add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release
This commit is contained in:
erwin coumans
269
test/Bullet2/Source/Tests/Test_mindot.cpp
Normal file
269
test/Bullet2/Source/Tests/Test_mindot.cpp
Normal file
@@ -0,0 +1,269 @@
|
||||
//
|
||||
// Test_mindot.cpp
|
||||
// BulletTest
|
||||
//
|
||||
// Copyright (c) 2011 Apple Inc.
|
||||
//
|
||||
|
||||
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
|
||||
|
||||
|
||||
#include "Test_mindot.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 long mindot_ref( const btSimdFloat4 *vertices,
|
||||
float *vec,
|
||||
size_t count,
|
||||
float *dotResult );
|
||||
|
||||
#ifdef __arm__
|
||||
#define MAX_LOG2_SIZE 9
|
||||
#else
|
||||
#define MAX_LOG2_SIZE 9
|
||||
#endif
|
||||
#define MAX_SIZE (1U << MAX_LOG2_SIZE)
|
||||
#define LOOPCOUNT 100
|
||||
|
||||
int Test_mindot(void)
|
||||
{
|
||||
// Init an array flanked by guard pages
|
||||
btSimdFloat4 *data = (btSimdFloat4*) GuardCalloc( 1, MAX_SIZE * sizeof(btSimdFloat4), NULL );
|
||||
float *fp = (float*) data;
|
||||
long correct, test;
|
||||
btVector3 localScaling( 0.1f, 0.2f, 0.3f);
|
||||
size_t size;
|
||||
|
||||
// Init the data
|
||||
size_t i;
|
||||
for( i = 0; i < MAX_SIZE; i++ )
|
||||
{
|
||||
fp[4*i] = (int32_t) RANDF_16;
|
||||
fp[4*i+1] = (int32_t) RANDF_16;
|
||||
fp[4*i+2] = (int32_t) RANDF_16;
|
||||
fp[4*i+3] = BT_NAN; // w channel NaN
|
||||
}
|
||||
|
||||
float correctDot, testDot;
|
||||
fp = (float*) localScaling;
|
||||
float maxRelativeError = 0.f;
|
||||
|
||||
for( size = 1; size <= MAX_SIZE; size++ )
|
||||
{
|
||||
float *in = (float*)(data + MAX_SIZE - size);
|
||||
size_t position;
|
||||
|
||||
for( position = 0; position < size; position++ )
|
||||
{
|
||||
float *biggest = in + position * 4;
|
||||
float old[4] = { biggest[0], biggest[1], biggest[2], biggest[3] };
|
||||
biggest[0] -= LARGE_FLOAT17;
|
||||
biggest[1] -= LARGE_FLOAT17;
|
||||
biggest[2] -= LARGE_FLOAT17;
|
||||
biggest[3] -= LARGE_FLOAT17;
|
||||
|
||||
correctDot = BT_NAN;
|
||||
testDot = BT_NAN;
|
||||
correct = mindot_ref( (btSimdFloat4*) in, (float*) &localScaling, size, &correctDot);
|
||||
test = localScaling.minDot( (btVector3*) in, size, testDot);
|
||||
if( test < 0 || test >= size )
|
||||
{
|
||||
vlog( "Error @ %ld: index out of bounds! *%ld vs %ld \n", size, correct, test);
|
||||
continue;
|
||||
}
|
||||
if( correct != test )
|
||||
{
|
||||
vlog( "Error @ %ld: index misreported! *%ld vs %ld (*%f, %f)\n", size, correct, test,
|
||||
fp[0] * in[4*correct] + fp[1] * in[4*correct+1] + fp[2] * in[4*correct+2],
|
||||
fp[0] * in[4*test] + fp[1] * in[4*test+1] + fp[2] * in[4*test+2] );
|
||||
return 1;
|
||||
}
|
||||
if( test != position )
|
||||
{
|
||||
vlog( "Biggest not found where it is supposed to be: *%ld vs %ld (*%f, %f)\n", position, test,
|
||||
fp[0] * in[4*test] + fp[1] * in[4*test+1] + fp[2] * in[4*test+2],
|
||||
fp[0] * in[4*position] + fp[1] * in[4*position+1] + fp[2] * in[4*position+2] );
|
||||
return 1;
|
||||
}
|
||||
|
||||
if( correctDot != testDot )
|
||||
{
|
||||
float relativeError = btFabs((testDot - correctDot) / correctDot);
|
||||
if (relativeError>1e6)
|
||||
{
|
||||
vlog( "Error @ %ld: dotpr misreported! *%f vs %f (*%f, %f)\n", size, correctDot, testDot,
|
||||
fp[0] * in[4*correct] + fp[1] * in[4*correct+1] + fp[2] * in[4*correct+2],
|
||||
fp[0] * in[4*test] + fp[1] * in[4*test+1] + fp[2] * in[4*test+2] );
|
||||
return 1;
|
||||
} else
|
||||
{
|
||||
if (maxRelativeError < relativeError)
|
||||
{
|
||||
maxRelativeError = relativeError;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
memcpy( biggest, old, 16 );
|
||||
}
|
||||
}
|
||||
|
||||
if (maxRelativeError)
|
||||
{
|
||||
printf("Warning: relative error = %e\n", maxRelativeError);
|
||||
}
|
||||
uint64_t scalarTimes[33 + (MAX_LOG2_SIZE-5)];
|
||||
uint64_t vectorTimes[33 + (MAX_LOG2_SIZE-5)];
|
||||
size_t j, k;
|
||||
float *in = (float*) data;
|
||||
for( size = 1; size <= 32; size++ )
|
||||
{
|
||||
uint64_t startTime, bestTime, currentTime;
|
||||
|
||||
bestTime = -1LL;
|
||||
scalarTimes[size] = 0;
|
||||
for (j = 0; j < 100; j++) {
|
||||
startTime = ReadTicks();
|
||||
for( k = 0; k < LOOPCOUNT; k++ )
|
||||
correct += mindot_ref( (btSimdFloat4*) in, (float*) &localScaling, size, &correctDot);
|
||||
currentTime = ReadTicks() - startTime;
|
||||
scalarTimes[size] += currentTime;
|
||||
if( currentTime < bestTime )
|
||||
bestTime = currentTime;
|
||||
}
|
||||
if( 0 == gReportAverageTimes )
|
||||
scalarTimes[size] = bestTime;
|
||||
else
|
||||
scalarTimes[size] /= 100;
|
||||
}
|
||||
|
||||
uint64_t *timep = &scalarTimes[33];
|
||||
for( size = 64; size <= MAX_SIZE; size *= 2 )
|
||||
{
|
||||
uint64_t startTime, bestTime, currentTime;
|
||||
|
||||
bestTime = -1LL;
|
||||
timep[0] =0;
|
||||
for (j = 0; j < 100; j++) {
|
||||
startTime = ReadTicks();
|
||||
for( k = 0; k < LOOPCOUNT; k++ )
|
||||
correct += mindot_ref( (btSimdFloat4*) in, (float*) &localScaling, size, &correctDot);
|
||||
currentTime = ReadTicks() - startTime;
|
||||
timep[0] += currentTime;
|
||||
if( currentTime < bestTime )
|
||||
bestTime = currentTime;
|
||||
}
|
||||
if( 0 == gReportAverageTimes )
|
||||
timep[0] = bestTime;
|
||||
else
|
||||
timep[0] /= 100;
|
||||
|
||||
timep++;
|
||||
}
|
||||
|
||||
for( size = 1; size <= 32; size++ )
|
||||
{
|
||||
uint64_t startTime, bestTime, currentTime;
|
||||
|
||||
bestTime = -1LL;
|
||||
vectorTimes[size] = 0;
|
||||
for (j = 0; j < 100; j++) {
|
||||
startTime = ReadTicks();
|
||||
for( k = 0; k < LOOPCOUNT; k++ )
|
||||
test += localScaling.minDot( (btVector3*) in, size, testDot);
|
||||
currentTime = ReadTicks() - startTime;
|
||||
vectorTimes[size] += currentTime;
|
||||
if( currentTime < bestTime )
|
||||
bestTime = currentTime;
|
||||
}
|
||||
if( 0 == gReportAverageTimes )
|
||||
vectorTimes[size] = bestTime;
|
||||
else
|
||||
vectorTimes[size] /= 100;
|
||||
}
|
||||
|
||||
timep = &vectorTimes[33];
|
||||
for( size = 64; size <= MAX_SIZE; size *= 2 )
|
||||
{
|
||||
uint64_t startTime, bestTime, currentTime;
|
||||
|
||||
bestTime = -1LL;
|
||||
timep[0] =0;
|
||||
for (j = 0; j < 100; j++) {
|
||||
startTime = ReadTicks();
|
||||
for( k = 0; k < LOOPCOUNT; k++ )
|
||||
test += localScaling.minDot( (btVector3*) in, size, testDot);
|
||||
currentTime = ReadTicks() - startTime;
|
||||
timep[0] += currentTime;
|
||||
if( currentTime < bestTime )
|
||||
bestTime = currentTime;
|
||||
}
|
||||
if( 0 == gReportAverageTimes )
|
||||
timep[0] = bestTime;
|
||||
else
|
||||
timep[0] /= 100;
|
||||
|
||||
timep++;
|
||||
}
|
||||
|
||||
vlog( "Timing:\n" );
|
||||
vlog( " size\t scalar\t vector\n" );
|
||||
for( size = 1; size <= 32; size++ )
|
||||
vlog( "%5lu\t%10.2f\t%10.2f\n", size, TicksToCycles( scalarTimes[size] ) / LOOPCOUNT, TicksToCycles( vectorTimes[size] ) / LOOPCOUNT );
|
||||
size_t index = 33;
|
||||
for( size = 64; size <= MAX_SIZE; size *= 2 )
|
||||
{
|
||||
vlog( "%5lu\t%10.2f\t%10.2f\n", size, TicksToCycles( scalarTimes[index] ) / LOOPCOUNT, TicksToCycles( vectorTimes[index] ) / LOOPCOUNT );
|
||||
index++;
|
||||
}
|
||||
|
||||
// Useless check to make sure that the timing loops are not optimized away
|
||||
if( test != correct )
|
||||
vlog( "Error: Test != correct: *%ld vs. %ld\n", correct, test);
|
||||
|
||||
GuardFree(data);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
static long mindot_ref( const btSimdFloat4 *vertices,
|
||||
float *vec,
|
||||
size_t count,
|
||||
float *dotResult )
|
||||
{
|
||||
|
||||
const float *dp = (const float*) vertices;
|
||||
float minDot = BT_INFINITY;
|
||||
long i = 0;
|
||||
long ptIndex = -1;
|
||||
|
||||
for( i = 0; i < count; i++ )
|
||||
{
|
||||
float dot = vec[0] * dp[0] + vec[1] * dp[1] + vec[2] * dp[2]; dp += 4;
|
||||
|
||||
if( dot < minDot )
|
||||
{
|
||||
minDot = dot;
|
||||
ptIndex = i;
|
||||
}
|
||||
}
|
||||
|
||||
*dotResult = minDot;
|
||||
|
||||
return ptIndex;
|
||||
}
|
||||
|
||||
#endif //BT_USE_SSE
|
||||
Reference in New Issue
Block a user