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

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

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

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

#include <LinearMath/btQuaternion.h>

#define BT_OP(a, b) ((a) *= (b))
// reference code for testing purposes
static inline btQuaternion& qtmul_ref(btQuaternion& q1, btQuaternion& q2);

static inline btQuaternion& qtmul_ref(btQuaternion& q1, btQuaternion& q2)
{
	float x, y, z, w;
	x = q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
	y = q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
	z = q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
	w = q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z();

	q1.setValue(x, y, z, w);
	return q1;
}

#define LOOPCOUNT 1024
#define NUM_CYCLES 1000

int Test_qtmul(void)
{
	btQuaternion q1, q2, q3;

	float x, y, z, w, vNaN;

	// Init the data
	x = RANDF_01;
	y = RANDF_01;
	z = RANDF_01;
	w = RANDF_01;
	vNaN = BT_NAN;  // w channel NaN
	q1.setValue(x, y, z, w);

	x = RANDF_01;
	y = RANDF_01;
	z = RANDF_01;
	w = RANDF_01;
	q2.setValue(x, y, z, w);

	q3 = q1;

	btQuaternion correct_res, test_res;

	{
		float vNaN = BT_NAN;
		correct_res.setValue(vNaN, vNaN, vNaN, vNaN);
		test_res.setValue(vNaN, vNaN, vNaN, vNaN);
		correct_res = qtmul_ref(q1, q2);
		test_res = BT_OP(q3, 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 - qtmul result error! "
				"\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) "
				"\ntested  = (%10.4f, %10.4f, %10.4f, %10.4f) \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_arr1[DATA_SIZE];
	btQuaternion qt_arr2[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);

				x = RANDF_01;
				y = RANDF_01;
				z = RANDF_01;
				w = RANDF_01;
				qt_arr2[k].setValue(x, y, z, w);
			}

			startTime = ReadTicks();
			for (k = 0; k < LOOPCOUNT; k++)
			{
				qt_arr1[k] = qtmul_ref(qt_arr1[k], qt_arr2[k]);
			}
			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);

				x = RANDF_01;
				y = RANDF_01;
				z = RANDF_01;
				w = RANDF_01;
				qt_arr2[k].setValue(x, y, z, w);
			}

			startTime = ReadTicks();
			for (k = 0; k < LOOPCOUNT; k++)
			{
				qt_arr1[k] = BT_OP(qt_arr1[k], qt_arr2[k]);
			}
			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