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.
This commit is contained in:
erwin.coumans
168
Test/Source/Tests/Test_3x3transposeTimes.cpp
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168
Test/Source/Tests/Test_3x3transposeTimes.cpp
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//
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// Test_3x3transposeTimes.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_3x3transposeTimes.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/btMatrix3x3.h>
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#define LOOPCOUNT 1000
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#define ARRAY_SIZE 128
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static inline btSimdFloat4 rand_f4(void)
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{
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return btAssign128( RANDF_01, RANDF_01, RANDF_01, BT_NAN ); // w channel NaN
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}
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static btMatrix3x3 TransposeTimesReference( const btMatrix3x3 &in, const btMatrix3x3 &m )
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{
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btVector3 m_el[3] = { in[0], in[1], in[2] };
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btSimdFloat4 r0 = btAssign128(m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
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m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
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m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
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0.0f );
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btSimdFloat4 r1 = btAssign128( m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
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m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
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m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
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0.0f );
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btSimdFloat4 r2 = btAssign128( m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
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m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
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m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z(),
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0.0f );
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return btMatrix3x3( r0, r1, r2 );
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}
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static int operator!= ( const btMatrix3x3 &a, const btMatrix3x3 &b )
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{
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if( a.getRow(0) != b.getRow(0) )
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return 1;
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if( a.getRow(1) != b.getRow(1) )
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return 1;
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if( a.getRow(2) != b.getRow(2) )
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return 1;
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return 0;
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}
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int Test_3x3transposeTimes(void)
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{
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// Init an array flanked by guard pages
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btMatrix3x3 in1[ARRAY_SIZE];
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btMatrix3x3 in2[ARRAY_SIZE];
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btMatrix3x3 out[ARRAY_SIZE];
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btMatrix3x3 out2[ARRAY_SIZE];
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float maxRelativeError = 0.f;
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// Init the data
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size_t i, j;
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for( i = 0; i < ARRAY_SIZE; i++ )
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{
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in1[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
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in2[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
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out[i] = TransposeTimesReference(in1[i], in2[i]);
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out2[i] = in1[i].transposeTimes(in2[i]);
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if( out[i] != out2[i] )
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{
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float relativeError = 0.f;
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for (int column=0;column<3;column++)
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for (int row=0;row<3;row++)
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relativeError = btMax(relativeError,btFabs(out2[i][row][column] - out[i][row][column]) / out[i][row][column]);
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if (relativeError>1e-6)
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{
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vlog( "failure @ %ld\n", i);
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btVector3 m0, m1, m2;
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m0 = out[i].getRow(0);
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m1 = out[i].getRow(1);
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m2 = out[i].getRow(2);
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vlog( "\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) "
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"\n (%10.4f, %10.4f, %10.4f, %10.4f) "
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"\n (%10.4f, %10.4f, %10.4f, %10.4f) \n",
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m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
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m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
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m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.m_floats[3]);
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m0 = out2[i].getRow(0);
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m1 = out2[i].getRow(1);
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m2 = out2[i].getRow(2);
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vlog( "\ntested = (%10.4f, %10.4f, %10.4f, %10.4f) "
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"\n (%10.4f, %10.4f, %10.4f, %10.4f) "
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"\n (%10.4f, %10.4f, %10.4f, %10.4f) \n",
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m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
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m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
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m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.m_floats[3]);
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return -1;
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} else
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{
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if (relativeError>maxRelativeError)
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maxRelativeError = relativeError;
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}
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}
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}
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if (maxRelativeError)
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{
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printf("Warning: maxRelativeError = %e\n",maxRelativeError);
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}
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uint64_t scalarTime, vectorTime;
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uint64_t startTime, bestTime, currentTime;
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bestTime = -1LL;
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scalarTime = 0;
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for (j = 0; j < LOOPCOUNT; j++) {
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startTime = ReadTicks();
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for( i = 0; i < ARRAY_SIZE; i++ )
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out[i] = TransposeTimesReference(in1[i], in2[i]);
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currentTime = ReadTicks() - startTime;
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scalarTime += 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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scalarTime = bestTime;
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else
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scalarTime /= LOOPCOUNT;
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bestTime = -1LL;
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vectorTime = 0;
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for (j = 0; j < LOOPCOUNT; j++) {
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startTime = ReadTicks();
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for( i = 0; i < ARRAY_SIZE; i++ )
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out[i] = in1[i].transposeTimes(in2[i]);
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currentTime = ReadTicks() - startTime;
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vectorTime += 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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vectorTime = bestTime;
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else
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vectorTime /= LOOPCOUNT;
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vlog( "Timing:\n" );
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vlog( "\t scalar\t vector\n" );
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vlog( "\t%10.2f\t%10.2f\n", TicksToCycles( scalarTime ) / ARRAY_SIZE, TicksToCycles( vectorTime ) / ARRAY_SIZE );
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return 0;
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}
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#endif //BT_USE_SSE
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