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OpenSceneGraph/examples/osgunittests/UnitTests_osg.cpp
Robert Osfield 22eae68e48 From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction 
set.

The optimization is based on the observation that matrix matrix multiplication
with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a
transform, or scale matrix is only 4^2 operations. Which is a gain of a
*FACTOR*4* for these special cases.
The change implements these special cases, provides a unit test for these
implementation and converts uses of the expensiver dense matrix matrix
routine with the specialized versions.

Depending on the transform nodes in the scenegraph this change gives a
noticable improovement.
For example the osgforest code using the MatrixTransform is about 20% slower
than the same codepath using the PositionAttitudeTransform instead of the
MatrixTransform with this patch applied.

If I remember right, the sse type optimizations did *not* provide a factor 4
improovement. Also these changes are totally independent of any cpu or
instruction set architecture. So I would prefer to have this current kind of
change instead of some hand coded and cpu dependent assembly stuff. If we
need that hand tuned stuff, these can go on top of this changes which must
provide than hand optimized additional variants for the specialized versions
to give a even better result in the end.

An other change included here is a change to rotation matrix from quaterion
code. There is a sqrt call which couold be optimized away. Since we divide in
effect by sqrt(length)*sqrt(length) which is just length ...
"
2008-09-17 16:14:28 +00:00

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/* OpenSceneGraph example, osgunittests.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "UnitTestFramework.h"
#include <osg/Matrixd>
#include <osg/Matrixf>
#include <osg/Vec3d>
#include <osg/Vec3>
#include <sstream>
namespace osg
{
///////////////////////////////////////////////////////////////////////////////
//
// Vec3 Tests
//
class Vec3TestFixture
{
public:
Vec3TestFixture();
void testAddition(const osgUtx::TestContext& ctx);
void testSubtraction(const osgUtx::TestContext& ctx);
void testScalarMultiplication(const osgUtx::TestContext& ctx);
void testDotProduct(const osgUtx::TestContext& ctx);
private:
// Some convenience variables for use in the tests
Vec3 v1_, v2_, v3_;
};
Vec3TestFixture::Vec3TestFixture():
v1_(1.0f, 1.0f, 1.0f),
v2_(2.0f, 2.0f, 2.0f),
v3_(3.0f, 3.0f, 3.0f)
{
}
void Vec3TestFixture::testAddition(const osgUtx::TestContext&)
{
OSGUTX_TEST_F( v1_ + v2_ == v3_ )
}
void Vec3TestFixture::testSubtraction(const osgUtx::TestContext&)
{
OSGUTX_TEST_F( v3_ - v1_ == v2_ )
}
void Vec3TestFixture::testScalarMultiplication(const osgUtx::TestContext&)
{
OSGUTX_TEST_F( v1_ * 3 == v3_ )
}
void Vec3TestFixture::testDotProduct(const osgUtx::TestContext&)
{
}
OSGUTX_BEGIN_TESTSUITE(Vec3)
OSGUTX_ADD_TESTCASE(Vec3TestFixture, testAddition)
OSGUTX_ADD_TESTCASE(Vec3TestFixture, testSubtraction)
OSGUTX_ADD_TESTCASE(Vec3TestFixture, testScalarMultiplication)
OSGUTX_ADD_TESTCASE(Vec3TestFixture, testDotProduct)
OSGUTX_END_TESTSUITE
OSGUTX_AUTOREGISTER_TESTSUITE_AT(Vec3, root.osg)
///////////////////////////////////////////////////////////////////////////////
//
// Matrix Tests
//
class MatrixTestFixture
{
public:
MatrixTestFixture();
void testPreMultTranslate(const osgUtx::TestContext& ctx);
void testPostMultTranslate(const osgUtx::TestContext& ctx);
void testPreMultScale(const osgUtx::TestContext& ctx);
void testPostMultScale(const osgUtx::TestContext& ctx);
void testPreMultRotate(const osgUtx::TestContext& ctx);
void testPostMultRotate(const osgUtx::TestContext& ctx);
private:
// Some convenience variables for use in the tests
Matrixd _md;
Matrixf _mf;
Vec3d _v3d;
Vec3 _v3;
Quat _q1;
Quat _q2;
Quat _q3;
Quat _q4;
};
MatrixTestFixture::MatrixTestFixture():
_md(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16),
_mf(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16),
_v3d(1, 2, 3),
_v3(1, 2, 3),
_q1(1, 0, 0, 0),
_q2(0, 1, 0, 0),
_q3(0, 0, 1, 0),
_q4(0, 0, 0, 1)
{
}
void MatrixTestFixture::testPreMultTranslate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::translate(_v3d));
tdn.preMultTranslate(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::translate(_v3));
tdn.preMultTranslate(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::translate(_v3d));
tfn.preMultTranslate(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::translate(_v3));
tfn.preMultTranslate(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPostMultTranslate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::translate(_v3d));
tdn.postMultTranslate(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::translate(_v3));
tdn.postMultTranslate(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::translate(_v3d));
tfn.postMultTranslate(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::translate(_v3));
tfn.postMultTranslate(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPreMultScale(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::scale(_v3d));
tdn.preMultScale(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::scale(_v3));
tdn.preMultScale(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::scale(_v3d));
tfn.preMultScale(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::scale(_v3));
tfn.preMultScale(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPostMultScale(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::scale(_v3d));
tdn.postMultScale(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::scale(_v3));
tdn.postMultScale(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::scale(_v3d));
tfn.postMultScale(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::scale(_v3));
tfn.postMultScale(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPreMultRotate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q1));
tdn.preMultRotate(_q1);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q2));
tdn.preMultRotate(_q2);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q3));
tdn.preMultRotate(_q3);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q4));
tdn.preMultRotate(_q4);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q1));
tfn.preMultRotate(_q1);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q2));
tfn.preMultRotate(_q2);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q3));
tfn.preMultRotate(_q3);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q4));
tfn.preMultRotate(_q4);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPostMultRotate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q1));
tdn.postMultRotate(_q1);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q2));
tdn.postMultRotate(_q2);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q3));
tdn.postMultRotate(_q3);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q4));
tdn.postMultRotate(_q4);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q1));
tfn.postMultRotate(_q1);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q2));
tfn.postMultRotate(_q2);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q3));
tfn.postMultRotate(_q3);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q4));
tfn.postMultRotate(_q4);
OSGUTX_TEST_F( tfo == tfn )
}
OSGUTX_BEGIN_TESTSUITE(Matrix)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPreMultTranslate)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPostMultTranslate)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPreMultScale)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPostMultScale)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPreMultRotate)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPostMultRotate)
OSGUTX_END_TESTSUITE
OSGUTX_AUTOREGISTER_TESTSUITE_AT(Matrix, root.osg)
}
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