Math: benchmark quaternion interpolation methods.

src/Magnum/Math/Test/CMakeLists.txt

@@ -61,6 +61,8 @@ corrade_add_test(MathDistanceTest DistanceTest.cpp LIBRARIES MagnumMathTestLib)
 corrade_add_test(MathIntersectionTest IntersectionTest.cpp LIBRARIES MagnumMathTestLib)
 corrade_add_test(MathIntersectionBenchmark IntersectionBenchmark.cpp LIBRARIES MagnumMathTestLib)
 
+corrade_add_test(MathInterpolationBenchmark InterpolationBenchmark.cpp LIBRARIES MagnumMathTestLib)
+
 set_property(TARGET
     MathVectorTest
     MathMatrixTest

src/Magnum/Math/Test/InterpolationBenchmark.cpp

@@ -0,0 +1,152 @@
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018
+              Vladimír Vondruš <mosra@centrum.cz>
+
+    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 above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    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 <Corrade/TestSuite/Tester.h>
+
+#define CORRADE_NO_ASSERT
+#include "Magnum/Math/DualQuaternion.h"
+
+namespace Magnum { namespace Math { namespace Test {
+
+struct InterpolationBenchmark: Corrade::TestSuite::Tester {
+    explicit InterpolationBenchmark();
+
+    void baseline();
+    void quaternionLerp();
+    void quaternionLerpShortestPath();
+    void quaternionSlerp();
+    void quaternionSlerpShortestPath();
+    void dualQuaternionSclerp();
+    void dualQuaternionSclerpShortestPath();
+};
+
+using namespace Math::Literals;
+
+typedef Math::Quaternion<Float> Quaternion;
+typedef Math::DualQuaternion<Float> DualQuaternion;
+typedef Math::Vector3<Float> Vector3;
+
+InterpolationBenchmark::InterpolationBenchmark() {
+    addBenchmarks({&InterpolationBenchmark::baseline,
+                   &InterpolationBenchmark::quaternionLerp,
+                   &InterpolationBenchmark::quaternionLerpShortestPath,
+                   &InterpolationBenchmark::quaternionSlerp,
+                   &InterpolationBenchmark::quaternionSlerpShortestPath,
+                   &InterpolationBenchmark::dualQuaternionSclerp,
+                   &InterpolationBenchmark::dualQuaternionSclerpShortestPath}, 100);
+}
+
+void InterpolationBenchmark::baseline() {
+    Quaternion c;
+    Float t = 0.0f;
+    CORRADE_BENCHMARK(10000) {
+        c += Quaternion{};
+        t += 0.0002f;
+    }
+
+    CORRADE_VERIFY(!c.isNormalized());
+}
+
+void InterpolationBenchmark::quaternionLerp() {
+    auto a = Quaternion::rotation(225.0_degf, Vector3::zAxis());
+    auto b = Quaternion::rotation(0.0_degf, Vector3::zAxis());
+    Quaternion c;
+    Float t = 0.0f;
+    CORRADE_BENCHMARK(10000) {
+        c += lerp(a, b, t);
+        t += 0.0002f;
+    }
+
+    CORRADE_VERIFY(!c.isNormalized());
+}
+
+void InterpolationBenchmark::quaternionLerpShortestPath() {
+    auto a = Quaternion::rotation(225.0_degf, Vector3::zAxis());
+    auto b = Quaternion::rotation(0.0_degf, Vector3::zAxis());
+    Quaternion c;
+    Float t = 0.0f;
+    CORRADE_BENCHMARK(10000) {
+        c += lerpShortestPath(a, b, t);
+        t += 0.0002f;
+    }
+
+    CORRADE_VERIFY(!c.isNormalized());
+}
+
+void InterpolationBenchmark::quaternionSlerp() {
+    auto a = Quaternion::rotation(225.0_degf, Vector3::zAxis());
+    auto b = Quaternion::rotation(0.0_degf, Vector3::zAxis());
+    Quaternion c;
+    Float t = 0.0f;
+    CORRADE_BENCHMARK(10000) {
+        c += slerp(a, b, t);
+        t += 0.0002f;
+    }
+
+    CORRADE_VERIFY(!c.isNormalized());
+}
+
+void InterpolationBenchmark::quaternionSlerpShortestPath() {
+    auto a = Quaternion::rotation(225.0_degf, Vector3::zAxis());
+    auto b = Quaternion::rotation(0.0_degf, Vector3::zAxis());
+    Quaternion c;
+    Float t = 0.0f;
+    CORRADE_BENCHMARK(10000) {
+        c += slerpShortestPath(a, b, t);
+        t += 0.0002f;
+    }
+
+    CORRADE_VERIFY(!c.isNormalized());
+}
+
+void InterpolationBenchmark::dualQuaternionSclerp() {
+    auto a = DualQuaternion::rotation(225.0_degf, Vector3::zAxis());
+    auto b = DualQuaternion::rotation(0.0_degf, Vector3::zAxis());
+    DualQuaternion c;
+    Float t = 0.0f;
+    CORRADE_BENCHMARK(1000) {
+        c += sclerp(a, b, t);
+        t += 0.001f;
+    }
+
+    CORRADE_VERIFY(!c.isNormalized());
+}
+
+void InterpolationBenchmark::dualQuaternionSclerpShortestPath() {
+    auto a = DualQuaternion::rotation(225.0_degf, Vector3::zAxis());
+    auto b = DualQuaternion::rotation(0.0_degf, Vector3::zAxis());
+    DualQuaternion c;
+    Float t = 0.0f;
+    CORRADE_BENCHMARK(1000) {
+        c += sclerpShortestPath(a, b, t);
+        t += 0.001f;
+    }
+
+    CORRADE_VERIFY(!c.isNormalized());
+}
+
+}}}
+
+CORRADE_TEST_MAIN(Magnum::Math::Test::InterpolationBenchmark)