Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -5,9 +5,8 @@
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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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#if defined(BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
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#include "Test_3x3getRot.h"
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#include "vector.h"
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@@ -23,136 +22,136 @@
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static inline btSimdFloat4 rand_f4(void)
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{
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return btAssign128( RANDF_m1p1, RANDF_m1p1, RANDF_m1p1, BT_NAN ); // w channel NaN
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return btAssign128(RANDF_m1p1, RANDF_m1p1, RANDF_m1p1, BT_NAN); // w channel NaN
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}
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static inline btSimdFloat4 qtNAN_f4(void)
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{
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return btAssign128( BT_NAN, BT_NAN, BT_NAN, BT_NAN );
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return btAssign128(BT_NAN, BT_NAN, BT_NAN, BT_NAN);
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}
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static void M3x3getRot_ref( const btMatrix3x3 &m, btQuaternion &q )
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static void M3x3getRot_ref(const btMatrix3x3 &m, btQuaternion &q)
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{
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btVector3 m_el[3] = { m[0], m[1], m[2] };
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btVector3 m_el[3] = {m[0], m[1], m[2]};
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btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
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btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
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btScalar temp[4];
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btScalar temp[4];
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if (trace > btScalar(0.0))
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{
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btScalar s = btSqrt(trace + btScalar(1.0));
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temp[3]=(s * btScalar(0.5));
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s = btScalar(0.5) / s;
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if (trace > btScalar(0.0))
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{
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btScalar s = btSqrt(trace + btScalar(1.0));
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temp[3] = (s * btScalar(0.5));
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s = btScalar(0.5) / s;
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temp[0]=((m_el[2].y() - m_el[1].z()) * s);
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temp[1]=((m_el[0].z() - m_el[2].x()) * s);
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temp[2]=((m_el[1].x() - m_el[0].y()) * s);
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}
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else
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{
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int i = m_el[0].x() < m_el[1].y() ?
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(m_el[1].y() < m_el[2].z() ? 2 : 1) :
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(m_el[0].x() < m_el[2].z() ? 2 : 0);
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int j = (i + 1) % 3;
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int k = (i + 2) % 3;
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temp[0] = ((m_el[2].y() - m_el[1].z()) * s);
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temp[1] = ((m_el[0].z() - m_el[2].x()) * s);
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temp[2] = ((m_el[1].x() - m_el[0].y()) * s);
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}
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else
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{
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int i = m_el[0].x() < m_el[1].y() ? (m_el[1].y() < m_el[2].z() ? 2 : 1) : (m_el[0].x() < m_el[2].z() ? 2 : 0);
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int j = (i + 1) % 3;
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int k = (i + 2) % 3;
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btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
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temp[i] = s * btScalar(0.5);
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s = btScalar(0.5) / s;
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btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
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temp[i] = s * btScalar(0.5);
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s = btScalar(0.5) / s;
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temp[3] = (m_el[k][j] - m_el[j][k]) * s;
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temp[j] = (m_el[j][i] + m_el[i][j]) * s;
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temp[k] = (m_el[k][i] + m_el[i][k]) * s;
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}
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q.setValue(temp[0],temp[1],temp[2],temp[3]);
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temp[3] = (m_el[k][j] - m_el[j][k]) * s;
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temp[j] = (m_el[j][i] + m_el[i][j]) * s;
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temp[k] = (m_el[k][i] + m_el[i][k]) * s;
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}
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q.setValue(temp[0], temp[1], temp[2], temp[3]);
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}
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static int operator!= ( const btQuaternion &a, const btQuaternion &b )
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static int operator!=(const btQuaternion &a, const btQuaternion &b)
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{
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if( fabs(a.x() - b.x()) +
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fabs(a.y() - b.y()) +
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fabs(a.z() - b.z()) +
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fabs(a.w() - b.w()) > FLT_EPSILON * 4)
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return 1;
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return 0;
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if (fabs(a.x() - b.x()) +
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fabs(a.y() - b.y()) +
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fabs(a.z() - b.z()) +
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fabs(a.w() - b.w()) >
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FLT_EPSILON * 4)
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return 1;
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return 0;
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}
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int Test_3x3getRot(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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btQuaternion out[ARRAY_SIZE];
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btQuaternion out2[ARRAY_SIZE];
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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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out[i] = btQuaternion(qtNAN_f4());
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out2[i] = btQuaternion(qtNAN_f4());
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M3x3getRot_ref(in1[i], out[i]);
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in1[i].getRotation(out2[i]);
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// Init an array flanked by guard pages
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btMatrix3x3 in1[ARRAY_SIZE];
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btQuaternion out[ARRAY_SIZE];
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btQuaternion out2[ARRAY_SIZE];
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if( out[i] != out2[i] )
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{
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vlog( "Error - M3x3getRot result error! ");
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vlog( "failure @ %ld\n", i);
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vlog( "\ncorrect = (%10.7f, %10.7f, %10.7f, %10.7f) "
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"\ntested = (%10.7f, %10.7f, %10.7f, %10.7f) \n",
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out[i].x(), out[i].y(), out[i].z(), out[i].w(),
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out2[i].x(), out2[i].y(), out2[i].z(), out2[i].w());
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return -1;
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}
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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 = ~(bestTime&0);//-1ULL;
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scalarTime = 0;
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for (j = 0; j < LOOPCOUNT; j++)
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{
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startTime = ReadTicks();
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for( i = 0; i < ARRAY_SIZE; i++ )
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M3x3getRot_ref(in1[i], out[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 = ~(bestTime&0);//-1ULL;
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vectorTime = 0;
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for (j = 0; j < LOOPCOUNT; j++)
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{
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startTime = ReadTicks();
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for( i = 0; i < ARRAY_SIZE; i++ )
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{
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in1[i].getRotation(out2[i]);
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}
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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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// 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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out[i] = btQuaternion(qtNAN_f4());
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out2[i] = btQuaternion(qtNAN_f4());
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M3x3getRot_ref(in1[i], out[i]);
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in1[i].getRotation(out2[i]);
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if (out[i] != out2[i])
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{
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vlog("Error - M3x3getRot result error! ");
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vlog("failure @ %ld\n", i);
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vlog(
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"\ncorrect = (%10.7f, %10.7f, %10.7f, %10.7f) "
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"\ntested = (%10.7f, %10.7f, %10.7f, %10.7f) \n",
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out[i].x(), out[i].y(), out[i].z(), out[i].w(),
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out2[i].x(), out2[i].y(), out2[i].z(), out2[i].w());
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return -1;
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}
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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 = ~(bestTime & 0); //-1ULL;
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scalarTime = 0;
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for (j = 0; j < LOOPCOUNT; j++)
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{
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startTime = ReadTicks();
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for (i = 0; i < ARRAY_SIZE; i++)
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M3x3getRot_ref(in1[i], out[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 = ~(bestTime & 0); //-1ULL;
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vectorTime = 0;
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for (j = 0; j < LOOPCOUNT; j++)
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{
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startTime = ReadTicks();
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for (i = 0; i < ARRAY_SIZE; i++)
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{
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in1[i].getRotation(out2[i]);
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}
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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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#endif //BT_USE_SSE
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