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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#include <stdio.h>
#include "ode/ode.h"
#define NUM_A 2
#define ALLOCA dALLOCA16
#define SIZE 1000
extern "C" void dMultidot2 (const dReal *a0, const dReal *a1,
const dReal *b, dReal *outsum, int n);
/*
extern "C" void dMultidot4 (const dReal *a0, const dReal *a1,
const dReal *a2, const dReal *a3,
const dReal *b, dReal *outsum, int n);
*/
// correct dot product, for accuracy testing
dReal goodDot (dReal *a, dReal *b, int n)
{
dReal sum=0;
while (n > 0) {
sum += (*a) * (*b);
a++;
b++;
n--;
}
return sum;
}
// test multi-dot product accuracy
void testAccuracy()
{
int j;
// allocate vectors a and b and fill them with random data
dReal *a[NUM_A];
for (j=0; j<NUM_A; j++) a[j] = (dReal*) ALLOCA (SIZE*sizeof(dReal));
dReal *b = (dReal*) ALLOCA (SIZE*sizeof(dReal));
for (j=0; j<NUM_A; j++) dMakeRandomMatrix (a[j],1,SIZE,1.0);
dMakeRandomMatrix (b,1,SIZE,1.0);
for (int n=1; n<100; n++) {
dReal good[NUM_A];
for (j=0; j<NUM_A; j++) good[j] = goodDot (a[j],b,n);
dReal test[4];
dMultidot2 (a[0],a[1],b,test,n);
dReal diff = 0;
for (j=0; j<NUM_A; j++) diff += fabs(good[j]-test[j]);
// printf ("diff = %e\n",diff);
if (diff > 1e-10) printf ("ERROR: accuracy test failed\n");
}
}
// test multi-dot product factorizer speed.
void testSpeed()
{
int j;
dReal sum[NUM_A];
// allocate vectors a and b and fill them with random data
dReal *a[NUM_A];
for (j=0; j<NUM_A; j++) a[j] = (dReal*) ALLOCA (SIZE*sizeof(dReal));
dReal *b = (dReal*) ALLOCA (SIZE*sizeof(dReal));
for (j=0; j<NUM_A; j++) dMakeRandomMatrix (a[j],1,SIZE,1.0);
dMakeRandomMatrix (b,1,SIZE,1.0);
// time several dot products, return the minimum timing
double mintime = 1e100;
dStopwatch sw;
for (int i=0; i<1000; i++) {
dStopwatchReset (&sw);
dStopwatchStart (&sw);
// try a bunch of prime sizes up to 101
dMultidot2 (a[0],a[1],b,sum,2);
dMultidot2 (a[0],a[1],b,sum,3);
dMultidot2 (a[0],a[1],b,sum,5);
dMultidot2 (a[0],a[1],b,sum,7);
dMultidot2 (a[0],a[1],b,sum,11);
dMultidot2 (a[0],a[1],b,sum,13);
dMultidot2 (a[0],a[1],b,sum,17);
dMultidot2 (a[0],a[1],b,sum,19);
dMultidot2 (a[0],a[1],b,sum,23);
dMultidot2 (a[0],a[1],b,sum,29);
dMultidot2 (a[0],a[1],b,sum,31);
dMultidot2 (a[0],a[1],b,sum,37);
dMultidot2 (a[0],a[1],b,sum,41);
dMultidot2 (a[0],a[1],b,sum,43);
dMultidot2 (a[0],a[1],b,sum,47);
dMultidot2 (a[0],a[1],b,sum,53);
dMultidot2 (a[0],a[1],b,sum,59);
dMultidot2 (a[0],a[1],b,sum,61);
dMultidot2 (a[0],a[1],b,sum,67);
dMultidot2 (a[0],a[1],b,sum,71);
dMultidot2 (a[0],a[1],b,sum,73);
dMultidot2 (a[0],a[1],b,sum,79);
dMultidot2 (a[0],a[1],b,sum,83);
dMultidot2 (a[0],a[1],b,sum,89);
dMultidot2 (a[0],a[1],b,sum,97);
dMultidot2 (a[0],a[1],b,sum,101);
dStopwatchStop (&sw);
double time = dStopwatchTime (&sw);
if (time < mintime) mintime = time;
}
printf ("%.0f",mintime * dTimerTicksPerSecond());
}
int main()
{
testAccuracy();
testSpeed();
return 0;
}
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