//
//  Test_3x3mulMV.cpp
//  BulletTest
//
//  Copyright (c) 2011 Apple Inc.
//



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


#include "Test_3x3mulMV.h"
#include "vector.h"
#include "Utils.h"
#include "main.h"
#include <math.h>
#include <string.h>

#include <LinearMath/btMatrix3x3.h>

#define LOOPCOUNT 1000
#define ARRAY_SIZE 128

static inline btSimdFloat4 rand_f4(void)
{
	return btAssign128(RANDF_01, RANDF_01, RANDF_01, BT_NAN );      // w channel NaN
}

static btVector3 M3x3mulMV_ref( const btMatrix3x3 &m, const btVector3 &v )
{
	return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
}

int Test_3x3mulMV(void)
{
    // Init an array flanked by guard pages
    btMatrix3x3 in1[ARRAY_SIZE];
    btVector3   in2[ARRAY_SIZE];
    btVector3   out[ARRAY_SIZE];
    btVector3   out2[ARRAY_SIZE];
    
    // Init the data
    size_t i, j;
    for( i = 0; i < ARRAY_SIZE; i++ )
    {
        in1[i] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );   
        in2[i] = btVector3(rand_f4());   
        
        out[i] = M3x3mulMV_ref(in1[i], in2[i]);
        out2[i] = (in1[i] * in2[i]);

		if( fabsf(out[i].m_floats[0] - out2[i].m_floats[0]) + 
			fabsf(out[i].m_floats[1] - out2[i].m_floats[1]) +
			fabsf(out[i].m_floats[2] - out2[i].m_floats[2]) +
			fabsf(out[i].m_floats[3] - out2[i].m_floats[3]) > FLT_EPSILON*4 )
		{	
			vlog( "Error - M3x3mulMV result error! ");
            vlog( "failure @ %ld\n", i);
			vlog( 	"\ncorrect = (%10.4f, %10.4f, %10.4f, %10.4f) "
					"\ntested  = (%10.4f, %10.4f, %10.4f, %10.4f) \n", 
					out[i].m_floats[0], out[i].m_floats[1], out[i].m_floats[2], out[i].m_floats[3], 
					out2[i].m_floats[0], out2[i].m_floats[1], out2[i].m_floats[2], out2[i].m_floats[3]);
		
			return 1;
		}
    }
    
    uint64_t scalarTime, vectorTime;
    uint64_t startTime, bestTime, currentTime;
    bestTime = -1LL;
    scalarTime = 0;
    for (j = 0; j < LOOPCOUNT; j++) 
    {
        startTime = ReadTicks();
        for( i = 0; i < ARRAY_SIZE; i++ )
            out[i] = M3x3mulMV_ref(in1[i], in2[i]);
        currentTime = ReadTicks() - startTime;
        scalarTime += currentTime;
        if( currentTime < bestTime )
            bestTime = currentTime;
    }
    if( 0 == gReportAverageTimes )
        scalarTime = bestTime;        
    else
        scalarTime /= LOOPCOUNT;
    
    bestTime = -1LL;
    vectorTime = 0;
    for (j = 0; j < LOOPCOUNT; j++) 
    {
        startTime = ReadTicks();
        for( i = 0; i < ARRAY_SIZE; i++ )
            out2[i] = (in1[i] * in2[i]);
        currentTime = ReadTicks() - startTime;
        vectorTime += currentTime;
        if( currentTime < bestTime )
            bestTime = currentTime;
    }
    if( 0 == gReportAverageTimes )
        vectorTime = bestTime;        
    else
        vectorTime /= LOOPCOUNT;
    
    vlog( "Timing:\n" );
    vlog( "\t    scalar\t    vector\n" );
    vlog( "\t%10.2f\t%10.2f\n", TicksToCycles( scalarTime ) / ARRAY_SIZE, TicksToCycles( vectorTime ) / ARRAY_SIZE );
    
    return 0;
}
#endif //BT_USE_SSE
