( "Error - qtmulV3Q 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_arrR[DATA_SIZE];
|
|
btQuaternion qt_arr[DATA_SIZE];
|
|
btVector3 v3_arr[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++ )
|
|
{
|
|
qt_arr[k] = btQuaternion(qtrand_f4());
|
|
v3_arr[k] = btVector3(rand_f4());
|
|
}
|
|
|
|
startTime = ReadTicks();
|
|
for( k = 0; k < LOOPCOUNT; k++ )
|
|
{
|
|
qt_arrR[k] = qtmulV3Q_ref(v3_arr[k], qt_arr[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++ )
|
|
{
|
|
qt_arr[k] = btQuaternion(qtrand_f4());
|
|
v3_arr[k] = btVector3(rand_f4());
|
|
}
|
|
|
|
startTime = ReadTicks();
|
|
for( k = 0; k < LOOPCOUNT; k++ )
|
|
{
|
|
qt_arrR[k] = BT_OP(v3_arr[k], qt_arr[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//#ifdef BT_USE_SSE
|