bullet3

//
//  Test_v3dot.cpp
//  BulletTest
//
//  Copyright (c) 2011 Apple Inc.
//


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


#include "Test_dot3.h"
#include "vector.h"
#include "Utils.h"
#include "main.h"
#include <math.h>
#include <string.h>

#include <LinearMath/btVector3.h>

// reference code for testing purposes
static btVector3 dot3_ref( const btVector3 &,  const btVector3 &,   const btVector3 &,   const btVector3 &);
static btVector3 dot3_ref( const btVector3 &v, const btVector3 &v1, const btVector3 &v2, const btVector3 &v3)
{
    return btVector3( v.dot(v1), v.dot(v2), v.dot(v3));
}

/*
SIMD_FORCE_INLINE int operator!=(const btVector3 &s, const btVector3 &v)
{
#ifdef __SSE__
    __m128 test = _mm_cmpneq_ps( s.mVec128, v.mVec128 );
    return (_mm_movemask_ps( test ) & 7) != 0;
#elif defined __ARM_NEON_H
    uint32x4_t test = vandq_u32( vceqq_f32( s.mVec128, v.mVec128 ), (uint32x4_t){-1,-1,-1,0});
    uint32x2_t t = vpadd_u32( vget_low_u32(test), vget_high_u32(test));
    t = vpadd_u32(t, t);
    return -3 != (int32_t) vget_lane_u32(t, 0);
#else
    return  s.m_floats[0] != v.m_floats[0] ||
    s.m_floats[1] != v.m_floats[1] ||
    s.m_floats[2] != v.m_floats[2];
#endif
}
*/
 


#define LOOPCOUNT 1000
#define NUM_CYCLES 10000

int Test_dot3(void)
{
    btVector3 v, v1, v2, v3;
    
#define DATA_SIZE 1024
    
	btVector3 vec3_arr[DATA_SIZE];
	btVector3 vec3_arr1[DATA_SIZE];
	btVector3 vec3_arr2[DATA_SIZE];
	btVector3 vec3_arr3[DATA_SIZE];
    btVector3 res_arr[DATA_SIZE];
    
    uint64_t scalarTime;
    uint64_t vectorTime;
    size_t j, k;
    btVector3 correct, test;
    
	for( k = 0; k < DATA_SIZE; k++ )
	{
        
        vec3_arr[k]  = btVector3( btAssign128( RANDF, RANDF, RANDF, BT_NAN));
        vec3_arr1[k] = btVector3( btAssign128( RANDF, RANDF, RANDF, BT_NAN));
        vec3_arr2[k] = btVector3( btAssign128( RANDF, RANDF, RANDF, BT_NAN ));
        vec3_arr3[k] = btVector3( btAssign128( RANDF, RANDF, RANDF, BT_NAN));

		correct = dot3_ref(vec3_arr[k], vec3_arr1[k], vec3_arr2[k], vec3_arr3[k]);
		test = vec3_arr[k].dot3( vec3_arr1[k], vec3_arr2[k], vec3_arr3[k]);
        
		if( correct != test )
		{
			vlog( "Error (%ld) - dot3 result error! *{%a, %a, %a, %a} != {%a, %a, %a, %a} \n", k,
                   correct.x(), correct.y(), correct.z(), correct.w(),
                   test.x(), test.y(), test.z(), test.w() );
            
			return 1;
		}
    }
    
    
	{
        uint64_t startTime, bestTime, currentTime;
        
        bestTime = -1LL;
        scalarTime = 0;
        for (j = 0; j < NUM_CYCLES; j++) 
		{
            startTime = ReadTicks();
            for( k = 0; k+4 <= LOOPCOUNT; k+=4 )
			{
				size_t k32 = (k & (DATA_SIZE-1)); 
                res_arr[k32] = dot3_ref( vec3_arr[k32], vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); k32++;
				res_arr[k32] = dot3_ref( vec3_arr[k32], vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); k32++;
				res_arr[k32] = dot3_ref( vec3_arr[k32], vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); k32++;
				res_arr[k32] = dot3_ref( vec3_arr[k32], vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); 
			}
			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++) 
		{
            startTime = ReadTicks();
            for( k = 0; k+4 <= LOOPCOUNT; k+=4 )
			{
				size_t k32 = (k & (DATA_SIZE-1)); 
                res_arr[k32] = vec3_arr[k32].dot3( vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); k32++;
				res_arr[k32] = vec3_arr[k32].dot3( vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); k32++;
				res_arr[k32] = vec3_arr[k32].dot3( vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); k32++;
				res_arr[k32] = vec3_arr[k32].dot3( vec3_arr1[k32], vec3_arr2[k32], vec3_arr3[k32]); 
			}
			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