165 lines
4.6 KiB
C++
165 lines
4.6 KiB
C++
//
|
|
// Test_3x3mulM1M2.cpp
|
|
// BulletTest
|
|
//
|
|
// Copyright (c) 2011 Apple Inc.
|
|
//
|
|
|
|
|
|
#include "LinearMath/btScalar.h"
|
|
#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
|
|
|
|
|
|
#include "Test_3x3mulM1M2.h"
|
|
#include "vector.h"
|
|
#include "Utils.h"
|
|
#include "main.h"
|
|
#include <math.h>
|
|
#include <string.h>
|
|
|
|
#include <LinearMath/btMatrix3x3.h>
|
|
|
|
#define LOOPCOUNT 1000
|
|
#define ARRAY_SIZE 128
|
|
|
|
static inline btSimdFloat4 rand_f4(void)
|
|
{
|
|
return btAssign128( RANDF_01, RANDF_01, RANDF_01, BT_NAN ); // w channel NaN
|
|
}
|
|
|
|
static btMatrix3x3 M3x3mulM1M2_ref( const btMatrix3x3 &m1, const btMatrix3x3 &m2 )
|
|
{
|
|
return btMatrix3x3(
|
|
m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),
|
|
m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),
|
|
m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]));
|
|
}
|
|
|
|
static bool fuzzyEqualSlow(const btVector3& ref, const btVector3& other)
|
|
{
|
|
const btScalar epsilon = SIMD_EPSILON;
|
|
return ((btFabs(ref.m_floats[3]-other.m_floats[3])<=epsilon) &&
|
|
(btFabs(ref.m_floats[2]-other.m_floats[2])<=epsilon) &&
|
|
(btFabs(ref.m_floats[1]-other.m_floats[1])<=epsilon) &&
|
|
(btFabs(ref.m_floats[0]-other.m_floats[0])<=epsilon));
|
|
}
|
|
|
|
|
|
static int operator!= ( const btMatrix3x3 &a, const btMatrix3x3 &b )
|
|
{
|
|
if( a.getRow(0) != b.getRow(0) )
|
|
{
|
|
if (!fuzzyEqualSlow(a.getRow(0),b.getRow(0)))
|
|
{
|
|
return 1;
|
|
}
|
|
}
|
|
if( a.getRow(1) != b.getRow(1) )
|
|
{
|
|
if( !fuzzyEqualSlow(a.getRow(1),b.getRow(1)) )
|
|
return 1;
|
|
}
|
|
if( a.getRow(2) != b.getRow(2) )
|
|
{
|
|
if( !fuzzyEqualSlow(a.getRow(2),b.getRow(2)) )
|
|
{
|
|
return 1;
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
int Test_3x3mulM1M2(void)
|
|
{
|
|
// Init an array flanked by guard pages
|
|
btMatrix3x3 in1[ARRAY_SIZE];
|
|
btMatrix3x3 in2[ARRAY_SIZE];
|
|
btMatrix3x3 out[ARRAY_SIZE];
|
|
btMatrix3x3 out2[ARRAY_SIZE];
|
|
|
|
// Init the data
|
|
size_t i, j;
|
|
for( i = 0; i < ARRAY_SIZE; i++ )
|
|
{
|
|
in1[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
|
|
in2[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
|
|
|
|
out[i] = M3x3mulM1M2_ref(in1[i], in2[i]);
|
|
out2[i] = (in1[i] * in2[i]);
|
|
|
|
if( out[i] != out2[i] )
|
|
{
|
|
vlog( "Error - M3x3mulM1M2 result error! ");
|
|
vlog( "failure @ %ld\n", i);
|
|
btVector3 m0, m1, m2;
|
|
m0 = out[i].getRow(0);
|
|
m1 = out[i].getRow(1);
|
|
m2 = out[i].getRow(2);
|
|
|
|
vlog( "\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) "
|
|
"\n (%10.4f, %10.4f, %10.4f, %10.4f) "
|
|
"\n (%10.4f, %10.4f, %10.4f, %10.4f) \n",
|
|
m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
|
|
m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
|
|
m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.m_floats[3]);
|
|
|
|
m0 = out2[i].getRow(0);
|
|
m1 = out2[i].getRow(1);
|
|
m2 = out2[i].getRow(2);
|
|
|
|
vlog( "\ntested = (%10.4f, %10.4f, %10.4f, %10.4f) "
|
|
"\n (%10.4f, %10.4f, %10.4f, %10.4f) "
|
|
"\n (%10.4f, %10.4f, %10.4f, %10.4f) \n",
|
|
m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
|
|
m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
|
|
m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.m_floats[3]);
|
|
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
uint64_t scalarTime, vectorTime;
|
|
uint64_t startTime, bestTime, currentTime;
|
|
bestTime = -1LL;
|
|
scalarTime = 0;
|
|
for (j = 0; j < LOOPCOUNT; j++)
|
|
{
|
|
startTime = ReadTicks();
|
|
for( i = 0; i < ARRAY_SIZE; i++ )
|
|
out[i] = M3x3mulM1M2_ref(in1[i], in2[i]);
|
|
currentTime = ReadTicks() - startTime;
|
|
scalarTime += currentTime;
|
|
if( currentTime < bestTime )
|
|
bestTime = currentTime;
|
|
}
|
|
if( 0 == gReportAverageTimes )
|
|
scalarTime = bestTime;
|
|
else
|
|
scalarTime /= LOOPCOUNT;
|
|
|
|
bestTime = -1LL;
|
|
vectorTime = 0;
|
|
for (j = 0; j < LOOPCOUNT; j++)
|
|
{
|
|
startTime = ReadTicks();
|
|
for( i = 0; i < ARRAY_SIZE; i++ )
|
|
out2[i] = (in1[i] * in2[i]);
|
|
currentTime = ReadTicks() - startTime;
|
|
vectorTime += currentTime;
|
|
if( currentTime < bestTime )
|
|
bestTime = currentTime;
|
|
}
|
|
if( 0 == gReportAverageTimes )
|
|
vectorTime = bestTime;
|
|
else
|
|
vectorTime /= LOOPCOUNT;
|
|
|
|
vlog( "Timing:\n" );
|
|
vlog( "\t scalar\t vector\n" );
|
|
vlog( "\t%10.2f\t%10.2f\n", TicksToCycles( scalarTime ) / ARRAY_SIZE, TicksToCycles( vectorTime ) / ARRAY_SIZE );
|
|
|
|
return 0;
|
|
}
|
|
|
|
#endif //BT_USE_SSE
|