//
//  Test_3x3setRot.cpp
//  BulletTest
//
//  Copyright (c) 2011 Apple Inc.
//

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

#include "Test_3x3setRot.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 inline btSimdFloat4 qtrand_f4(void)
{
	return btAssign128(RANDF_01, RANDF_01, RANDF_01, RANDF_01);
}

static btMatrix3x3 M3x3setRot_ref(btMatrix3x3 &m, const btQuaternion &q)
{
	btScalar d = q.length2();
	btScalar s = btScalar(2.0) / d;

	btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;

	btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
	btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
	btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
	m.setValue(
		btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
		xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
		xz - wy, yz + wx, btScalar(1.0) - (xx + yy));

	return m;
}

static int operator!=(const btMatrix3x3 &a, const btMatrix3x3 &b)
{
	int i;
	btVector3 av3, bv3;

	for (i = 0; i < 3; i++)
	{
		av3 = a.getRow(i);
		bv3 = b.getRow(i);

		if (fabs(av3.m_floats[0] - bv3.m_floats[0]) +
				fabs(av3.m_floats[1] - bv3.m_floats[1]) +
				fabs(av3.m_floats[2] - bv3.m_floats[2]) >
			FLT_EPSILON * 4)
			return 1;
	}

	return 0;
}

int Test_3x3setRot(void)
{
	// Init an array flanked by guard pages
	btMatrix3x3 in1[ARRAY_SIZE];
	btQuaternion in2[ARRAY_SIZE];
	btMatrix3x3 in3[ARRAY_SIZE];
	btMatrix3x3 out[ARRAY_SIZE];
	btMatrix3x3 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] = btQuaternion(qtrand_f4());
		in3[i] = in1[i];

		out[i] = M3x3setRot_ref(in1[i], in2[i]);
		in3[i].setRotation(in2[i]);
		out2[i] = in3[i];

		if (out[i] != out2[i])
		{
			vlog("Error - M3x3setRot result error! ");
			vlog("failure @ %ld\n", i);
			btVector3 m0, m1, m2;
			m0 = out[i].getRow(0);
			m1 = out[i].getRow(1);
			m2 = out[i].getRow(2);

			vlog(
				"\ncorrect = (%10.7f, %10.7f, %10.7f, %10.7f) "
				"\n          (%10.7f, %10.7f, %10.7f, %10.7f) "
				"\n          (%10.7f, %10.7f, %10.7f, %10.7f) \n",
				m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
				m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
				m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.m_floats[3]);

			m0 = out2[i].getRow(0);
			m1 = out2[i].getRow(1);
			m2 = out2[i].getRow(2);

			vlog(
				"\ntested  = (%10.7f, %10.7f, %10.7f, %10.7f) "
				"\n          (%10.7f, %10.7f, %10.7f, %10.7f) "
				"\n          (%10.7f, %10.7f, %10.7f, %10.7f) \n",
				m0.m_floats[0], m0.m_floats[1], m0.m_floats[2], m0.m_floats[3],
				m1.m_floats[0], m1.m_floats[1], m1.m_floats[2], m1.m_floats[3],
				m2.m_floats[0], m2.m_floats[1], m2.m_floats[2], m2.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] = M3x3setRot_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++)
		{
			in3[i].setRotation(in2[i]);
			out2[i] = in3[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
