mirror of
https://github.com/bulletphysics/bullet3
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282 lines
8.3 KiB
C++
282 lines
8.3 KiB
C++
//
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// Test_maxdot.cpp
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// BulletTest
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//
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// Copyright (c) 2011 Apple Inc.
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//
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#include "LinearMath/btScalar.h"
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#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
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#include "Test_maxdot.h"
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#include "vector.h"
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#include "Utils.h"
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#include "main.h"
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#include <math.h>
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#include <string.h>
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#include <LinearMath/btVector3.h>
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// reference code for testing purposes
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static long maxdot_ref( const btSimdFloat4 *vertices,
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float *vec,
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size_t count,
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float *dotResult );
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#ifdef __arm__
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#define MAX_LOG2_SIZE 9
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#else
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#define MAX_LOG2_SIZE 10
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#endif
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#define MAX_SIZE (1U << MAX_LOG2_SIZE)
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#define LOOPCOUNT 10
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int Test_maxdot(void)
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{
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// Init an array flanked by guard pages
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btSimdFloat4 *data = (btSimdFloat4*) GuardCalloc( 1, MAX_SIZE * sizeof(btSimdFloat4), NULL );
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float *fp = (float*) data;
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long correct, test;
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btVector3 localScaling( 0.1f, 0.2f, 0.3f);
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size_t size;
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// Init the data
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size_t i;
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for( i = 0; i < MAX_SIZE; i++ )
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{
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fp[4*i] = (int32_t) RANDF_16;
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fp[4*i+1] = (int32_t) RANDF_16;
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fp[4*i+2] = (int32_t) RANDF_16;
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fp[4*i+3] = BT_NAN; // w channel NaN
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}
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float correctDot, testDot;
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fp = (float*) localScaling;
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float maxRelativeError = 0.f;
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for( size = 1; size <= MAX_SIZE; size++ )
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{
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float *in = (float*)(data + MAX_SIZE - size);
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size_t position;
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for( position = 0; position < size; position++ )
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{
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float *biggest = in + position * 4;
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float old[4] = { biggest[0], biggest[1], biggest[2], biggest[3] };
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biggest[0] += LARGE_FLOAT17;
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biggest[1] += LARGE_FLOAT17;
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biggest[2] += LARGE_FLOAT17;
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biggest[3] += LARGE_FLOAT17;
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correctDot = BT_NAN;
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testDot = BT_NAN;
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correct = maxdot_ref( (btSimdFloat4*) in, (float*) &localScaling, size, &correctDot);
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test = localScaling.maxDot( (btVector3*) in, size, testDot);
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if( test < 0 || test >= size )
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{
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vlog( "Error @ %ld: index out of bounds! *%ld vs %ld \n", size, correct, test);
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continue;
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}
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if( correct != test )
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{
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vlog( "Error @ %ld: index misreported! *%ld vs %ld (*%f, %f)\n", size, correct, test,
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fp[0] * in[4*correct] + fp[1] * in[4*correct+1] + fp[2] * in[4*correct+2],
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fp[0] * in[4*test] + fp[1] * in[4*test+1] + fp[2] * in[4*test+2] );
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return 1;
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}
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if( test != position )
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{
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vlog( "Biggest not found where it is supposed to be: *%ld vs %ld (*%f, %f)\n", position, test,
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fp[0] * in[4*test] + fp[1] * in[4*test+1] + fp[2] * in[4*test+2],
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fp[0] * in[4*position] + fp[1] * in[4*position+1] + fp[2] * in[4*position+2] );
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return 1;
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}
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if( correctDot != testDot )
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{
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float relativeError = btFabs((testDot - correctDot) / correctDot);
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if (relativeError>1e-6)
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{
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vlog( "Error @ %ld: dotpr misreported! *%f vs %f (*%f, %f)\n", size, correctDot, testDot,
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fp[0] * in[4*correct] + fp[1] * in[4*correct+1] + fp[2] * in[4*correct+2],
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fp[0] * in[4*test] + fp[1] * in[4*test+1] + fp[2] * in[4*test+2] );
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return 1;
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} else
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{
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if (maxRelativeError < relativeError)
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{
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maxRelativeError = relativeError;
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#ifdef VERBOSE_WARNING
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sprintf(errStr,"Warning @ %ld: dotpr misreported! *%f vs %f (*%f, %f)\n", size, correctDot, testDot,
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fp[0] * in[4*correct] + fp[1] * in[4*correct+1] + fp[2] * in[4*correct+2],
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fp[0] * in[4*test] + fp[1] * in[4*test+1] + fp[2] * in[4*test+2]);
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#endif //VERBOSE_WARNING
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}
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}
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}
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memcpy( biggest, old, 16 );
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}
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}
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if (maxRelativeError)
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{
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printf("Warning: relative error = %e\n", maxRelativeError);
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#ifdef VERBOSE_WARNING
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vlog(errStr);
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#endif
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}
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uint64_t scalarTimes[33 + (MAX_LOG2_SIZE-5)];
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uint64_t vectorTimes[33 + (MAX_LOG2_SIZE-5)];
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size_t j, k;
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float *in = (float*) data;
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for( size = 1; size <= 32; size++ )
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{
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uint64_t startTime, bestTime, currentTime;
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bestTime = -1LL;
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scalarTimes[size] = 0;
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for (j = 0; j < 100; j++) {
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startTime = ReadTicks();
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for( k = 0; k < LOOPCOUNT; k++ )
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correct += maxdot_ref( (btSimdFloat4*) in, (float*) &localScaling, size, &correctDot);
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currentTime = ReadTicks() - startTime;
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scalarTimes[size] += currentTime;
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if( currentTime < bestTime )
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bestTime = currentTime;
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}
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if( 0 == gReportAverageTimes )
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scalarTimes[size] = bestTime;
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else
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scalarTimes[size] /= 100;
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}
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uint64_t *timep = &scalarTimes[33];
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for( size = 64; size <= MAX_SIZE; size *= 2 )
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{
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uint64_t startTime, bestTime, currentTime;
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bestTime = -1LL;
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timep[0] =0;
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for (j = 0; j < 100; j++) {
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startTime = ReadTicks();
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for( k = 0; k < LOOPCOUNT; k++ )
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correct += maxdot_ref( (btSimdFloat4*) in, (float*) &localScaling, size, &correctDot);
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currentTime = ReadTicks() - startTime;
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timep[0] += currentTime;
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if( currentTime < bestTime )
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bestTime = currentTime;
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}
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if( 0 == gReportAverageTimes )
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timep[0] = bestTime;
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else
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timep[0] /= 100;
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timep++;
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}
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for( size = 1; size <= 32; size++ )
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{
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uint64_t startTime, bestTime, currentTime;
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bestTime = -1LL;
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vectorTimes[size] = 0;
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for (j = 0; j < 100; j++) {
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startTime = ReadTicks();
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for( k = 0; k < LOOPCOUNT; k++ )
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test += localScaling.maxDot( (btVector3*) in, size, testDot);
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currentTime = ReadTicks() - startTime;
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vectorTimes[size] += currentTime;
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if( currentTime < bestTime )
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bestTime = currentTime;
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}
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if( 0 == gReportAverageTimes )
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vectorTimes[size] = bestTime;
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else
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vectorTimes[size] /= 100;
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}
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timep = &vectorTimes[33];
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for( size = 64; size <= MAX_SIZE; size *= 2 )
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{
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uint64_t startTime, bestTime, currentTime;
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bestTime = -1LL;
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timep[0] =0;
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for (j = 0; j < 100; j++) {
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startTime = ReadTicks();
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for( k = 0; k < LOOPCOUNT; k++ )
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test += localScaling.maxDot( (btVector3*) in, size, testDot);
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currentTime = ReadTicks() - startTime;
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timep[0] += currentTime;
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if( currentTime < bestTime )
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bestTime = currentTime;
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}
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if( 0 == gReportAverageTimes )
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timep[0] = bestTime;
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else
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timep[0] /= 100;
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timep++;
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}
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vlog( "Timing:\n" );
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vlog( " size\t scalar\t vector\n" );
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for( size = 1; size <= 32; size++ )
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vlog( "%5lu\t%10.2f\t%10.2f\n", size, TicksToCycles( scalarTimes[size] ) / LOOPCOUNT, TicksToCycles( vectorTimes[size] ) / LOOPCOUNT );
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size_t index = 33;
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for( size = 64; size <= MAX_SIZE; size *= 2 )
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{
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vlog( "%5lu\t%10.2f\t%10.2f\n", size, TicksToCycles( scalarTimes[index] ) / LOOPCOUNT, TicksToCycles( vectorTimes[index] ) / LOOPCOUNT );
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index++;
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}
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// Useless check to make sure that the timing loops are not optimized away
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if( test != correct )
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vlog( "Error: Test != correct: *%ld vs. %ld\n", correct, test);
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GuardFree(data);
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return 0;
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}
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static long maxdot_ref( const btSimdFloat4 *vertices,
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float *vec,
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size_t count,
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float *dotResult )
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{
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const float *dp = (const float*) vertices;
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float maxDot = -BT_INFINITY;
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long i = 0;
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long ptIndex = -1;
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for( i = 0; i < count; i++ )
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{
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float dot = vec[0] * dp[0] + vec[1] * dp[1] + vec[2] * dp[2]; dp += 4;
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if( dot > maxDot )
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{
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maxDot = dot;
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ptIndex = i;
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}
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}
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*dotResult = maxDot;
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return ptIndex;
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}
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#endif //BT_USE_SSE
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