static msg_t benchThread(int param) {
(void) param;
chRegSetThreadName("BenchThread");
while (true) {
while (!needToRunBench) {
chThdSleepMilliseconds(200);
}
needToRunBench = false;
runBench(brainPin, pinX, delayMs, onTime, offTime, count);
}
#if defined __GNUC__
return 0;
#endif
}
static void boxbox(void)
{
fprintf(stdout, "%s:\n", __func__);
ccd_t ccd;
CCD_BOX(box1);
CCD_BOX(box2);
ccd_vec3_t axis;
ccd_quat_t rot;
box1.x = box1.y = box1.z = 1.;
box2.x = 0.5;
box2.y = 1.;
box2.z = 1.5;
bench_num = 1;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
box1.x = box1.y = box1.z = 1.;
box2.x = box2.y = box2.z = 1.;
ccdVec3Set(&axis, 0., 0., 1.);
ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
ccdVec3Set(&box1.pos, 0., 0., 0.);
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
box1.x = box1.y = box1.z = 1.;
box2.x = box2.y = box2.z = 1.;
ccdVec3Set(&axis, 0., 0., 1.);
ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
ccdVec3Set(&box1.pos, -0.5, 0., 0.);
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
box1.x = box1.y = box1.z = 1.;
box2.x = box2.y = box2.z = 1.;
ccdVec3Set(&axis, 0., 0., 1.);
ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
ccdVec3Set(&box1.pos, -0.5, 0.5, 0.);
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
box1.x = box1.y = box1.z = 1.;
ccdVec3Set(&axis, 0., 1., 1.);
ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
box1.x = box1.y = box1.z = 1.;
ccdVec3Set(&axis, 0., 1., 1.);
ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
ccdVec3Set(&axis, 1., 1., 1.);
ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
ccdQuatMul(&box1.quat, &rot);
ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
box1.x = box1.y = box1.z = 1.;
box2.x = 0.2; box2.y = 0.5; box2.z = 1.;
box2.x = box2.y = box2.z = 1.;
ccdVec3Set(&axis, 0., 0., 1.);
ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
ccdVec3Set(&axis, 1., 0., 0.);
ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
ccdQuatMul(&box1.quat, &rot);
ccdVec3Set(&box1.pos, -1.3, 0., 0.);
ccdVec3Set(&box2.pos, 0., 0., 0.);
runBench(&box1, &box2, &ccd);
runBench(&box2, &box1, &ccd);
fprintf(stdout, "\n----\n\n");
}
void boxcyl(void)
{
fprintf(stdout, "%s:\n", __func__);
ccd_t ccd;
CCD_BOX(box);
CCD_CYL(cyl);
ccd_vec3_t axis;
box.x = 0.5;
box.y = 1.;
box.z = 1.5;
cyl.radius = 0.4;
cyl.height = 0.7;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
ccdVec3Set(&cyl.pos, .6, 0., 0.);
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
ccdVec3Set(&axis, 0., 1., 0.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
ccdVec3Set(&axis, 0.67, 1.1, 0.12);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
ccdVec3Set(&axis, -0.1, 2.2, -1.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
ccdVec3Set(&axis, 1., 1., 0.);
ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
ccdVec3Set(&box.pos, .6, 0., 0.5);
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
ccdVec3Set(&axis, -0.1, 2.2, -1.);
ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
ccdVec3Set(&cyl.pos, .6, 0., 0.5);
ccdVec3Set(&axis, 1., 1., 0.);
ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
ccdVec3Set(&box.pos, .9, 0.8, 0.5);
runBench(&box, &cyl, &ccd);
runBench(&cyl, &box, &ccd);
fprintf(stdout, "\n----\n\n");
}
void cylcyl(void)
{
fprintf(stdout, "%s:\n", __func__);
ccd_t ccd;
CCD_CYL(cyl1);
CCD_CYL(cyl2);
ccd_vec3_t axis;
cyl1.radius = 0.35;
cyl1.height = 0.5;
cyl2.radius = 0.5;
cyl2.height = 1.;
CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;
runBench(&cyl1, &cyl2, &ccd);
runBench(&cyl2, &cyl1, &ccd);
ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1);
runBench(&cyl1, &cyl2, &ccd);
runBench(&cyl2, &cyl1, &ccd);
ccdVec3Set(&axis, 0., 1., 1.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl2.pos, 0., 0., 0.);
runBench(&cyl1, &cyl2, &ccd);
runBench(&cyl2, &cyl1, &ccd);
ccdVec3Set(&axis, 0., 1., 1.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2);
runBench(&cyl1, &cyl2, &ccd);
runBench(&cyl2, &cyl1, &ccd);
ccdVec3Set(&axis, 0.567, 1.2, 1.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
runBench(&cyl1, &cyl2, &ccd);
runBench(&cyl2, &cyl1, &ccd);
ccdVec3Set(&axis, -4.567, 1.2, 0.);
ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis);
ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
runBench(&cyl1, &cyl2, &ccd);
runBench(&cyl2, &cyl1, &ccd);
fprintf(stdout, "\n----\n\n");
}
void runBenchmark() {
printf("Starting benchmarks...\n");
HASH_FUNCTION hash_fn = HASH_FUNCTION_SHA1;
runBench(hash_fn, 1, 1, 1000, 16);
runBench(hash_fn, 1, 8, 1000, 16);
runBench(hash_fn, 1, 256, 1000, 16);
runBench(hash_fn, 8, 1, 1000, 16);
runBench(hash_fn, 8, 32, 1000, 16);
runBench(hash_fn, 8, 512, 1000, 16);
runBench(hash_fn, 512, 8, 1000, 16);
runBench(hash_fn, 512, 16, 1000, 16);
runBench(hash_fn, 512, 32, 100000, 16);
runBench(hash_fn, 512, 128, 10000, 16);
runBench(hash_fn, 16, 1024, 1000, 16);
hash_fn = HASH_FUNCTION_MD5;
runBench(hash_fn, 1, 1, 1000, 16);
runBench(hash_fn, 1, 8, 1000, 16);
runBench(hash_fn, 1, 256, 1000, 16);
runBench(hash_fn, 8, 1, 1000, 16);
runBench(hash_fn, 8, 32, 1000, 16);
runBench(hash_fn, 8, 512, 1000, 16);
runBench(hash_fn, 512, 8, 1000, 16);
runBench(hash_fn, 512, 16, 1000, 16);
runBench(hash_fn, 512, 32, 100000, 16);
runBench(hash_fn, 512, 128, 10000, 16);
runBench(hash_fn, 16, 1024, 1000, 16);
runBench(hash_fn, 2048, 128, 1000, 16);
}
