Test/Source/Tests/Test_3x3mulMV.cpp

   1 //
   2 //  Test_3x3mulMV.cpp
   3 //  BulletTest
   4 //
   5 //  Copyright (c) 2011 Apple Inc.
   6 //
   7
   8
   9
  10 #include "LinearMath/btScalar.h"
  11 #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
  12
  13
  14 #include "Test_3x3mulMV.h"
  15 #include "vector.h"
  16 #include "Utils.h"
  17 #include "main.h"
  18 #include <math.h>
  19 #include <string.h>
  20
  21 #include <LinearMath/btMatrix3x3.h>
  22
  23 #define LOOPCOUNT 1000
  24 #define ARRAY_SIZE 128
  25
  26 static inline btSimdFloat4 rand_f4(void)
  27 {
  28         return btAssign128(RANDF_01, RANDF_01, RANDF_01, BT_NAN );      // w channel NaN
  29 }
  30
  31 static btVector3 M3x3mulMV_ref( const btMatrix3x3 &m, const btVector3 &v )
  32 {
  33         return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
  34 }
  35
  36 int Test_3x3mulMV(void)
  37 {
  38     // Init an array flanked by guard pages
  39     btMatrix3x3 in1[ARRAY_SIZE];
  40     btVector3   in2[ARRAY_SIZE];
  41     btVector3   out[ARRAY_SIZE];
  42     btVector3   out2[ARRAY_SIZE];
  43
  44     // Init the data
  45     size_t i, j;
  46     for( i = 0; i < ARRAY_SIZE; i++ )
  47     {
  48         in1[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
  49         in2[i] = btVector3(rand_f4());
  50
  51         out[i] = M3x3mulMV_ref(in1[i], in2[i]);
  52         out2[i] = (in1[i] * in2[i]);
  53
  54                 if( fabsf(out[i].m_floats[0] - out2[i].m_floats[0]) +
  55                         fabsf(out[i].m_floats[1] - out2[i].m_floats[1]) +
  56                         fabsf(out[i].m_floats[2] - out2[i].m_floats[2]) +
  57                         fabsf(out[i].m_floats[3] - out2[i].m_floats[3]) > FLT_EPSILON*4 )
  58                 {
  59                         vlog( "Error - M3x3mulMV result error! ");
  60             vlog( "failure @ %ld\n", i);
  61                         vlog(   "\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) "
  62                                         "\ntested  = (%10.4f, %10.4f, %10.4f, %10.4f) \n",
  63                                         out[i].m_floats[0], out[i].m_floats[1], out[i].m_floats[2], out[i].m_floats[3],
  64                                         out2[i].m_floats[0], out2[i].m_floats[1], out2[i].m_floats[2], out2[i].m_floats[3]);
  65
  66                         return 1;
  67                 }
  68     }
  69
  70     uint64_t scalarTime, vectorTime;
  71     uint64_t startTime, bestTime, currentTime;
  72     bestTime = -1LL;
  73     scalarTime = 0;
  74     for (j = 0; j < LOOPCOUNT; j++)
  75     {
  76         startTime = ReadTicks();
  77         for( i = 0; i < ARRAY_SIZE; i++ )
  78             out[i] = M3x3mulMV_ref(in1[i], in2[i]);
  79         currentTime = ReadTicks() - startTime;
  80         scalarTime += currentTime;
  81         if( currentTime < bestTime )
  82             bestTime = currentTime;
  83     }
  84     if( 0 == gReportAverageTimes )
  85         scalarTime = bestTime;
  86     else
  87         scalarTime /= LOOPCOUNT;
  88
  89     bestTime = -1LL;
  90     vectorTime = 0;
  91     for (j = 0; j < LOOPCOUNT; j++)
  92     {
  93         startTime = ReadTicks();
  94         for( i = 0; i < ARRAY_SIZE; i++ )
  95             out2[i] = (in1[i] * in2[i]);
  96         currentTime = ReadTicks() - startTime;
  97         vectorTime += currentTime;
  98         if( currentTime < bestTime )
  99             bestTime = currentTime;
 100     }
 101     if( 0 == gReportAverageTimes )
 102         vectorTime = bestTime;
 103     else
 104         vectorTime /= LOOPCOUNT;
 105
 106     vlog( "Timing:\n" );
 107     vlog( "\t    scalar\t    vector\n" );
 108     vlog( "\t%10.2f\t%10.2f\n", TicksToCycles( scalarTime ) / ARRAY_SIZE, TicksToCycles( vectorTime ) / ARRAY_SIZE );
 109
 110     return 0;
 111 }
 112 #endif //BT_USE_SSE