bullet3/test/Bullet2/Source/Tests/Test_v3dot.cpp

//
//  Test_v3dot.cpp
//  BulletTest
//
//  Copyright (c) 2011 Apple Inc.
//



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

#include "Test_v3dot.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 
btScalar v3dot_ref(
    const btVector3& v1, 
	const btVector3& v2);

#define LOOPCOUNT 1000
#define NUM_CYCLES 10000

int Test_v3dot(void)
{
    btVector3 v1, v2;
   
    float x,y,z,w;
    
    // Init the data
    x = RANDF_01;
    y = RANDF_01;
    z = RANDF_01;
    w = BT_NAN;     // w channel NaN
    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);
	
    float correctDot0, testDot0;

    {
		correctDot0 = w;
		testDot0 = w; ;
		correctDot0 = v3dot_ref(v1, v2);
		testDot0 = v1.dot(v2);
	   
		if( fabsf(correctDot0 - testDot0) > FLT_EPSILON * 4 )
		{
			vlog( "Error - v3dot result error! %f != %f \n", correctDot0, testDot0);
		
			return 1;
		}
	}
    
#define DATA_SIZE 1024

	btVector3 vec3_arr1[DATA_SIZE];
	btVector3 vec3_arr2[DATA_SIZE];
    btScalar res_arr[DATA_SIZE];
    
    uint64_t scalarTime;
    uint64_t vectorTime;
    size_t j, k;

	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);
	
        res_arr[k] = w;
    }
    
	{
        uint64_t startTime, bestTime, currentTime;
        
        bestTime = -1LL;
        scalarTime = 0;
        for (j = 0; j < NUM_CYCLES; j++) 
		{
            startTime = ReadTicks();
            for( k = 0; k+4 <= LOOPCOUNT; k+=4 )
			{
				size_t k32 = (k & (DATA_SIZE-1)); 
                res_arr[k32] = v3dot_ref( vec3_arr1[k32], vec3_arr2[k32]); k32++;
				res_arr[k32] = v3dot_ref( vec3_arr1[k32], vec3_arr2[k32]); k32++;
				res_arr[k32] = v3dot_ref( vec3_arr1[k32], vec3_arr2[k32]); k32++;
				res_arr[k32] = v3dot_ref( vec3_arr1[k32], vec3_arr2[k32]); 
			}
			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++) 
		{
            startTime = ReadTicks();
            for( k = 0; k+4 <= LOOPCOUNT; k+=4 )
			{
				size_t k32 = k & (DATA_SIZE -1); 
                res_arr[k32] = vec3_arr1[k32].dot(vec3_arr2[k32]); k32++;
				res_arr[k32] = vec3_arr1[k32].dot(vec3_arr2[k32]); k32++;
				res_arr[k32] = vec3_arr1[k32].dot(vec3_arr2[k32]); k32++;
				res_arr[k32] = vec3_arr1[k32].dot(vec3_arr2[k32]);
			}
			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 btScalar v3dot_ref(const btVector3& v1, 
						const btVector3& v2)
{
	return  (v1.m_floats[0] * v2.m_floats[0] + 
			 v1.m_floats[1] * v2.m_floats[1] + 
			 v1.m_floats[2] * v2.m_floats[2]);
}

#endif //BT_USE_SSE