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//
// Test_3x3setRot.cpp
// BulletTest
//
// Copyright (c) 2011 Apple Inc.
//
#include "LinearMath/btScalar.h"
#if defined(BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
#include "Test_3x3setRot.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 inline btSimdFloat4 qtrand_f4(void)
{
return btAssign128(RANDF_01, RANDF_01, RANDF_01, RANDF_01);
}
static btMatrix3x3 M3x3setRot_ref(btMatrix3x3 &m, const btQuaternion &q)
{
btScalar d = q.length2();
btScalar s = btScalar(2.0) / d;
btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
m.setValue(
btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
return m;
}
static int operator!=(const btMatrix3x3 &a, const btMatrix3x3 &b)
{
int i;
btVector3 av3, bv3;
for (i = 0; i < 3; i++)
{
av3 = a.getRow(i);
bv3 = b.getRow(i);
if (fabs(av3.m_floats[0] - bv3.m_floats[0]) +
fabs(av3.m_floats[1] - bv3.m_floats[1]) +
fabs(av3.m_floats[2] - bv3.m_floats[2]) >
FLT_EPSILON * 4)
return 1;
}
return 0;
}
int Test_3x3setRot(void)
{
// Init an array flanked by guard pages
btMatrix3x3 in1[ARRAY_SIZE];
btQuaternion in2[ARRAY_SIZE];
btMatrix3x3 in3[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] = btQuaternion(qtrand_f4());
in3[i] = in1[i];
out[i] = M3x3setRot_ref(in1[i], in2[i]);
in3[i].setRotation(in2[i]);
out2[i] = in3[i];
if (out[i] != out2[i])
{
vlog("Error - M3x3setRot 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 = (%10.7f, %10.7f, %10.7f, %10.7f) "
"\n (%10.7f, %10.7f, %10.7f, %10.7f) "
"\n (%10.7f, %10.7f, %10.7f, %10.7f) \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 = (%10.7f, %10.7f, %10.7f, %10.7f) "
"\n (%10.7f, %10.7f, %10.7f, %10.7f) "
"\n (%10.7f, %10.7f, %10.7f, %10.7f) \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] = M3x3setRot_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++)
{
in3[i].setRotation(in2[i]);
out2[i] = in3[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
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