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420 lines
8.9 KiB
420 lines
8.9 KiB
/*
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* Copyright © 2012 Collabora, Ltd.
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*
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* Permission to use, copy, modify, distribute, and sell this software and
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* its documentation for any purpose is hereby granted without fee, provided
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* that the above copyright notice appear in all copies and that both that
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* copyright notice and this permission notice appear in supporting
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* documentation, and that the name of the copyright holders not be used in
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* advertising or publicity pertaining to distribution of the software
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* without specific, written prior permission. The copyright holders make
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* no representations about the suitability of this software for any
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* purpose. It is provided "as is" without express or implied warranty.
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*
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* THE COPYRIGHT HOLDERS DISCLAIM ALL WARRANTIES WITH REGARD TO THIS
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* SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND
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* FITNESS, IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
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* SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
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* RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF
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* CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
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* CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <GLES2/gl2.h>
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#include <math.h>
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#include <unistd.h>
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#include <signal.h>
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#include <time.h>
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#include "matrix.h"
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struct inverse_matrix {
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double LU[16]; /* column-major */
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unsigned perm[4]; /* permutation */
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};
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static struct timespec begin_time;
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static void
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reset_timer(void)
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{
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clock_gettime(CLOCK_MONOTONIC, &begin_time);
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}
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static double
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read_timer(void)
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{
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struct timespec t;
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clock_gettime(CLOCK_MONOTONIC, &t);
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return (double)(t.tv_sec - begin_time.tv_sec) +
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1e-9 * (t.tv_nsec - begin_time.tv_nsec);
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}
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static double
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det3x3(const GLfloat *c0, const GLfloat *c1, const GLfloat *c2)
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{
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return (double)
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c0[0] * c1[1] * c2[2] +
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c1[0] * c2[1] * c0[2] +
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c2[0] * c0[1] * c1[2] -
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c0[2] * c1[1] * c2[0] -
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c1[2] * c2[1] * c0[0] -
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c2[2] * c0[1] * c1[0];
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}
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static double
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determinant(const struct weston_matrix *m)
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{
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double det = 0;
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#if 1
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/* develop on last row */
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det -= m->d[3 + 0 * 4] * det3x3(&m->d[4], &m->d[8], &m->d[12]);
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det += m->d[3 + 1 * 4] * det3x3(&m->d[0], &m->d[8], &m->d[12]);
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det -= m->d[3 + 2 * 4] * det3x3(&m->d[0], &m->d[4], &m->d[12]);
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det += m->d[3 + 3 * 4] * det3x3(&m->d[0], &m->d[4], &m->d[8]);
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#else
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/* develop on first row */
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det += m->d[0 + 0 * 4] * det3x3(&m->d[5], &m->d[9], &m->d[13]);
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det -= m->d[0 + 1 * 4] * det3x3(&m->d[1], &m->d[9], &m->d[13]);
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det += m->d[0 + 2 * 4] * det3x3(&m->d[1], &m->d[5], &m->d[13]);
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det -= m->d[0 + 3 * 4] * det3x3(&m->d[1], &m->d[5], &m->d[9]);
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#endif
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return det;
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}
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static void
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print_permutation_matrix(const struct inverse_matrix *m)
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{
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const unsigned *p = m->perm;
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const char *row[4] = {
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"1 0 0 0\n",
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"0 1 0 0\n",
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"0 0 1 0\n",
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"0 0 0 1\n"
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};
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printf(" P =\n%s%s%s%s", row[p[0]], row[p[1]], row[p[2]], row[p[3]]);
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}
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static void
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print_LU_decomposition(const struct inverse_matrix *m)
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{
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unsigned r, c;
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printf(" L "
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" U\n");
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for (r = 0; r < 4; ++r) {
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double v;
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for (c = 0; c < 4; ++c) {
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if (c < r)
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v = m->LU[r + c * 4];
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else if (c == r)
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v = 1.0;
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else
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v = 0.0;
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printf(" %12.6f", v);
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}
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printf(" | ");
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for (c = 0; c < 4; ++c) {
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if (c >= r)
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v = m->LU[r + c * 4];
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else
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v = 0.0;
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printf(" %12.6f", v);
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}
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printf("\n");
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}
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}
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static void
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print_inverse_data_matrix(const struct inverse_matrix *m)
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{
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unsigned r, c;
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for (r = 0; r < 4; ++r) {
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for (c = 0; c < 4; ++c)
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printf(" %12.6f", m->LU[r + c * 4]);
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printf("\n");
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}
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printf("permutation: ");
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for (r = 0; r < 4; ++r)
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printf(" %u", m->perm[r]);
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printf("\n");
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}
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static void
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print_matrix(const struct weston_matrix *m)
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{
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unsigned r, c;
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for (r = 0; r < 4; ++r) {
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for (c = 0; c < 4; ++c)
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printf(" %14.6e", m->d[r + c * 4]);
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printf("\n");
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}
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}
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static double
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frand(void)
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{
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double r = random();
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return r / (double)(RAND_MAX / 2) - 1.0f;
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}
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static void
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randomize_matrix(struct weston_matrix *m)
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{
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unsigned i;
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for (i = 0; i < 16; ++i)
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#if 1
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m->d[i] = frand() * exp(10.0 * frand());
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#else
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m->d[i] = frand();
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#endif
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}
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/* Take a matrix, compute inverse, multiply together
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* and subtract the identity matrix to get the error matrix.
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* Return the largest absolute value from the error matrix.
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*/
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static double
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test_inverse(struct weston_matrix *m)
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{
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unsigned i;
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struct inverse_matrix q;
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double errsup = 0.0;
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if (matrix_invert(q.LU, q.perm, m) != 0)
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return INFINITY;
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for (i = 0; i < 4; ++i)
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inverse_transform(q.LU, q.perm, &m->d[i * 4]);
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m->d[0] -= 1.0f;
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m->d[5] -= 1.0f;
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m->d[10] -= 1.0f;
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m->d[15] -= 1.0f;
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for (i = 0; i < 16; ++i) {
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double err = fabs(m->d[i]);
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if (err > errsup)
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errsup = err;
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}
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return errsup;
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}
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enum {
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TEST_OK,
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TEST_NOT_INVERTIBLE_OK,
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TEST_FAIL,
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TEST_COUNT
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};
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static int
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test(void)
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{
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struct weston_matrix m;
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double det, errsup;
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randomize_matrix(&m);
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det = determinant(&m);
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errsup = test_inverse(&m);
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if (errsup < 1e-6)
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return TEST_OK;
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if (fabs(det) < 1e-5 && isinf(errsup))
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return TEST_NOT_INVERTIBLE_OK;
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printf("test fail, det: %g, error sup: %g\n", det, errsup);
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return TEST_FAIL;
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}
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static int running;
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static void
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stopme(int n)
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{
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running = 0;
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}
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static void
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test_loop_precision(void)
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{
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int counts[TEST_COUNT] = { 0 };
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printf("\nRunning a test loop for 10 seconds...\n");
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running = 1;
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alarm(10);
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while (running) {
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counts[test()]++;
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}
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printf("tests: %d ok, %d not invertible but ok, %d failed.\n"
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"Total: %d iterations.\n",
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counts[TEST_OK], counts[TEST_NOT_INVERTIBLE_OK],
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counts[TEST_FAIL],
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counts[TEST_OK] + counts[TEST_NOT_INVERTIBLE_OK] +
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counts[TEST_FAIL]);
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}
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static void __attribute__((noinline))
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test_loop_speed_matrixvector(void)
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{
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struct weston_matrix m;
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struct weston_vector v = { { 0.5, 0.5, 0.5, 1.0 } };
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unsigned long count = 0;
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double t;
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printf("\nRunning 3 s test on weston_matrix_transform()...\n");
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weston_matrix_init(&m);
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running = 1;
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alarm(3);
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reset_timer();
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while (running) {
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weston_matrix_transform(&m, &v);
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count++;
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}
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t = read_timer();
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printf("%lu iterations in %f seconds, avg. %.1f us/iter.\n",
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count, t, 1e9 * t / count);
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}
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static void __attribute__((noinline))
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test_loop_speed_inversetransform(void)
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{
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struct weston_matrix m;
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struct inverse_matrix inv;
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struct weston_vector v = { { 0.5, 0.5, 0.5, 1.0 } };
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unsigned long count = 0;
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double t;
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printf("\nRunning 3 s test on inverse_transform()...\n");
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weston_matrix_init(&m);
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matrix_invert(inv.LU, inv.perm, &m);
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running = 1;
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alarm(3);
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reset_timer();
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while (running) {
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inverse_transform(inv.LU, inv.perm, v.f);
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count++;
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}
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t = read_timer();
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printf("%lu iterations in %f seconds, avg. %.1f us/iter.\n",
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count, t, 1e9 * t / count);
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}
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static void __attribute__((noinline))
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test_loop_speed_invert(void)
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{
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struct weston_matrix m;
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struct inverse_matrix inv;
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unsigned long count = 0;
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double t;
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printf("\nRunning 3 s test on matrix_invert()...\n");
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weston_matrix_init(&m);
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running = 1;
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alarm(3);
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reset_timer();
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while (running) {
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matrix_invert(inv.LU, inv.perm, &m);
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count++;
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}
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t = read_timer();
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printf("%lu iterations in %f seconds, avg. %.1f ns/iter.\n",
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count, t, 1e9 * t / count);
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}
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static void __attribute__((noinline))
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test_loop_speed_invert_explicit(void)
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{
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struct weston_matrix m;
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unsigned long count = 0;
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double t;
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printf("\nRunning 3 s test on weston_matrix_invert()...\n");
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weston_matrix_init(&m);
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running = 1;
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alarm(3);
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reset_timer();
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while (running) {
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weston_matrix_invert(&m, &m);
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count++;
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}
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t = read_timer();
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printf("%lu iterations in %f seconds, avg. %.1f ns/iter.\n",
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count, t, 1e9 * t / count);
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}
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int main(void)
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{
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struct sigaction ding;
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struct weston_matrix M;
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struct inverse_matrix Q;
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int ret;
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double errsup;
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double det;
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ding.sa_handler = stopme;
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sigemptyset(&ding.sa_mask);
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ding.sa_flags = 0;
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sigaction(SIGALRM, &ding, NULL);
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srandom(13);
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M.d[0] = 3.0; M.d[4] = 17.0; M.d[8] = 10.0; M.d[12] = 0.0;
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M.d[1] = 2.0; M.d[5] = 4.0; M.d[9] = -2.0; M.d[13] = 0.0;
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M.d[2] = 6.0; M.d[6] = 18.0; M.d[10] = -12; M.d[14] = 0.0;
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M.d[3] = 0.0; M.d[7] = 0.0; M.d[11] = 0.0; M.d[15] = 1.0;
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ret = matrix_invert(Q.LU, Q.perm, &M);
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printf("ret = %d\n", ret);
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printf("det = %g\n\n", determinant(&M));
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if (ret != 0)
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return 1;
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print_inverse_data_matrix(&Q);
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printf("P * A = L * U\n");
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print_permutation_matrix(&Q);
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print_LU_decomposition(&Q);
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printf("a random matrix:\n");
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randomize_matrix(&M);
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det = determinant(&M);
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print_matrix(&M);
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errsup = test_inverse(&M);
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printf("\nThe matrix multiplied by its inverse, error:\n");
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print_matrix(&M);
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printf("max abs error: %g, original determinant %g\n", errsup, det);
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test_loop_precision();
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test_loop_speed_matrixvector();
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test_loop_speed_inversetransform();
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test_loop_speed_invert();
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test_loop_speed_invert_explicit();
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return 0;
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}
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