const Matrix2x2 slerp(const Matrix2x2& a, const Matrix2x2& b, const float t)
{
const Matrix2x2 c = timesTranspose(a, b);
const float angle = rotationAngle(c);
return a * Matrix2x2::rotation(t * angle);
}
const Transform2 transformByInverse(const Transform2& a, const Transform2& b)
{
GEOMETRY_RUNTIME_ASSERT(a.scaling > 0.0f);
GEOMETRY_RUNTIME_ASSERT(b.scaling > 0.0f);
return Transform2(
transformByInverse(a.translation, b),
timesTranspose(a.rotation, b.rotation),
a.scaling / b.scaling
);
}
const Vector2 transformByInverse(const Vector2& q, const Transform2& t)
{
GEOMETRY_RUNTIME_ASSERT(t.scaling > 0.0f);
return timesTranspose(q - t.translation, t.rotation) / t.scaling;
}
int Test_3x3timesTranspose(void)
{
// Init an array flanked by guard pages
btMatrix3x3 in1[ARRAY_SIZE];
btMatrix3x3 in2[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] = btMatrix3x3(rand_f4(), rand_f4(), rand_f4() );
out[i] = timesTranspose(in1[i], in2[i]);
out2[i] = in1[i].timesTranspose(in2[i]);
if( out[i] != out2[i] )
{
printf( "failure @ %ld\n", i);
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] = timesTranspose(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++ )
out[i] = in1[i].timesTranspose(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;
}
