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//
// Test_3x3transposeTimes.cpp
// BulletTest
//
// Copyright (c) 2011 Apple Inc.
//
#include "LinearMath/btScalar.h"
#if defined(BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
#include "Test_3x3transposeTimes.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 TransposeTimesReference(const btMatrix3x3 &in, const btMatrix3x3 &m)
{
btVector3 m_el[3] = {in[0], in[1], in[2]};
btSimdFloat4 r0 = btAssign128(m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
0.0f);
btSimdFloat4 r1 = btAssign128(m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
0.0f);
btSimdFloat4 r2 = btAssign128(m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z(),
0.0f);
return btMatrix3x3(r0, r1, r2);
}
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_3x3transposeTimes(void)
{
// Init an array flanked by guard pages
btMatrix3x3 in1[ARRAY_SIZE];
btMatrix3x3 in2[ARRAY_SIZE];
btMatrix3x3 out[ARRAY_SIZE];
btMatrix3x3 out2[ARRAY_SIZE];
float maxRelativeError = 0.f;
// 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] = TransposeTimesReference(in1[i], in2[i]);
out2[i] = in1[i].transposeTimes(in2[i]);
if (out[i] != out2[i])
{
float relativeError = 0.f;
for (int column = 0; column < 3; column++)
for (int row = 0; row < 3; row++)
relativeError = btMax(relativeError, btFabs(out2[i][row][column] - out[i][row][column]) / out[i][row][column]);
if (relativeError > 1e-6)
{
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;
}
else
{
if (relativeError > maxRelativeError)
maxRelativeError = relativeError;
}
}
}
if (maxRelativeError)
{
printf("Warning: maxRelativeError = %e\n", maxRelativeError);
}
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] = TransposeTimesReference(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].transposeTimes(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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