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

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

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

#include "Test_qtnorm.h"
#include "vector.h"
#include "Utils.h"
#include "main.h"
#include <math.h>
#include <string.h>

#include <LinearMath/btQuaternion.h>

#define BT_OP(a) (a.normalize())
// reference code for testing purposes
static inline btQuaternion& qtnorm_ref(btQuaternion& q1);

static inline btQuaternion& qtnorm_ref(btQuaternion& q1)
{
	float dot =
		q1.x() * q1.x() +
		q1.y() * q1.y() +
		q1.z() * q1.z() +
		q1.w() * q1.w();

	dot = 1.0f / sqrtf(dot);

	q1.setValue(q1.x() * dot, q1.y() * dot, q1.z() * dot, q1.w() * dot);

	return q1;
}

#define LOOPCOUNT 1024
#define NUM_CYCLES 1000

int Test_qtnorm(void)
{
	int i;
	btQuaternion q1, q2;
	float x, y, z, w, vNaN;
	vNaN = BT_NAN;  // w channel NaN

	btQuaternion correct_res, test_res;

	for (i = 0; i < LOOPCOUNT; i++)
	{
		// Init the data
		x = RANDF_01;
		y = RANDF_01;
		z = RANDF_01;
		w = RANDF_01;
		q1.setValue(x, y, z, w);

		q2 = q1;

		correct_res.setValue(vNaN, vNaN, vNaN, vNaN);
		test_res.setValue(vNaN, vNaN, vNaN, vNaN);
		correct_res = qtnorm_ref(q1);
		test_res = BT_OP(q2);

		if (fabsf(correct_res.x() - test_res.x()) +
				fabsf(correct_res.y() - test_res.y()) +
				fabsf(correct_res.z() - test_res.z()) +
				fabsf(correct_res.w() - test_res.w()) >
			FLT_EPSILON * 10)
		{
			vlog(
				"Error - qtnorm result error! "
				"\ncorrect = (%10.7f, %10.7f, %10.7f, %10.7f) "
				"\ntested  = (%10.7f, %10.7f, %10.7f, %10.7f) \n",
				correct_res.x(), correct_res.y(),
				correct_res.z(), correct_res.w(),
				test_res.x(), test_res.y(),
				test_res.z(), test_res.w());

			return 1;
		}
	}

#define DATA_SIZE LOOPCOUNT

	btQuaternion qt_arr0[DATA_SIZE];
	btQuaternion qt_arr1[DATA_SIZE];

	uint64_t scalarTime;
	uint64_t vectorTime;
	size_t j, k;

	{
		uint64_t startTime, bestTime, currentTime;

		bestTime = -1LL;
		scalarTime = 0;
		for (j = 0; j < NUM_CYCLES; j++)
		{
			for (k = 0; k < DATA_SIZE; k++)
			{
				x = RANDF_01;
				y = RANDF_01;
				z = RANDF_01;
				w = RANDF_01;
				qt_arr1[k].setValue(x, y, z, w);
			}

			startTime = ReadTicks();
			for (k = 0; k + 4 <= LOOPCOUNT; k += 4)
			{
				size_t km = (k & (DATA_SIZE - 1));
				qt_arr0[km] = qtnorm_ref(qt_arr1[km]);
				km++;
				qt_arr0[km] = qtnorm_ref(qt_arr1[km]);
				km++;
				qt_arr0[km] = qtnorm_ref(qt_arr1[km]);
				km++;
				qt_arr0[km] = qtnorm_ref(qt_arr1[km]);
			}
			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++)
		{
			for (k = 0; k < DATA_SIZE; k++)
			{
				x = RANDF_01;
				y = RANDF_01;
				z = RANDF_01;
				w = RANDF_01;
				qt_arr1[k].setValue(x, y, z, w);
			}

			startTime = ReadTicks();
			for (k = 0; k + 4 <= LOOPCOUNT; k += 4)
			{
				size_t km = (k & (DATA_SIZE - 1));
				qt_arr0[km] = BT_OP(qt_arr1[km]);
				km++;
				qt_arr0[km] = BT_OP(qt_arr1[km]);
				km++;
				qt_arr0[km] = BT_OP(qt_arr1[km]);
				km++;
				qt_arr0[km] = BT_OP(qt_arr1[km]);
				km++;
			}
			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;
}

#endif  //BT_USE_SSE