bullet3/test/Bullet2/Source/Tests/Test_v3interp.cpp

//
//  Test_v3interp.cpp
//  BulletTest
//
//  Copyright (c) 2011 Apple Inc.
//




#include "LinearMath/btScalar.h"
#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)

#include "Test_v3interp.h"
#include "vector.h"
#include "Utils.h"
#include "main.h"
#include <math.h>
#include <string.h>

#include <LinearMath/btVector3.h>

// reference code for testing purposes
static inline 
btVector3& v3interp_ref(
    btVector3& vr, 
    btVector3& v0, 
    btVector3& v1, 
    btScalar& rt);

#define LOOPCOUNT 1024
#define NUM_CYCLES 1000

int Test_v3interp(void)
{
    btVector3 v1, v2;
	btScalar rt;
    
    float x,y,z,w;

	float vNaN = BT_NAN;
    w = BT_NAN;     // w channel NaN
    
    btVector3 correct_res, test_res;

    for (rt = 0.0f; rt <= 1.0f; rt += 0.1f) 
    {
		correct_res.setValue(vNaN, vNaN, vNaN); 
		test_res.setValue(vNaN, vNaN, vNaN);

        // Init the data
        x = RANDF_01;
        y = RANDF_01;
        z = RANDF_01;
        v1.setValue(x,y,z);
        v1.setW(w);

        x = RANDF_01;
        y = RANDF_01;
        z = RANDF_01;
        v2.setValue(x,y,z);
        v2.setW(w);

        correct_res = v3interp_ref(correct_res, v1, v2, rt);
        //test self-referencing vector, see issue https://github.com/bulletphysics/bullet3/pull/313
		test_res = v1;
		test_res.setInterpolate3(test_res, v2, rt);
	   
		if( fabs(correct_res.m_floats[0] - test_res.m_floats[0]) +  
			fabs(correct_res.m_floats[1] - test_res.m_floats[1]) + 
			fabs(correct_res.m_floats[2] - test_res.m_floats[2]) > FLT_EPSILON * 4)
		{	
			vlog( "Error - v3interp result error! "
					"\ncorrect = (%10.4f, %10.4f, %10.4f) "
					"\ntested  = (%10.4f, %10.4f, %10.4f) \n"
                    "\n rt=%10.4f", 
					correct_res.m_floats[0], correct_res.m_floats[1], correct_res.m_floats[2], 
					test_res.m_floats[0], test_res.m_floats[1], test_res.m_floats[2], rt);
		
			return 1;
		}
	}
    
#define DATA_SIZE LOOPCOUNT

	btVector3 vec3_arr1[DATA_SIZE];
	btVector3 vec3_arr2[DATA_SIZE];
    btScalar  rt_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++ )
			{
                x = RANDF_01;
                y = RANDF_01;
                z = RANDF_01;
				vec3_arr1[k].setValue(x,y,z);
				vec3_arr1[k].setW(w);

                x = RANDF_01;
                y = RANDF_01;
                z = RANDF_01;
				vec3_arr2[k].setValue(x,y,z);
				vec3_arr2[k].setW(w);
		
                rt_arr[k] = RANDF_01;
            }

            startTime = ReadTicks();
            for( k = 0; k < LOOPCOUNT; k++ )
			{
	            v3interp_ref(vec3_arr1[k], vec3_arr1[k], vec3_arr2[k], rt_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++ )
			{
                x = RANDF_01;
                y = RANDF_01;
                z = RANDF_01;
				vec3_arr1[k].setValue(x,y,z);
				vec3_arr1[k].setW(w);

                x = RANDF_01;
                y = RANDF_01;
                z = RANDF_01;
				vec3_arr2[k].setValue(x,y,z);
				vec3_arr2[k].setW(w);
                
                rt_arr[k] = RANDF_01;
			}

            startTime = ReadTicks();
            for( k = 0; k < LOOPCOUNT; k++ )
			{
				vec3_arr1[k].setInterpolate3(vec3_arr1[k], vec3_arr2[k], rt_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;
}

static btVector3& 
v3interp_ref(
    btVector3& vr, 
    btVector3& v0, 
    btVector3& v1, 
    btScalar& rt)
{
    btScalar s = btScalar(1.0) - rt;
    vr.m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
    vr.m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
    vr.m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];

	return vr;
}

#endif //BT_USE_SSE