1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
|
//
// Test_v3skew.cpp
// BulletTest
//
// Copyright (c) 2011 Apple Inc.
//
#include "LinearMath/btScalar.h"
#if defined(BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
#include "Test_v3skew.h"
#include "vector.h"
#include "Utils.h"
#include "main.h"
#include <math.h>
#include <string.h>
#include <LinearMath/btVector3.h>
// reference code for testing purposes
static void
v3skew_ref(
const btVector3* v,
btVector3* v1,
btVector3* v2,
btVector3* v3);
#define LOOPCOUNT 2048
#define NUM_CYCLES 10000
int Test_v3skew(void)
{
btVector3 v, v1, v2, v3, vt1, vt2, vt3;
float x, y, z, w;
// Init the data
x = RANDF_01;
y = RANDF_01;
z = RANDF_01;
w = BT_NAN; // w channel NaN
v.setValue(x, y, z);
v.setW(w);
v1.setValue(w, w, w);
v1.setW(w);
vt3 = vt2 = vt1 = v3 = v2 = v1;
{
v3skew_ref(&v, &v1, &v2, &v3);
v.getSkewSymmetricMatrix(&vt1, &vt2, &vt3);
/*
if( v1.m_floats[0] != vt1.m_floats[0] ||
v1.m_floats[1] != vt1.m_floats[1] ||
v1.m_floats[2] != vt1.m_floats[2] )
*/
if (!(v1 == vt1))
{
vlog(
"Error - v3skew result error! "
"\ncorrect v1 = (%10.4f, %10.4f, %10.4f) "
"\ntested v1 = (%10.4f, %10.4f, %10.4f) \n",
v1.m_floats[0], v1.m_floats[1], v1.m_floats[2],
vt1.m_floats[0], vt1.m_floats[1], vt1.m_floats[2]);
return 1;
}
/*
if( v2.m_floats[0] != vt2.m_floats[0] ||
v2.m_floats[1] != vt2.m_floats[1] ||
v2.m_floats[2] != vt2.m_floats[2] )
*/
if (!(v2 == vt2))
{
vlog(
"Error - v3skew result error! "
"\ncorrect v2 = (%10.4f, %10.4f, %10.4f) "
"\ntested v2 = (%10.4f, %10.4f, %10.4f) \n",
v2.m_floats[0], v2.m_floats[1], v2.m_floats[2],
vt2.m_floats[0], vt2.m_floats[1], vt2.m_floats[2]);
return 1;
}
/*
if( v3.m_floats[0] != vt3.m_floats[0] ||
v3.m_floats[1] != vt3.m_floats[1] ||
v3.m_floats[2] != vt3.m_floats[2] )
*/
if (!(v3 == vt3))
{
vlog(
"Error - v3skew result error! "
"\ncorrect v3 = (%10.4f, %10.4f, %10.4f) "
"\ntested v3 = (%10.4f, %10.4f, %10.4f) \n",
v3.m_floats[0], v3.m_floats[1], v3.m_floats[2],
vt3.m_floats[0], vt3.m_floats[1], vt3.m_floats[2]);
return 1;
}
}
#define DATA_SIZE 256
btVector3 v3_arr0[DATA_SIZE];
btVector3 v3_arr1[DATA_SIZE];
btVector3 v3_arr2[DATA_SIZE];
btVector3 v3_arr3[DATA_SIZE];
uint64_t scalarTime;
uint64_t vectorTime;
size_t j, k;
for (k = 0; k < DATA_SIZE; k++)
{
x = RANDF_01;
y = RANDF_01;
z = RANDF_01;
v3_arr0[k].setValue(x, y, z);
v3_arr0[k].setW(w);
v3_arr1[k].setValue(w, w, w);
v3_arr1[k].setW(w);
v3_arr3[k] = v3_arr2[k] = v3_arr1[k];
}
{
uint64_t startTime, bestTime, currentTime;
bestTime = -1LL;
scalarTime = 0;
for (j = 0; j < NUM_CYCLES; j++)
{
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
{
size_t k32 = (k & (DATA_SIZE - 1));
v3skew_ref(&v3_arr0[k32], &v3_arr1[k32], &v3_arr2[k32], &v3_arr3[k32]);
}
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++)
{
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
{
size_t k32 = (k & (DATA_SIZE - 1));
v3_arr0[k32].getSkewSymmetricMatrix(&v3_arr1[k32], &v3_arr2[k32], &v3_arr3[k32]);
}
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;
}
static void
v3skew_ref(
const btVector3* v,
btVector3* v1,
btVector3* v2,
btVector3* v3)
{
v1->setValue(0., -v->z(), v->y());
v2->setValue(v->z(), 0., -v->x());
v3->setValue(-v->y(), v->x(), 0.);
}
#endif //BT_USE_SSE
|
