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//
// Test_3x3timesTranspose.cpp
// BulletTest
//
// Copyright (c) 2011 Apple Inc.
//
#include "LinearMath/btScalar.h"
#if defined(BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
#include "Test_3x3timesTranspose.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, RANDF, RANDF, BT_NAN); // w channel NaN
}
static btMatrix3x3 timesTranspose(const btMatrix3x3 &in, const btMatrix3x3 &m)
{
btVector3 m_el[3] = {in[0], in[1], in[2]};
return btMatrix3x3(
m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
}
static int operator!=(const btMatrix3x3 &a, const btMatrix3x3 &b)
{
if (a.getRow(0) != b.getRow(0))
return 1;
if (a.getRow(1) != b.getRow(1))
return 1;
if (a.getRow(2) != b.getRow(2))
return 1;
return 0;
}
int Test_3x3timesTranspose(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] = timesTranspose(in1[i], in2[i]);
out2[i] = in1[i].timesTranspose(in2[i]);
if (out[i] != out2[i])
{
printf("failure @ %ld\n", i);
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] = timesTranspose(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++)
out[i] = in1[i].timesTranspose(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
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