bullet3/test/Bullet2/Source/Tests/Test_qtmulQV3.cpp

//
//  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