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//
// Test_qtmulQV3.cpp
// BulletTest
//
// Copyright (c) 2011 Apple Inc.
//
#include "LinearMath/btScalar.h"
#if defined(BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
#include "Test_qtmulQV3.h"
#include "vector.h"
#include "Utils.h"
#include "main.h"
#include <math.h>
#include <string.h>
#include <LinearMath/btQuaternion.h>
#define BT_OP(a, b) ((a) * (b))
// reference code for testing purposes
static inline btQuaternion qtmulQV3_ref(const btQuaternion& q, const btVector3& w);
static inline btQuaternion qtmulQV3_ref(const btQuaternion& q, const btVector3& w)
{
return btQuaternion(
q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
-q.x() * w.x() - q.y() * w.y() - q.z() * w.z());
}
#define LOOPCOUNT 1024
#define NUM_CYCLES 1000
static inline btSimdFloat4 rand_f4(void)
{
return btAssign128(RANDF_m1p1, RANDF_m1p1, RANDF_m1p1, BT_NAN); // w channel NaN
}
static inline btSimdFloat4 qtrand_f4(void)
{
return btAssign128(RANDF_m1p1, RANDF_m1p1, RANDF_m1p1, RANDF_m1p1);
}
static inline btSimdFloat4 qtNAN_f4(void)
{
return btAssign128(BT_NAN, BT_NAN, BT_NAN, BT_NAN);
}
int Test_qtmulQV3(void)
{
btQuaternion q;
btVector3 v3;
// Init the data
q = btQuaternion(qtrand_f4());
v3 = btVector3(rand_f4());
btQuaternion correct_res, test_res;
correct_res = btQuaternion(qtNAN_f4());
test_res = btQuaternion(qtNAN_f4());
{
correct_res = qtmulQV3_ref(q, v3);
test_res = BT_OP(q, v3);
if (fabsf(correct_res.x() - test_res.x()) +
fabsf(correct_res.y() - test_res.y()) +
fabsf(correct_res.z() - test_res.z()) +
fabsf(correct_res.w() - test_res.w()) >
FLT_EPSILON * 8)
{
vlog(
"Error - qtmulQV3 result error! "
"\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) "
"\ntested = (%10.4f, %10.4f, %10.4f, %10.4f) \n",
correct_res.x(), correct_res.y(),
correct_res.z(), correct_res.w(),
test_res.x(), test_res.y(),
test_res.z(), test_res.w());
return 1;
}
}
#define DATA_SIZE LOOPCOUNT
btQuaternion qt_arrR[DATA_SIZE];
btQuaternion qt_arr[DATA_SIZE];
btVector3 v3_arr[DATA_SIZE];
uint64_t scalarTime;
uint64_t vectorTime;
size_t j, k;
{
uint64_t startTime, bestTime, currentTime;
bestTime = -1LL;
scalarTime = 0;
for (j = 0; j < NUM_CYCLES; j++)
{
for (k = 0; k < DATA_SIZE; k++)
{
qt_arr[k] = btQuaternion(qtrand_f4());
v3_arr[k] = btVector3(rand_f4());
}
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
{
qt_arrR[k] = qtmulQV3_ref(qt_arr[k], v3_arr[k]);
}
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++)
{
for (k = 0; k < DATA_SIZE; k++)
{
qt_arr[k] = btQuaternion(qtrand_f4());
v3_arr[k] = btVector3(rand_f4());
}
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
{
qt_arrR[k] = BT_OP(qt_arr[k], v3_arr[k]);
}
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;
}
#endif //BT_USE_SSE
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