Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.

For OSX: cd build ./premake_osx xcode4 for iOS: cd build ./ios_build.sh ./ios_run.sh Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection. As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
2012-06-07 00:56:30 +00:00
parent 777b92a2ad
commit 73b217fb07
323 changed files with 30730 additions and 13635 deletions
--- a/Test/Source/Tests/Test_3x3timesTranspose.cpp
+++ b/Test/Source/Tests/Test_3x3timesTranspose.cpp
@@ -0,0 +1,117 @@
+//
+//  Test_3x3timesTranspose.cpp
+//  BulletTest
+//
+//  Copyright (c) 2011 Apple Inc.
+//
+
+
+
+#include "LinearMath/btScalar.h"
+#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
+
+
+#include "Test_3x3timesTranspose.h"
+#include "vector.h"
+#include "Utils.h"
+#include "main.h"
+#include <math.h>
+#include <string.h>
+
+#include <LinearMath/btMatrix3x3.h>
+
+#define LOOPCOUNT 1000
+#define ARRAY_SIZE 128
+
+static inline btSimdFloat4 rand_f4(void)
+{
+    return btAssign128( RANDF, RANDF, RANDF, BT_NAN );      // w channel NaN
+}
+
+static btMatrix3x3 timesTranspose( const btMatrix3x3 &in, const btMatrix3x3 &m )
+{
+    btVector3 m_el[3] = { in[0], in[1], in[2] };
+	return btMatrix3x3(
+                       m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
+                       m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
+                       m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
+}
+
+static int operator!= ( const btMatrix3x3 &a, const btMatrix3x3 &b )
+{
+    if( a.getRow(0) != b.getRow(0) )
+        return 1;
+    if( a.getRow(1) != b.getRow(1) )
+        return 1;
+    if( a.getRow(2) != b.getRow(2) )
+        return 1;
+    return 0;
+}
+
+int Test_3x3timesTranspose(void)
+{
+    // Init an array flanked by guard pages
+    btMatrix3x3 in1[ARRAY_SIZE];
+    btMatrix3x3 in2[ARRAY_SIZE];
+    btMatrix3x3 out[ARRAY_SIZE];
+    btMatrix3x3 out2[ARRAY_SIZE];
+    
+    // Init the data
+    size_t i, j;
+    for( i = 0; i < ARRAY_SIZE; i++ )
+    {
+        in1[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );   
+        in2[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );   
+        
+        out[i] = timesTranspose(in1[i], in2[i]);
+        out2[i] = in1[i].timesTranspose(in2[i]);
+        
+        if( out[i] != out2[i] )
+        {
+            printf( "failure @ %ld\n", i);
+            return -1;
+        }
+    }
+    
+    uint64_t scalarTime, vectorTime;
+    uint64_t startTime, bestTime, currentTime;
+    bestTime = -1LL;
+    scalarTime = 0;
+    for (j = 0; j < LOOPCOUNT; j++) {
+        startTime = ReadTicks();
+        for( i = 0; i < ARRAY_SIZE; i++ )
+            out[i] = timesTranspose(in1[i], in2[i]);
+        currentTime = ReadTicks() - startTime;
+        scalarTime += currentTime;
+        if( currentTime < bestTime )
+            bestTime = currentTime;
+    }
+    if( 0 == gReportAverageTimes )
+        scalarTime = bestTime;        
+    else
+        scalarTime /= LOOPCOUNT;
+    
+    bestTime = -1LL;
+    vectorTime = 0;
+    for (j = 0; j < LOOPCOUNT; j++) {
+        startTime = ReadTicks();
+        for( i = 0; i < ARRAY_SIZE; i++ )
+            out[i] = in1[i].timesTranspose(in2[i]);
+        currentTime = ReadTicks() - startTime;
+        vectorTime += currentTime;
+        if( currentTime < bestTime )
+            bestTime = currentTime;
+    }
+    if( 0 == gReportAverageTimes )
+        vectorTime = bestTime;        
+    else
+        vectorTime /= LOOPCOUNT;
+    
+    vlog( "Timing:\n" );
+    vlog( "\t    scalar\t    vector\n" );
+    vlog( "\t%10.2f\t%10.2f\n", TicksToCycles( scalarTime ) / ARRAY_SIZE, TicksToCycles( vectorTime ) / ARRAY_SIZE );
+    
+    return 0;
+}
+
+#endif //BT_USE_SSE