Test/Source/Tests/Test_qtdot.cpp

   1 //
   2 //  Test_qtdot.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 #include "Test_qtdot.h"
  14 #include "vector.h"
  15 #include "Utils.h"
  16 #include "main.h"
  17 #include <math.h>
  18 #include <string.h>
  19
  20 #include <LinearMath/btQuaternion.h>
  21
  22 #define BT_OP(a, b)     (a.dot(b))
  23 // reference code for testing purposes
  24 static inline btScalar qtdot_ref(btQuaternion& q1, btQuaternion& q2);
  25
  26 static inline btScalar qtdot_ref(btQuaternion& q1, btQuaternion& q2)
  27 {
  28     return
  29         q1.x() * q2.x() +
  30         q1.y() * q2.y() +
  31         q1.z() * q2.z() +
  32         q1.w() * q2.w();
  33 }
  34
  35 #define LOOPCOUNT 1024
  36 #define NUM_CYCLES 1000
  37
  38 int Test_qtdot(void)
  39 {
  40     btQuaternion q1, q2;
  41         float x, y, z, w, vNaN;
  42     vNaN = BT_NAN;     // w channel NaN
  43
  44     // Init the data
  45     x = RANDF_01;
  46     y = RANDF_01;
  47     z = RANDF_01;
  48     w = RANDF_01;
  49     q1.setValue(x,y,z,w);
  50
  51     x = RANDF_01;
  52     y = RANDF_01;
  53     z = RANDF_01;
  54     w = RANDF_01;
  55     q2.setValue(x,y,z,w);
  56
  57         btScalar correct_res, test_res;
  58
  59     {
  60                 correct_res = vNaN;
  61                 test_res = vNaN;
  62                 correct_res = qtdot_ref(q1, q2);
  63                 test_res = BT_OP(q1,q2);
  64
  65                 if( fabsf(correct_res - test_res) > FLT_EPSILON*4 )
  66                 {
  67                         vlog( "Error - qtdot result error! "
  68                                         "\ncorrect = %10.4f "
  69                                         "\ntested  = %10.4f \n",
  70                                         correct_res, test_res);
  71
  72                         return 1;
  73                 }
  74         }
  75
  76 #define DATA_SIZE LOOPCOUNT
  77
  78         btQuaternion qt_arr1[DATA_SIZE];
  79         btQuaternion qt_arr2[DATA_SIZE];
  80     btScalar     res_arr[DATA_SIZE];
  81
  82     uint64_t scalarTime;
  83     uint64_t vectorTime;
  84     size_t j, k;
  85
  86     for( k = 0; k < DATA_SIZE; k++ )
  87     {
  88         x = RANDF_01;
  89         y = RANDF_01;
  90         z = RANDF_01;
  91         w = RANDF_01;
  92         qt_arr1[k].setValue(x,y,z,w);
  93
  94         x = RANDF_01;
  95         y = RANDF_01;
  96         z = RANDF_01;
  97         w = RANDF_01;
  98         qt_arr2[k].setValue(x,y,z,w);
  99     }
 100
 101         {
 102         uint64_t startTime, bestTime, currentTime;
 103
 104         bestTime = -1LL;
 105         scalarTime = 0;
 106         for (j = 0; j < NUM_CYCLES; j++)
 107                 {
 108             startTime = ReadTicks();
 109             for( k = 0; k+4 <= LOOPCOUNT; k+=4 )
 110                         {
 111                                 size_t km = (k & (DATA_SIZE-1));
 112                 res_arr[km] = qtdot_ref(qt_arr1[km], qt_arr2[km]);km++;
 113                 res_arr[km] = qtdot_ref(qt_arr1[km], qt_arr2[km]);km++;
 114                 res_arr[km] = qtdot_ref(qt_arr1[km], qt_arr2[km]);km++;
 115                 res_arr[km] = qtdot_ref(qt_arr1[km], qt_arr2[km]);
 116                         }
 117                         currentTime = ReadTicks() - startTime;
 118             scalarTime += currentTime;
 119             if( currentTime < bestTime )
 120                 bestTime = currentTime;
 121         }
 122         if( 0 == gReportAverageTimes )
 123             scalarTime = bestTime;
 124         else
 125             scalarTime /= NUM_CYCLES;
 126     }
 127
 128     {
 129         uint64_t startTime, bestTime, currentTime;
 130
 131         bestTime = -1LL;
 132         vectorTime = 0;
 133         for (j = 0; j < NUM_CYCLES; j++)
 134                 {
 135             startTime = ReadTicks();
 136             for( k = 0; k+4 <= LOOPCOUNT; k+=4 )
 137                         {
 138                                 size_t km = (k & (DATA_SIZE-1));
 139                 res_arr[km] = BT_OP(qt_arr1[km], qt_arr2[km]);km++;
 140                 res_arr[km] = BT_OP(qt_arr1[km], qt_arr2[km]);km++;
 141                 res_arr[km] = BT_OP(qt_arr1[km], qt_arr2[km]);km++;
 142                 res_arr[km] = BT_OP(qt_arr1[km], qt_arr2[km]);km++;
 143                         }
 144                         currentTime = ReadTicks() - startTime;
 145             vectorTime += currentTime;
 146             if( currentTime < bestTime )
 147                 bestTime = currentTime;
 148         }
 149         if( 0 == gReportAverageTimes )
 150             vectorTime = bestTime;
 151         else
 152             vectorTime /= NUM_CYCLES;
 153     }
 154
 155     vlog( "Timing:\n" );
 156     vlog( "     \t    scalar\t    vector\n" );
 157     vlog( "    \t%10.4f\t%10.4f\n", TicksToCycles( scalarTime ) / LOOPCOUNT,
 158                                                                         TicksToCycles( vectorTime ) / LOOPCOUNT );
 159
 160     return 0;
 161 }
 162 #endif //BT_USE_SSE