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Added a merge checker script that has to run before you can merge to main

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Updated merge checker and seperated the matrix tests fro mthe timing tests

Added matrix test timings

Timings get auto-comitted

Update matrix-timing-tests timings [skip ci]

Updated readme

Update matrix-timing-tests timings [skip ci]

Fixing auto-checkout issues

updated readme

Update matrix-timing-tests timings [skip ci]

Split timing tests into its own job

Update matrix-timing-tests timings [skip ci]
This commit is contained in:
Quinn
2025-05-21 17:48:18 -04:00
parent 8a15459fc8
commit 54d9699df8
9 changed files with 304 additions and 219 deletions
Download Patch File Download Diff File Expand all files Collapse all files

72
.gitea/workflows/Matrix-Timing.yaml Normal file
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@@ -0,0 +1,72 @@
name: Merge-Checker
on:
pull_request:
branches: ["**"]
paths-ignore:
- 'unit-tests/timing-results/**'
jobs:
build_and_test:
runs-on: ubuntu-latest
steps:
- name: Checkout source code
uses: actions/checkout@v3
with:
persist-credentials: true
fetch-depth: 0
- name: Install dependencies (CMake + Ninja + build tools)
run: |
sudo apt-get update
sudo apt-get install -y cmake ninja-build build-essential time git
- name: Configure project with CMake
run: cmake -G Ninja -S . -B build/
- name: Build with Ninja
run: ninja -C build/
- name: Run matrix-timing-tests with per-test timing output and save results
run: |
mkdir -p unit-tests/timing-results
if [ -x build/unit-tests/matrix-timing-tests ]; then
echo "Running matrix-timing-tests with timing"
/usr/bin/time -v build/unit-tests/matrix-timing-tests -d yes &> unit-tests/timing-results/matrix-timing-tests.txt
else
echo "matrix-timing-tests executable not found or not executable"
exit 1
fi
- name: Commit and push timing results
if: github.event.pull_request.head.repo.full_name == github.repository
run: |
git config --global user.name "ci-bot"
git config --global user.email "ci-bot@local"
BRANCH_NAME="${{ github.event.pull_request.head.ref }}"
git stash
echo "Checking out source branch $BRANCH_NAME"
git fetch origin "$BRANCH_NAME"
git checkout "$BRANCH_NAME"
git pull
echo "Checking if last commit was a timing update"
LAST_COMMIT_MSG=$(git log -1 --pretty=%B)
if echo "$LAST_COMMIT_MSG" | grep -q "Update matrix-timing-tests timings"; then
echo "Last commit was a timing update, skipping commit."
exit 0
else
echo "Last commit name was: $LAST_COMMIT_MSG"
git stash pop
fi
git add unit-tests/timing-results/matrix-timing-tests.txt
if git diff --quiet --cached; then
echo "No changes to commit"
else
git commit -m "Update matrix-timing-tests timings [skip ci]"
git push origin "$BRANCH_NAME"
fi

26
.gitea/workflows/Merge-Checker.yaml
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@@ -3,24 +3,38 @@ name: Merge-Checker
on:
pull_request:
branches: ["**"]
paths-ignore:
- 'unit-tests/timing-results/**'
jobs:
build:
build_and_test:
runs-on: ubuntu-latest
steps:
- name: Checkout source code
uses: actions/checkout@v3
with:
persist-credentials: true
fetch-depth: 0
- name: Install dependencies (CMake + Ninja + Compiler)
- name: Install dependencies (CMake + Ninja + build tools)
run: |
sudo apt-get update
sudo apt-get install -y cmake ninja-build build-essential
sudo apt-get install -y cmake ninja-build build-essential time git
- name: Configure project with CMake
run: |
cmake -G Ninja -S . -B build/
run: cmake -G Ninja -S . -B build/
- name: Build with Ninja
run: ninja -C build/
- name: Run all unit tests except matrix-timing-tests
run: |
ninja -C build/
for test_exec in build/unit-tests/matrix-tests build/unit-tests/quaternion-tests build/unit-tests/vector-3d-tests; do
if [ -x "$test_exec" ]; then
echo "Running $test_exec"
"$test_exec"
else
echo "Warning: $test_exec not found or not executable"
fi
done

4
README.md
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@@ -1 +1,5 @@
# Introduction
This matrix math library is focused on embedded development and avoids any heap memory allocation unless you explicitly ask for it.
It uses templates to pre-allocate matrices on the stack.
There are still several operations that are works in progress

9
unit-tests/CMakeLists.txt
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@@ -16,6 +16,15 @@ target_link_libraries(matrix-tests
Catch2::Catch2WithMain
)
# matrix timing tests
add_executable(matrix-timing-tests matrix-timing-tests.cpp)
target_link_libraries(matrix-timing-tests
PRIVATE
matrix
Catch2::Catch2WithMain
)
# Vector 3D Tests
add_executable(vector-3d-tests vector-tests.cpp)

14
unit-tests/matrix-test-timings.txt
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@@ -1,14 +0,0 @@
Addition: 0.419 s
Subtraction: 0.421 s
Multiplication: 3.297 s
Scalar Multiplication: 0.329 s
Element Multiply: 0.306 s
Element Divide: 0.302 s
Minor Matrix: 0.331 s
Determinant: 0.177 s
Matrix of Minors: 0.766 s
Invert: 0.183 s
Transpose: 0.215 s
Normalize: 0.315 s
GET ROW: 0.008 s
GET COLUMN: 0.43 s

216
unit-tests/matrix-tests.cpp
View File

@@ -10,15 +10,13 @@
#include <cmath>
#include <iostream>
TEST_CASE("Elementary Matrix Operations", "Matrix")
{
TEST_CASE("Elementary Matrix Operations", "Matrix") {
std::array<float, 4> arr2{5, 6, 7, 8};
Matrix<2, 2> mat1{1, 2, 3, 4};
Matrix<2, 2> mat2{arr2};
Matrix<2, 2> mat3{};
SECTION("Initialization")
{
SECTION("Initialization") {
// array initialization
REQUIRE(mat1.Get(0, 0) == 1);
REQUIRE(mat1.Get(0, 1) == 2);
@@ -40,17 +38,14 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
// large matrix
Matrix<255, 255> mat6{};
mat6.Fill(4);
for (uint8_t row{0}; row < 255; row++)
{
for (uint8_t column{0}; column < 255; column++)
{
for (uint8_t row{0}; row < 255; row++) {
for (uint8_t column{0}; column < 255; column++) {
REQUIRE(mat6.Get(row, column) == 4);
}
}
}
SECTION("Fill")
{
SECTION("Fill") {
mat1.Fill(0);
REQUIRE(mat1.Get(0, 0) == 0);
REQUIRE(mat1.Get(0, 1) == 0);
@@ -70,12 +65,10 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == -20);
}
SECTION("Addition")
{
SECTION("Addition") {
std::string strBuf1 = "";
mat1.ToString(strBuf1);
std::cout << "Matrix 1:\n"
<< strBuf1 << std::endl;
std::cout << "Matrix 1:\n" << strBuf1 << std::endl;
mat1.Add(mat2, mat3);
@@ -93,8 +86,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == 12);
}
SECTION("Subtraction")
{
SECTION("Subtraction") {
mat1.Sub(mat2, mat3);
REQUIRE(mat3.Get(0, 0) == -4);
@@ -111,8 +103,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == -4);
}
SECTION("Multiplication")
{
SECTION("Multiplication") {
mat1.Mult(mat2, mat3);
REQUIRE(mat3.Get(0, 0) == 19);
@@ -131,8 +122,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
// TODO: You need to add non-square multiplications to this.
}
SECTION("Scalar Multiplication")
{
SECTION("Scalar Multiplication") {
mat1.Mult(2, mat3);
REQUIRE(mat3.Get(0, 0) == 2);
@@ -141,8 +131,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == 8);
}
SECTION("Element Multiply")
{
SECTION("Element Multiply") {
mat1.ElementMultiply(mat2, mat3);
REQUIRE(mat3.Get(0, 0) == 5);
@@ -151,8 +140,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == 32);
}
SECTION("Element Divide")
{
SECTION("Element Divide") {
mat1.ElementDivide(mat2, mat3);
REQUIRE_THAT(mat3.Get(0, 0), Catch::Matchers::WithinRel(0.2f, 1e-6f));
@@ -161,8 +149,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(mat3.Get(1, 1), Catch::Matchers::WithinRel(0.5f, 1e-6f));
}
SECTION("Minor Matrix")
{
SECTION("Minor Matrix") {
// what about matrices of 0,0 or 1,1?
// minor matrix for 2x2 matrix
Matrix<1, 1> minorMat1{};
@@ -198,8 +185,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(minorMat4.Get(1, 1) == 5);
}
SECTION("Determinant")
{
SECTION("Determinant") {
float det1 = mat1.Det();
REQUIRE_THAT(det1, Catch::Matchers::WithinRel(-2.0F, 1e-6f));
@@ -216,8 +202,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(det5, Catch::Matchers::WithinRel(6.0F, 1e-6f));
}
SECTION("Matrix of Minors")
{
SECTION("Matrix of Minors") {
mat1.MatrixOfMinors(mat3);
REQUIRE_THAT(mat3.Get(0, 0), Catch::Matchers::WithinRel(4.0F, 1e-6f));
REQUIRE_THAT(mat3.Get(0, 1), Catch::Matchers::WithinRel(3.0F, 1e-6f));
@@ -238,8 +223,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(mat5.Get(2, 2), Catch::Matchers::WithinRel(-3.0F, 1e-6f));
}
SECTION("Invert")
{
SECTION("Invert") {
mat3 = mat1.Invert();
REQUIRE_THAT(mat3.Get(0, 0), Catch::Matchers::WithinRel(-2.0F, 1e-6f));
REQUIRE_THAT(mat3.Get(0, 1), Catch::Matchers::WithinRel(1.0F, 1e-6f));
@@ -247,8 +231,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(mat3.Get(1, 1), Catch::Matchers::WithinRel(-0.5F, 1e-6f));
};
SECTION("Transpose")
{
SECTION("Transpose") {
// transpose a square matrix
mat3 = mat1.Transpose();
@@ -271,8 +254,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat5.Get(2, 1) == 6);
}
SECTION("Normalize")
{
SECTION("Normalize") {
mat1.Normalize(mat3);
float sqrt_30{sqrt(30)};
@@ -292,8 +274,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
Catch::Matchers::WithinRel(0.957591346325f, 1e-6f));
}
SECTION("GET ROW")
{
SECTION("GET ROW") {
Matrix<1, 2> mat1Rows{};
mat1.GetRow(0, mat1Rows);
REQUIRE(mat1Rows.Get(0, 0) == 1);
@@ -304,8 +285,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat1Rows.Get(0, 1) == 4);
}
SECTION("GET COLUMN")
{
SECTION("GET COLUMN") {
Matrix<2, 1> mat1Columns{};
mat1.GetColumn(0, mat1Columns);
REQUIRE(mat1Columns.Get(0, 0) == 1);
@@ -316,12 +296,8 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat1Columns.Get(1, 0) == 4);
}
SECTION("Get Sub-Matrices")
{
Matrix<3, 3> mat4{
1, 2, 3,
4, 5, 6,
7, 8, 9};
SECTION("Get Sub-Matrices") {
Matrix<3, 3> mat4{1, 2, 3, 4, 5, 6, 7, 8, 9};
Matrix<2, 2> mat5 = mat4.SubMatrix<2, 2, 0, 0>();
@@ -347,12 +323,8 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat7.Get(0, 2) == 3);
}
SECTION("Set Sub-Matrices")
{
Matrix<3, 3> startMatrix{
1, 2, 3,
4, 5, 6,
7, 8, 9};
SECTION("Set Sub-Matrices") {
Matrix<3, 3> startMatrix{1, 2, 3, 4, 5, 6, 7, 8, 9};
Matrix<3, 3> mat4 = startMatrix;
Matrix<2, 2> mat5{10, 11, 12, 13};
@@ -381,144 +353,4 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat4.Get(0, 1) == 11);
REQUIRE(mat4.Get(0, 2) == 12);
}
}
// basically re-run all of the previous tests with huge matrices and time the
// results.
TEST_CASE("Timing Tests", "Matrix")
{
std::array<float, 50 * 50> arr1{};
for (uint16_t i{0}; i < 50 * 50; i++)
{
arr1[i] = i;
}
std::array<float, 50 * 50> arr2{5, 6, 7, 8};
for (uint16_t i{50 * 50}; i < 2 * 50 * 50; i++)
{
arr2[i] = i;
}
Matrix<50, 50> mat1{arr1};
Matrix<50, 50> mat2{arr2};
Matrix<50, 50> mat3{};
// A smaller matrix to use for really badly optimized operations
Matrix<4, 4> mat4{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16};
Matrix<4, 4> mat5{};
SECTION("Addition")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1 + mat2;
}
}
SECTION("Subtraction")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1 - mat2;
}
}
SECTION("Multiplication")
{
for (uint32_t i{0}; i < 1000; i++)
{
mat3 = mat1 * mat2;
}
}
SECTION("Scalar Multiplication")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1 * 3;
}
}
SECTION("Element Multiply")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat1.ElementMultiply(mat2, mat3);
}
}
SECTION("Element Divide")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat1.ElementDivide(mat2, mat3);
}
}
SECTION("Minor Matrix")
{
// what about matrices of 0,0 or 1,1?
// minor matrix for 2x2 matrix
Matrix<49, 49> minorMat1{};
for (uint32_t i{0}; i < 10000; i++)
{
mat1.MinorMatrix(minorMat1, 0, 0);
}
}
SECTION("Determinant")
{
for (uint32_t i{0}; i < 100000; i++)
{
float det1 = mat4.Det();
}
}
SECTION("Matrix of Minors")
{
for (uint32_t i{0}; i < 100000; i++)
{
mat4.MatrixOfMinors(mat5);
}
}
SECTION("Invert")
{
for (uint32_t i{0}; i < 100000; i++)
{
mat5 = mat4.Invert();
}
};
SECTION("Transpose")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1.Transpose();
}
}
SECTION("Normalize")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat1.Normalize(mat3);
}
}
SECTION("GET ROW")
{
Matrix<1, 50> mat1Rows{};
for (uint32_t i{0}; i < 1000000; i++)
{
mat1.GetRow(0, mat1Rows);
}
}
SECTION("GET COLUMN")
{
Matrix<50, 1> mat1Columns{};
for (uint32_t i{0}; i < 1000000; i++)
{
mat1.GetColumn(0, mat1Columns);
}
}
}

119
unit-tests/matrix-timing-tests.cpp Normal file
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@@ -0,0 +1,119 @@
// include the unit test framework first
#include <catch2/catch_test_macros.hpp>
#include <catch2/matchers/catch_matchers_floating_point.hpp>
// include the module you're going to test next
#include "Matrix.hpp"
// any other libraries
#include <array>
#include <cmath>
// basically re-run all of the matrix tests with huge matrices and time the
// results.
TEST_CASE("Timing Tests", "Matrix") {
std::array<float, 50 * 50> arr1{};
for (uint16_t i{0}; i < 50 * 50; i++) {
arr1[i] = i;
}
std::array<float, 50 * 50> arr2{5, 6, 7, 8};
for (uint16_t i{50 * 50}; i < 2 * 50 * 50; i++) {
arr2[i] = i;
}
Matrix<50, 50> mat1{arr1};
Matrix<50, 50> mat2{arr2};
Matrix<50, 50> mat3{};
// A smaller matrix to use for really badly optimized operations
Matrix<4, 4> mat4{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16};
Matrix<4, 4> mat5{};
SECTION("Addition") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1 + mat2;
}
}
SECTION("Subtraction") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1 - mat2;
}
}
SECTION("Multiplication") {
for (uint32_t i{0}; i < 1000; i++) {
mat3 = mat1 * mat2;
}
}
SECTION("Scalar Multiplication") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1 * 3;
}
}
SECTION("Element Multiply") {
for (uint32_t i{0}; i < 10000; i++) {
mat1.ElementMultiply(mat2, mat3);
}
}
SECTION("Element Divide") {
for (uint32_t i{0}; i < 10000; i++) {
mat1.ElementDivide(mat2, mat3);
}
}
SECTION("Minor Matrix") {
// what about matrices of 0,0 or 1,1?
// minor matrix for 2x2 matrix
Matrix<49, 49> minorMat1{};
for (uint32_t i{0}; i < 10000; i++) {
mat1.MinorMatrix(minorMat1, 0, 0);
}
}
SECTION("Determinant") {
for (uint32_t i{0}; i < 100000; i++) {
float det1 = mat4.Det();
}
}
SECTION("Matrix of Minors") {
for (uint32_t i{0}; i < 100000; i++) {
mat4.MatrixOfMinors(mat5);
}
}
SECTION("Invert") {
for (uint32_t i{0}; i < 100000; i++) {
mat5 = mat4.Invert();
}
};
SECTION("Transpose") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1.Transpose();
}
}
SECTION("Normalize") {
for (uint32_t i{0}; i < 10000; i++) {
mat1.Normalize(mat3);
}
}
SECTION("GET ROW") {
Matrix<1, 50> mat1Rows{};
for (uint32_t i{0}; i < 1000000; i++) {
mat1.GetRow(0, mat1Rows);
}
}
SECTION("GET COLUMN") {
Matrix<50, 1> mat1Columns{};
for (uint32_t i{0}; i < 1000000; i++) {
mat1.GetColumn(0, mat1Columns);
}
}
}

7
unit-tests/run-matrix-timing-test.sh
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@@ -1,7 +0,0 @@
# be in the root folder of this project when you run this
cd build/
ninja matrix-tests
echo "Running tests. This will take a while."
./unit-tests/matrix-tests -n "Timing Tests" -d yes > ../unit-tests/matrix-test-timings-temp.txt
cd ../unit-tests/
python3 test-timing-post-process.py

56
unit-tests/timing-results/matrix-timing-tests.txt Normal file
View File

@@ -0,0 +1,56 @@
Randomness seeded to: 2680752211
0.179 s: Addition
0.179 s: Timing Tests
0.172 s: Subtraction
0.172 s: Timing Tests
1.894 s: Multiplication
1.894 s: Timing Tests
0.128 s: Scalar Multiplication
0.128 s: Timing Tests
0.177 s: Element Multiply
0.177 s: Timing Tests
0.176 s: Element Divide
0.176 s: Timing Tests
0.150 s: Minor Matrix
0.150 s: Timing Tests
0.102 s: Determinant
0.102 s: Timing Tests
0.416 s: Matrix of Minors
0.416 s: Timing Tests
0.110 s: Invert
0.110 s: Timing Tests
0.124 s: Transpose
0.124 s: Timing Tests
0.189 s: Normalize
0.189 s: Timing Tests
0.006 s: GET ROW
0.006 s: Timing Tests
0.234 s: GET COLUMN
0.234 s: Timing Tests
===============================================================================
test cases: 1 | 1 passed
assertions: - none -
Command being timed: "build/unit-tests/matrix-timing-tests -d yes"
User time (seconds): 4.05
System time (seconds): 0.00
Percent of CPU this job got: 99%
Elapsed (wall clock) time (h:mm:ss or m:ss): 0:04.06
Average shared text size (kbytes): 0
Average unshared data size (kbytes): 0
Average stack size (kbytes): 0
Average total size (kbytes): 0
Maximum resident set size (kbytes): 3200
Average resident set size (kbytes): 0
Major (requiring I/O) page faults: 186
Minor (reclaiming a frame) page faults: 172
Voluntary context switches: 1
Involuntary context switches: 40
Swaps: 0
File system inputs: 12
File system outputs: 1
Socket messages sent: 0
Socket messages received: 0
Signals delivered: 0
Page size (bytes): 4096
Exit status: 0