ruby-bullet 0.0.2-x86-mingw32
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- data/INSTALL.md +22 -0
- data/LICENSE +23 -0
- data/README.md +41 -0
- data/Rakefile +131 -0
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Redistribution and use in source and binary forms,
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with or without modification, are permitted provided that the
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following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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+
* Redistributions in binary form must reproduce the above copyright
|
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+
notice, this list of conditions and the following disclaimer in the
|
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+
documentation and/or other materials provided with the distribution.
|
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* Neither the name of the Sony Computer Entertainment Inc nor the names
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of its contributors may be used to endorse or promote products derived
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from this software without specific prior written permission.
|
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+
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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+
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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+
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+
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+
#ifndef _VECTORMATH_MAT_AOS_CPP_H
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#define _VECTORMATH_MAT_AOS_CPP_H
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+
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+
namespace Vectormath {
|
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|
+
namespace Aos {
|
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+
|
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+
//-----------------------------------------------------------------------------
|
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|
+
// Constants
|
39
|
+
// for shuffles, words are labeled [x,y,z,w] [a,b,c,d]
|
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+
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+
#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X })
|
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|
+
#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X })
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#define _VECTORMATH_PERM_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B })
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#define _VECTORMATH_PERM_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_D })
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|
+
#define _VECTORMATH_PERM_XZBX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X })
|
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|
+
#define _VECTORMATH_PERM_CXXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X })
|
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|
+
#define _VECTORMATH_PERM_YAXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X })
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#define _VECTORMATH_PERM_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C })
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#define _VECTORMATH_PERM_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W, _VECTORMATH_PERM_Z })
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#define _VECTORMATH_PERM_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_D })
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#define _VECTORMATH_PERM_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X })
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#define _VECTORMATH_PERM_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y })
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#define _VECTORMATH_PERM_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C })
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#define _VECTORMATH_PERM_ZAYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X })
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#define _VECTORMATH_PERM_BZXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X })
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+
#define _VECTORMATH_PERM_XZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A })
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+
#define _VECTORMATH_PERM_ZXXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_B })
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+
#define _VECTORMATH_PERM_YXXC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_C })
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+
#define _VECTORMATH_PERM_BBYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X })
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+
#define _VECTORMATH_PI_OVER_2 1.570796327f
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+
|
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+
//-----------------------------------------------------------------------------
|
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+
// Definitions
|
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+
|
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+
VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const Matrix3 & mat )
|
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+
{
|
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+
mCol0 = mat.mCol0;
|
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+
mCol1 = mat.mCol1;
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+
mCol2 = mat.mCol2;
|
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+
}
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+
|
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+
VECTORMATH_FORCE_INLINE Matrix3::Matrix3( float scalar )
|
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+
{
|
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+
mCol0 = Vector3( scalar );
|
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+
mCol1 = Vector3( scalar );
|
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+
mCol2 = Vector3( scalar );
|
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+
}
|
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+
|
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+
VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const floatInVec &scalar )
|
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+
{
|
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+
mCol0 = Vector3( scalar );
|
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+
mCol1 = Vector3( scalar );
|
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+
mCol2 = Vector3( scalar );
|
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+
}
|
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+
|
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+
VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const Quat &unitQuat )
|
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+
{
|
88
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+
__m128 xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2;
|
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+
__m128 tmp0, tmp1, tmp2, tmp3, tmp4, tmp5;
|
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+
VM_ATTRIBUTE_ALIGN16 unsigned int sx[4] = {0xffffffff, 0, 0, 0};
|
91
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+
VM_ATTRIBUTE_ALIGN16 unsigned int sz[4] = {0, 0, 0xffffffff, 0};
|
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+
__m128 select_x = _mm_load_ps((float *)sx);
|
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+
__m128 select_z = _mm_load_ps((float *)sz);
|
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|
+
|
95
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+
xyzw_2 = _mm_add_ps( unitQuat.get128(), unitQuat.get128() );
|
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+
wwww = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,3,3,3) );
|
97
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+
yzxw = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,0,2,1) );
|
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+
zxyw = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,1,0,2) );
|
99
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+
yzxw_2 = _mm_shuffle_ps( xyzw_2, xyzw_2, _MM_SHUFFLE(3,0,2,1) );
|
100
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+
zxyw_2 = _mm_shuffle_ps( xyzw_2, xyzw_2, _MM_SHUFFLE(3,1,0,2) );
|
101
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+
|
102
|
+
tmp0 = _mm_mul_ps( yzxw_2, wwww ); // tmp0 = 2yw, 2zw, 2xw, 2w2
|
103
|
+
tmp1 = _mm_sub_ps( _mm_set1_ps(1.0f), _mm_mul_ps(yzxw, yzxw_2) ); // tmp1 = 1 - 2y2, 1 - 2z2, 1 - 2x2, 1 - 2w2
|
104
|
+
tmp2 = _mm_mul_ps( yzxw, xyzw_2 ); // tmp2 = 2xy, 2yz, 2xz, 2w2
|
105
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+
tmp0 = _mm_add_ps( _mm_mul_ps(zxyw, xyzw_2), tmp0 ); // tmp0 = 2yw + 2zx, 2zw + 2xy, 2xw + 2yz, 2w2 + 2w2
|
106
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+
tmp1 = _mm_sub_ps( tmp1, _mm_mul_ps(zxyw, zxyw_2) ); // tmp1 = 1 - 2y2 - 2z2, 1 - 2z2 - 2x2, 1 - 2x2 - 2y2, 1 - 2w2 - 2w2
|
107
|
+
tmp2 = _mm_sub_ps( tmp2, _mm_mul_ps(zxyw_2, wwww) ); // tmp2 = 2xy - 2zw, 2yz - 2xw, 2xz - 2yw, 2w2 -2w2
|
108
|
+
|
109
|
+
tmp3 = vec_sel( tmp0, tmp1, select_x );
|
110
|
+
tmp4 = vec_sel( tmp1, tmp2, select_x );
|
111
|
+
tmp5 = vec_sel( tmp2, tmp0, select_x );
|
112
|
+
mCol0 = Vector3( vec_sel( tmp3, tmp2, select_z ) );
|
113
|
+
mCol1 = Vector3( vec_sel( tmp4, tmp0, select_z ) );
|
114
|
+
mCol2 = Vector3( vec_sel( tmp5, tmp1, select_z ) );
|
115
|
+
}
|
116
|
+
|
117
|
+
VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const Vector3 &_col0, const Vector3 &_col1, const Vector3 &_col2 )
|
118
|
+
{
|
119
|
+
mCol0 = _col0;
|
120
|
+
mCol1 = _col1;
|
121
|
+
mCol2 = _col2;
|
122
|
+
}
|
123
|
+
|
124
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol0( const Vector3 &_col0 )
|
125
|
+
{
|
126
|
+
mCol0 = _col0;
|
127
|
+
return *this;
|
128
|
+
}
|
129
|
+
|
130
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol1( const Vector3 &_col1 )
|
131
|
+
{
|
132
|
+
mCol1 = _col1;
|
133
|
+
return *this;
|
134
|
+
}
|
135
|
+
|
136
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol2( const Vector3 &_col2 )
|
137
|
+
{
|
138
|
+
mCol2 = _col2;
|
139
|
+
return *this;
|
140
|
+
}
|
141
|
+
|
142
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol( int col, const Vector3 &vec )
|
143
|
+
{
|
144
|
+
*(&mCol0 + col) = vec;
|
145
|
+
return *this;
|
146
|
+
}
|
147
|
+
|
148
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setRow( int row, const Vector3 &vec )
|
149
|
+
{
|
150
|
+
mCol0.setElem( row, vec.getElem( 0 ) );
|
151
|
+
mCol1.setElem( row, vec.getElem( 1 ) );
|
152
|
+
mCol2.setElem( row, vec.getElem( 2 ) );
|
153
|
+
return *this;
|
154
|
+
}
|
155
|
+
|
156
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setElem( int col, int row, float val )
|
157
|
+
{
|
158
|
+
(*this)[col].setElem(row, val);
|
159
|
+
return *this;
|
160
|
+
}
|
161
|
+
|
162
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setElem( int col, int row, const floatInVec &val )
|
163
|
+
{
|
164
|
+
Vector3 tmpV3_0;
|
165
|
+
tmpV3_0 = this->getCol( col );
|
166
|
+
tmpV3_0.setElem( row, val );
|
167
|
+
this->setCol( col, tmpV3_0 );
|
168
|
+
return *this;
|
169
|
+
}
|
170
|
+
|
171
|
+
VECTORMATH_FORCE_INLINE const floatInVec Matrix3::getElem( int col, int row ) const
|
172
|
+
{
|
173
|
+
return this->getCol( col ).getElem( row );
|
174
|
+
}
|
175
|
+
|
176
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol0( ) const
|
177
|
+
{
|
178
|
+
return mCol0;
|
179
|
+
}
|
180
|
+
|
181
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol1( ) const
|
182
|
+
{
|
183
|
+
return mCol1;
|
184
|
+
}
|
185
|
+
|
186
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol2( ) const
|
187
|
+
{
|
188
|
+
return mCol2;
|
189
|
+
}
|
190
|
+
|
191
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol( int col ) const
|
192
|
+
{
|
193
|
+
return *(&mCol0 + col);
|
194
|
+
}
|
195
|
+
|
196
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getRow( int row ) const
|
197
|
+
{
|
198
|
+
return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) );
|
199
|
+
}
|
200
|
+
|
201
|
+
VECTORMATH_FORCE_INLINE Vector3 & Matrix3::operator []( int col )
|
202
|
+
{
|
203
|
+
return *(&mCol0 + col);
|
204
|
+
}
|
205
|
+
|
206
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix3::operator []( int col ) const
|
207
|
+
{
|
208
|
+
return *(&mCol0 + col);
|
209
|
+
}
|
210
|
+
|
211
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator =( const Matrix3 & mat )
|
212
|
+
{
|
213
|
+
mCol0 = mat.mCol0;
|
214
|
+
mCol1 = mat.mCol1;
|
215
|
+
mCol2 = mat.mCol2;
|
216
|
+
return *this;
|
217
|
+
}
|
218
|
+
|
219
|
+
VECTORMATH_FORCE_INLINE const Matrix3 transpose( const Matrix3 & mat )
|
220
|
+
{
|
221
|
+
__m128 tmp0, tmp1, res0, res1, res2;
|
222
|
+
tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() );
|
223
|
+
tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() );
|
224
|
+
res0 = vec_mergeh( tmp0, mat.getCol1().get128() );
|
225
|
+
//res1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX );
|
226
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
227
|
+
res1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2));
|
228
|
+
res1 = vec_sel(res1, mat.getCol1().get128(), select_y);
|
229
|
+
//res2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX );
|
230
|
+
res2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0));
|
231
|
+
res2 = vec_sel(res2, vec_splat(mat.getCol1().get128(), 2), select_y);
|
232
|
+
return Matrix3(
|
233
|
+
Vector3( res0 ),
|
234
|
+
Vector3( res1 ),
|
235
|
+
Vector3( res2 )
|
236
|
+
);
|
237
|
+
}
|
238
|
+
|
239
|
+
VECTORMATH_FORCE_INLINE const Matrix3 inverse( const Matrix3 & mat )
|
240
|
+
{
|
241
|
+
__m128 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet, inv0, inv1, inv2;
|
242
|
+
tmp2 = _vmathVfCross( mat.getCol0().get128(), mat.getCol1().get128() );
|
243
|
+
tmp0 = _vmathVfCross( mat.getCol1().get128(), mat.getCol2().get128() );
|
244
|
+
tmp1 = _vmathVfCross( mat.getCol2().get128(), mat.getCol0().get128() );
|
245
|
+
dot = _vmathVfDot3( tmp2, mat.getCol2().get128() );
|
246
|
+
dot = vec_splat( dot, 0 );
|
247
|
+
invdet = recipf4( dot );
|
248
|
+
tmp3 = vec_mergeh( tmp0, tmp2 );
|
249
|
+
tmp4 = vec_mergel( tmp0, tmp2 );
|
250
|
+
inv0 = vec_mergeh( tmp3, tmp1 );
|
251
|
+
//inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX );
|
252
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
253
|
+
inv1 = _mm_shuffle_ps( tmp3, tmp3, _MM_SHUFFLE(0,3,2,2));
|
254
|
+
inv1 = vec_sel(inv1, tmp1, select_y);
|
255
|
+
//inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX );
|
256
|
+
inv2 = _mm_shuffle_ps( tmp4, tmp4, _MM_SHUFFLE(0,1,1,0));
|
257
|
+
inv2 = vec_sel(inv2, vec_splat(tmp1, 2), select_y);
|
258
|
+
inv0 = vec_mul( inv0, invdet );
|
259
|
+
inv1 = vec_mul( inv1, invdet );
|
260
|
+
inv2 = vec_mul( inv2, invdet );
|
261
|
+
return Matrix3(
|
262
|
+
Vector3( inv0 ),
|
263
|
+
Vector3( inv1 ),
|
264
|
+
Vector3( inv2 )
|
265
|
+
);
|
266
|
+
}
|
267
|
+
|
268
|
+
VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix3 & mat )
|
269
|
+
{
|
270
|
+
return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) );
|
271
|
+
}
|
272
|
+
|
273
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const
|
274
|
+
{
|
275
|
+
return Matrix3(
|
276
|
+
( mCol0 + mat.mCol0 ),
|
277
|
+
( mCol1 + mat.mCol1 ),
|
278
|
+
( mCol2 + mat.mCol2 )
|
279
|
+
);
|
280
|
+
}
|
281
|
+
|
282
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const
|
283
|
+
{
|
284
|
+
return Matrix3(
|
285
|
+
( mCol0 - mat.mCol0 ),
|
286
|
+
( mCol1 - mat.mCol1 ),
|
287
|
+
( mCol2 - mat.mCol2 )
|
288
|
+
);
|
289
|
+
}
|
290
|
+
|
291
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator +=( const Matrix3 & mat )
|
292
|
+
{
|
293
|
+
*this = *this + mat;
|
294
|
+
return *this;
|
295
|
+
}
|
296
|
+
|
297
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator -=( const Matrix3 & mat )
|
298
|
+
{
|
299
|
+
*this = *this - mat;
|
300
|
+
return *this;
|
301
|
+
}
|
302
|
+
|
303
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator -( ) const
|
304
|
+
{
|
305
|
+
return Matrix3(
|
306
|
+
( -mCol0 ),
|
307
|
+
( -mCol1 ),
|
308
|
+
( -mCol2 )
|
309
|
+
);
|
310
|
+
}
|
311
|
+
|
312
|
+
VECTORMATH_FORCE_INLINE const Matrix3 absPerElem( const Matrix3 & mat )
|
313
|
+
{
|
314
|
+
return Matrix3(
|
315
|
+
absPerElem( mat.getCol0() ),
|
316
|
+
absPerElem( mat.getCol1() ),
|
317
|
+
absPerElem( mat.getCol2() )
|
318
|
+
);
|
319
|
+
}
|
320
|
+
|
321
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator *( float scalar ) const
|
322
|
+
{
|
323
|
+
return *this * floatInVec(scalar);
|
324
|
+
}
|
325
|
+
|
326
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator *( const floatInVec &scalar ) const
|
327
|
+
{
|
328
|
+
return Matrix3(
|
329
|
+
( mCol0 * scalar ),
|
330
|
+
( mCol1 * scalar ),
|
331
|
+
( mCol2 * scalar )
|
332
|
+
);
|
333
|
+
}
|
334
|
+
|
335
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator *=( float scalar )
|
336
|
+
{
|
337
|
+
return *this *= floatInVec(scalar);
|
338
|
+
}
|
339
|
+
|
340
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator *=( const floatInVec &scalar )
|
341
|
+
{
|
342
|
+
*this = *this * scalar;
|
343
|
+
return *this;
|
344
|
+
}
|
345
|
+
|
346
|
+
VECTORMATH_FORCE_INLINE const Matrix3 operator *( float scalar, const Matrix3 & mat )
|
347
|
+
{
|
348
|
+
return floatInVec(scalar) * mat;
|
349
|
+
}
|
350
|
+
|
351
|
+
VECTORMATH_FORCE_INLINE const Matrix3 operator *( const floatInVec &scalar, const Matrix3 & mat )
|
352
|
+
{
|
353
|
+
return mat * scalar;
|
354
|
+
}
|
355
|
+
|
356
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix3::operator *( const Vector3 &vec ) const
|
357
|
+
{
|
358
|
+
__m128 res;
|
359
|
+
__m128 xxxx, yyyy, zzzz;
|
360
|
+
xxxx = vec_splat( vec.get128(), 0 );
|
361
|
+
yyyy = vec_splat( vec.get128(), 1 );
|
362
|
+
zzzz = vec_splat( vec.get128(), 2 );
|
363
|
+
res = vec_mul( mCol0.get128(), xxxx );
|
364
|
+
res = vec_madd( mCol1.get128(), yyyy, res );
|
365
|
+
res = vec_madd( mCol2.get128(), zzzz, res );
|
366
|
+
return Vector3( res );
|
367
|
+
}
|
368
|
+
|
369
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const
|
370
|
+
{
|
371
|
+
return Matrix3(
|
372
|
+
( *this * mat.mCol0 ),
|
373
|
+
( *this * mat.mCol1 ),
|
374
|
+
( *this * mat.mCol2 )
|
375
|
+
);
|
376
|
+
}
|
377
|
+
|
378
|
+
VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator *=( const Matrix3 & mat )
|
379
|
+
{
|
380
|
+
*this = *this * mat;
|
381
|
+
return *this;
|
382
|
+
}
|
383
|
+
|
384
|
+
VECTORMATH_FORCE_INLINE const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 )
|
385
|
+
{
|
386
|
+
return Matrix3(
|
387
|
+
mulPerElem( mat0.getCol0(), mat1.getCol0() ),
|
388
|
+
mulPerElem( mat0.getCol1(), mat1.getCol1() ),
|
389
|
+
mulPerElem( mat0.getCol2(), mat1.getCol2() )
|
390
|
+
);
|
391
|
+
}
|
392
|
+
|
393
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::identity( )
|
394
|
+
{
|
395
|
+
return Matrix3(
|
396
|
+
Vector3::xAxis( ),
|
397
|
+
Vector3::yAxis( ),
|
398
|
+
Vector3::zAxis( )
|
399
|
+
);
|
400
|
+
}
|
401
|
+
|
402
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationX( float radians )
|
403
|
+
{
|
404
|
+
return rotationX( floatInVec(radians) );
|
405
|
+
}
|
406
|
+
|
407
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationX( const floatInVec &radians )
|
408
|
+
{
|
409
|
+
__m128 s, c, res1, res2;
|
410
|
+
__m128 zero;
|
411
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
412
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
413
|
+
zero = _mm_setzero_ps();
|
414
|
+
sincosf4( radians.get128(), &s, &c );
|
415
|
+
res1 = vec_sel( zero, c, select_y );
|
416
|
+
res1 = vec_sel( res1, s, select_z );
|
417
|
+
res2 = vec_sel( zero, negatef4(s), select_y );
|
418
|
+
res2 = vec_sel( res2, c, select_z );
|
419
|
+
return Matrix3(
|
420
|
+
Vector3::xAxis( ),
|
421
|
+
Vector3( res1 ),
|
422
|
+
Vector3( res2 )
|
423
|
+
);
|
424
|
+
}
|
425
|
+
|
426
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationY( float radians )
|
427
|
+
{
|
428
|
+
return rotationY( floatInVec(radians) );
|
429
|
+
}
|
430
|
+
|
431
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationY( const floatInVec &radians )
|
432
|
+
{
|
433
|
+
__m128 s, c, res0, res2;
|
434
|
+
__m128 zero;
|
435
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
436
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
437
|
+
zero = _mm_setzero_ps();
|
438
|
+
sincosf4( radians.get128(), &s, &c );
|
439
|
+
res0 = vec_sel( zero, c, select_x );
|
440
|
+
res0 = vec_sel( res0, negatef4(s), select_z );
|
441
|
+
res2 = vec_sel( zero, s, select_x );
|
442
|
+
res2 = vec_sel( res2, c, select_z );
|
443
|
+
return Matrix3(
|
444
|
+
Vector3( res0 ),
|
445
|
+
Vector3::yAxis( ),
|
446
|
+
Vector3( res2 )
|
447
|
+
);
|
448
|
+
}
|
449
|
+
|
450
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationZ( float radians )
|
451
|
+
{
|
452
|
+
return rotationZ( floatInVec(radians) );
|
453
|
+
}
|
454
|
+
|
455
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationZ( const floatInVec &radians )
|
456
|
+
{
|
457
|
+
__m128 s, c, res0, res1;
|
458
|
+
__m128 zero;
|
459
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
460
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
461
|
+
zero = _mm_setzero_ps();
|
462
|
+
sincosf4( radians.get128(), &s, &c );
|
463
|
+
res0 = vec_sel( zero, c, select_x );
|
464
|
+
res0 = vec_sel( res0, s, select_y );
|
465
|
+
res1 = vec_sel( zero, negatef4(s), select_x );
|
466
|
+
res1 = vec_sel( res1, c, select_y );
|
467
|
+
return Matrix3(
|
468
|
+
Vector3( res0 ),
|
469
|
+
Vector3( res1 ),
|
470
|
+
Vector3::zAxis( )
|
471
|
+
);
|
472
|
+
}
|
473
|
+
|
474
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationZYX( const Vector3 &radiansXYZ )
|
475
|
+
{
|
476
|
+
__m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp;
|
477
|
+
angles = Vector4( radiansXYZ, 0.0f ).get128();
|
478
|
+
sincosf4( angles, &s, &c );
|
479
|
+
negS = negatef4( s );
|
480
|
+
Z0 = vec_mergel( c, s );
|
481
|
+
Z1 = vec_mergel( negS, c );
|
482
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0};
|
483
|
+
Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) );
|
484
|
+
Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) );
|
485
|
+
Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) );
|
486
|
+
X0 = vec_splat( s, 0 );
|
487
|
+
X1 = vec_splat( c, 0 );
|
488
|
+
tmp = vec_mul( Z0, Y1 );
|
489
|
+
return Matrix3(
|
490
|
+
Vector3( vec_mul( Z0, Y0 ) ),
|
491
|
+
Vector3( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ),
|
492
|
+
Vector3( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) )
|
493
|
+
);
|
494
|
+
}
|
495
|
+
|
496
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotation( float radians, const Vector3 &unitVec )
|
497
|
+
{
|
498
|
+
return rotation( floatInVec(radians), unitVec );
|
499
|
+
}
|
500
|
+
|
501
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotation( const floatInVec &radians, const Vector3 &unitVec )
|
502
|
+
{
|
503
|
+
__m128 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2;
|
504
|
+
axis = unitVec.get128();
|
505
|
+
sincosf4( radians.get128(), &s, &c );
|
506
|
+
xxxx = vec_splat( axis, 0 );
|
507
|
+
yyyy = vec_splat( axis, 1 );
|
508
|
+
zzzz = vec_splat( axis, 2 );
|
509
|
+
oneMinusC = vec_sub( _mm_set1_ps(1.0f), c );
|
510
|
+
axisS = vec_mul( axis, s );
|
511
|
+
negAxisS = negatef4( axisS );
|
512
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
513
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
514
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
515
|
+
//tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX );
|
516
|
+
tmp0 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,2,0) );
|
517
|
+
tmp0 = vec_sel(tmp0, vec_splat(negAxisS, 1), select_z);
|
518
|
+
//tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX );
|
519
|
+
tmp1 = vec_sel( vec_splat(axisS, 0), vec_splat(negAxisS, 2), select_x );
|
520
|
+
//tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX );
|
521
|
+
tmp2 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,0,1) );
|
522
|
+
tmp2 = vec_sel(tmp2, vec_splat(negAxisS, 0), select_y);
|
523
|
+
tmp0 = vec_sel( tmp0, c, select_x );
|
524
|
+
tmp1 = vec_sel( tmp1, c, select_y );
|
525
|
+
tmp2 = vec_sel( tmp2, c, select_z );
|
526
|
+
return Matrix3(
|
527
|
+
Vector3( vec_madd( vec_mul( axis, xxxx ), oneMinusC, tmp0 ) ),
|
528
|
+
Vector3( vec_madd( vec_mul( axis, yyyy ), oneMinusC, tmp1 ) ),
|
529
|
+
Vector3( vec_madd( vec_mul( axis, zzzz ), oneMinusC, tmp2 ) )
|
530
|
+
);
|
531
|
+
}
|
532
|
+
|
533
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotation( const Quat &unitQuat )
|
534
|
+
{
|
535
|
+
return Matrix3( unitQuat );
|
536
|
+
}
|
537
|
+
|
538
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::scale( const Vector3 &scaleVec )
|
539
|
+
{
|
540
|
+
__m128 zero = _mm_setzero_ps();
|
541
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
542
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
543
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
544
|
+
return Matrix3(
|
545
|
+
Vector3( vec_sel( zero, scaleVec.get128(), select_x ) ),
|
546
|
+
Vector3( vec_sel( zero, scaleVec.get128(), select_y ) ),
|
547
|
+
Vector3( vec_sel( zero, scaleVec.get128(), select_z ) )
|
548
|
+
);
|
549
|
+
}
|
550
|
+
|
551
|
+
VECTORMATH_FORCE_INLINE const Matrix3 appendScale( const Matrix3 & mat, const Vector3 &scaleVec )
|
552
|
+
{
|
553
|
+
return Matrix3(
|
554
|
+
( mat.getCol0() * scaleVec.getX( ) ),
|
555
|
+
( mat.getCol1() * scaleVec.getY( ) ),
|
556
|
+
( mat.getCol2() * scaleVec.getZ( ) )
|
557
|
+
);
|
558
|
+
}
|
559
|
+
|
560
|
+
VECTORMATH_FORCE_INLINE const Matrix3 prependScale( const Vector3 &scaleVec, const Matrix3 & mat )
|
561
|
+
{
|
562
|
+
return Matrix3(
|
563
|
+
mulPerElem( mat.getCol0(), scaleVec ),
|
564
|
+
mulPerElem( mat.getCol1(), scaleVec ),
|
565
|
+
mulPerElem( mat.getCol2(), scaleVec )
|
566
|
+
);
|
567
|
+
}
|
568
|
+
|
569
|
+
VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 )
|
570
|
+
{
|
571
|
+
return Matrix3(
|
572
|
+
select( mat0.getCol0(), mat1.getCol0(), select1 ),
|
573
|
+
select( mat0.getCol1(), mat1.getCol1(), select1 ),
|
574
|
+
select( mat0.getCol2(), mat1.getCol2(), select1 )
|
575
|
+
);
|
576
|
+
}
|
577
|
+
|
578
|
+
VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, const boolInVec &select1 )
|
579
|
+
{
|
580
|
+
return Matrix3(
|
581
|
+
select( mat0.getCol0(), mat1.getCol0(), select1 ),
|
582
|
+
select( mat0.getCol1(), mat1.getCol1(), select1 ),
|
583
|
+
select( mat0.getCol2(), mat1.getCol2(), select1 )
|
584
|
+
);
|
585
|
+
}
|
586
|
+
|
587
|
+
#ifdef _VECTORMATH_DEBUG
|
588
|
+
|
589
|
+
VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat )
|
590
|
+
{
|
591
|
+
print( mat.getRow( 0 ) );
|
592
|
+
print( mat.getRow( 1 ) );
|
593
|
+
print( mat.getRow( 2 ) );
|
594
|
+
}
|
595
|
+
|
596
|
+
VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat, const char * name )
|
597
|
+
{
|
598
|
+
printf("%s:\n", name);
|
599
|
+
print( mat );
|
600
|
+
}
|
601
|
+
|
602
|
+
#endif
|
603
|
+
|
604
|
+
VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Matrix4 & mat )
|
605
|
+
{
|
606
|
+
mCol0 = mat.mCol0;
|
607
|
+
mCol1 = mat.mCol1;
|
608
|
+
mCol2 = mat.mCol2;
|
609
|
+
mCol3 = mat.mCol3;
|
610
|
+
}
|
611
|
+
|
612
|
+
VECTORMATH_FORCE_INLINE Matrix4::Matrix4( float scalar )
|
613
|
+
{
|
614
|
+
mCol0 = Vector4( scalar );
|
615
|
+
mCol1 = Vector4( scalar );
|
616
|
+
mCol2 = Vector4( scalar );
|
617
|
+
mCol3 = Vector4( scalar );
|
618
|
+
}
|
619
|
+
|
620
|
+
VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const floatInVec &scalar )
|
621
|
+
{
|
622
|
+
mCol0 = Vector4( scalar );
|
623
|
+
mCol1 = Vector4( scalar );
|
624
|
+
mCol2 = Vector4( scalar );
|
625
|
+
mCol3 = Vector4( scalar );
|
626
|
+
}
|
627
|
+
|
628
|
+
VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Transform3 & mat )
|
629
|
+
{
|
630
|
+
mCol0 = Vector4( mat.getCol0(), 0.0f );
|
631
|
+
mCol1 = Vector4( mat.getCol1(), 0.0f );
|
632
|
+
mCol2 = Vector4( mat.getCol2(), 0.0f );
|
633
|
+
mCol3 = Vector4( mat.getCol3(), 1.0f );
|
634
|
+
}
|
635
|
+
|
636
|
+
VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Vector4 &_col0, const Vector4 &_col1, const Vector4 &_col2, const Vector4 &_col3 )
|
637
|
+
{
|
638
|
+
mCol0 = _col0;
|
639
|
+
mCol1 = _col1;
|
640
|
+
mCol2 = _col2;
|
641
|
+
mCol3 = _col3;
|
642
|
+
}
|
643
|
+
|
644
|
+
VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Matrix3 & mat, const Vector3 &translateVec )
|
645
|
+
{
|
646
|
+
mCol0 = Vector4( mat.getCol0(), 0.0f );
|
647
|
+
mCol1 = Vector4( mat.getCol1(), 0.0f );
|
648
|
+
mCol2 = Vector4( mat.getCol2(), 0.0f );
|
649
|
+
mCol3 = Vector4( translateVec, 1.0f );
|
650
|
+
}
|
651
|
+
|
652
|
+
VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Quat &unitQuat, const Vector3 &translateVec )
|
653
|
+
{
|
654
|
+
Matrix3 mat;
|
655
|
+
mat = Matrix3( unitQuat );
|
656
|
+
mCol0 = Vector4( mat.getCol0(), 0.0f );
|
657
|
+
mCol1 = Vector4( mat.getCol1(), 0.0f );
|
658
|
+
mCol2 = Vector4( mat.getCol2(), 0.0f );
|
659
|
+
mCol3 = Vector4( translateVec, 1.0f );
|
660
|
+
}
|
661
|
+
|
662
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol0( const Vector4 &_col0 )
|
663
|
+
{
|
664
|
+
mCol0 = _col0;
|
665
|
+
return *this;
|
666
|
+
}
|
667
|
+
|
668
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol1( const Vector4 &_col1 )
|
669
|
+
{
|
670
|
+
mCol1 = _col1;
|
671
|
+
return *this;
|
672
|
+
}
|
673
|
+
|
674
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol2( const Vector4 &_col2 )
|
675
|
+
{
|
676
|
+
mCol2 = _col2;
|
677
|
+
return *this;
|
678
|
+
}
|
679
|
+
|
680
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol3( const Vector4 &_col3 )
|
681
|
+
{
|
682
|
+
mCol3 = _col3;
|
683
|
+
return *this;
|
684
|
+
}
|
685
|
+
|
686
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol( int col, const Vector4 &vec )
|
687
|
+
{
|
688
|
+
*(&mCol0 + col) = vec;
|
689
|
+
return *this;
|
690
|
+
}
|
691
|
+
|
692
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setRow( int row, const Vector4 &vec )
|
693
|
+
{
|
694
|
+
mCol0.setElem( row, vec.getElem( 0 ) );
|
695
|
+
mCol1.setElem( row, vec.getElem( 1 ) );
|
696
|
+
mCol2.setElem( row, vec.getElem( 2 ) );
|
697
|
+
mCol3.setElem( row, vec.getElem( 3 ) );
|
698
|
+
return *this;
|
699
|
+
}
|
700
|
+
|
701
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setElem( int col, int row, float val )
|
702
|
+
{
|
703
|
+
(*this)[col].setElem(row, val);
|
704
|
+
return *this;
|
705
|
+
}
|
706
|
+
|
707
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setElem( int col, int row, const floatInVec &val )
|
708
|
+
{
|
709
|
+
Vector4 tmpV3_0;
|
710
|
+
tmpV3_0 = this->getCol( col );
|
711
|
+
tmpV3_0.setElem( row, val );
|
712
|
+
this->setCol( col, tmpV3_0 );
|
713
|
+
return *this;
|
714
|
+
}
|
715
|
+
|
716
|
+
VECTORMATH_FORCE_INLINE const floatInVec Matrix4::getElem( int col, int row ) const
|
717
|
+
{
|
718
|
+
return this->getCol( col ).getElem( row );
|
719
|
+
}
|
720
|
+
|
721
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol0( ) const
|
722
|
+
{
|
723
|
+
return mCol0;
|
724
|
+
}
|
725
|
+
|
726
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol1( ) const
|
727
|
+
{
|
728
|
+
return mCol1;
|
729
|
+
}
|
730
|
+
|
731
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol2( ) const
|
732
|
+
{
|
733
|
+
return mCol2;
|
734
|
+
}
|
735
|
+
|
736
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol3( ) const
|
737
|
+
{
|
738
|
+
return mCol3;
|
739
|
+
}
|
740
|
+
|
741
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol( int col ) const
|
742
|
+
{
|
743
|
+
return *(&mCol0 + col);
|
744
|
+
}
|
745
|
+
|
746
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getRow( int row ) const
|
747
|
+
{
|
748
|
+
return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) );
|
749
|
+
}
|
750
|
+
|
751
|
+
VECTORMATH_FORCE_INLINE Vector4 & Matrix4::operator []( int col )
|
752
|
+
{
|
753
|
+
return *(&mCol0 + col);
|
754
|
+
}
|
755
|
+
|
756
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator []( int col ) const
|
757
|
+
{
|
758
|
+
return *(&mCol0 + col);
|
759
|
+
}
|
760
|
+
|
761
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator =( const Matrix4 & mat )
|
762
|
+
{
|
763
|
+
mCol0 = mat.mCol0;
|
764
|
+
mCol1 = mat.mCol1;
|
765
|
+
mCol2 = mat.mCol2;
|
766
|
+
mCol3 = mat.mCol3;
|
767
|
+
return *this;
|
768
|
+
}
|
769
|
+
|
770
|
+
VECTORMATH_FORCE_INLINE const Matrix4 transpose( const Matrix4 & mat )
|
771
|
+
{
|
772
|
+
__m128 tmp0, tmp1, tmp2, tmp3, res0, res1, res2, res3;
|
773
|
+
tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() );
|
774
|
+
tmp1 = vec_mergeh( mat.getCol1().get128(), mat.getCol3().get128() );
|
775
|
+
tmp2 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() );
|
776
|
+
tmp3 = vec_mergel( mat.getCol1().get128(), mat.getCol3().get128() );
|
777
|
+
res0 = vec_mergeh( tmp0, tmp1 );
|
778
|
+
res1 = vec_mergel( tmp0, tmp1 );
|
779
|
+
res2 = vec_mergeh( tmp2, tmp3 );
|
780
|
+
res3 = vec_mergel( tmp2, tmp3 );
|
781
|
+
return Matrix4(
|
782
|
+
Vector4( res0 ),
|
783
|
+
Vector4( res1 ),
|
784
|
+
Vector4( res2 ),
|
785
|
+
Vector4( res3 )
|
786
|
+
);
|
787
|
+
}
|
788
|
+
|
789
|
+
// TODO: Tidy
|
790
|
+
static VM_ATTRIBUTE_ALIGN16 const unsigned int _vmathPNPN[4] = {0x00000000, 0x80000000, 0x00000000, 0x80000000};
|
791
|
+
static VM_ATTRIBUTE_ALIGN16 const unsigned int _vmathNPNP[4] = {0x80000000, 0x00000000, 0x80000000, 0x00000000};
|
792
|
+
static VM_ATTRIBUTE_ALIGN16 const float _vmathZERONE[4] = {1.0f, 0.0f, 0.0f, 1.0f};
|
793
|
+
|
794
|
+
VECTORMATH_FORCE_INLINE const Matrix4 inverse( const Matrix4 & mat )
|
795
|
+
{
|
796
|
+
__m128 Va,Vb,Vc;
|
797
|
+
__m128 r1,r2,r3,tt,tt2;
|
798
|
+
__m128 sum,Det,RDet;
|
799
|
+
__m128 trns0,trns1,trns2,trns3;
|
800
|
+
|
801
|
+
__m128 _L1 = mat.getCol0().get128();
|
802
|
+
__m128 _L2 = mat.getCol1().get128();
|
803
|
+
__m128 _L3 = mat.getCol2().get128();
|
804
|
+
__m128 _L4 = mat.getCol3().get128();
|
805
|
+
// Calculating the minterms for the first line.
|
806
|
+
|
807
|
+
// _mm_ror_ps is just a macro using _mm_shuffle_ps().
|
808
|
+
tt = _L4; tt2 = _mm_ror_ps(_L3,1);
|
809
|
+
Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'dot V4
|
810
|
+
Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'dot V4"
|
811
|
+
Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3' dot V4^
|
812
|
+
|
813
|
+
r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3" dot V4^ - V3^ dot V4"
|
814
|
+
r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^ dot V4' - V3' dot V4^
|
815
|
+
r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3' dot V4" - V3" dot V4'
|
816
|
+
|
817
|
+
tt = _L2;
|
818
|
+
Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1);
|
819
|
+
Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2));
|
820
|
+
Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3));
|
821
|
+
|
822
|
+
// Calculating the determinant.
|
823
|
+
Det = _mm_mul_ps(sum,_L1);
|
824
|
+
Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det));
|
825
|
+
|
826
|
+
const __m128 Sign_PNPN = _mm_load_ps((float *)_vmathPNPN);
|
827
|
+
const __m128 Sign_NPNP = _mm_load_ps((float *)_vmathNPNP);
|
828
|
+
|
829
|
+
__m128 mtL1 = _mm_xor_ps(sum,Sign_PNPN);
|
830
|
+
|
831
|
+
// Calculating the minterms of the second line (using previous results).
|
832
|
+
tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1);
|
833
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
|
834
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
|
835
|
+
__m128 mtL2 = _mm_xor_ps(sum,Sign_NPNP);
|
836
|
+
|
837
|
+
// Testing the determinant.
|
838
|
+
Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1));
|
839
|
+
|
840
|
+
// Calculating the minterms of the third line.
|
841
|
+
tt = _mm_ror_ps(_L1,1);
|
842
|
+
Va = _mm_mul_ps(tt,Vb); // V1' dot V2"
|
843
|
+
Vb = _mm_mul_ps(tt,Vc); // V1' dot V2^
|
844
|
+
Vc = _mm_mul_ps(tt,_L2); // V1' dot V2
|
845
|
+
|
846
|
+
r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V1" dot V2^ - V1^ dot V2"
|
847
|
+
r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V1^ dot V2' - V1' dot V2^
|
848
|
+
r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V1' dot V2" - V1" dot V2'
|
849
|
+
|
850
|
+
tt = _mm_ror_ps(_L4,1); sum = _mm_mul_ps(tt,r1);
|
851
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
|
852
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
|
853
|
+
__m128 mtL3 = _mm_xor_ps(sum,Sign_PNPN);
|
854
|
+
|
855
|
+
// Dividing is FASTER than rcp_nr! (Because rcp_nr causes many register-memory RWs).
|
856
|
+
RDet = _mm_div_ss(_mm_load_ss((float *)&_vmathZERONE), Det); // TODO: just 1.0f?
|
857
|
+
RDet = _mm_shuffle_ps(RDet,RDet,0x00);
|
858
|
+
|
859
|
+
// Devide the first 12 minterms with the determinant.
|
860
|
+
mtL1 = _mm_mul_ps(mtL1, RDet);
|
861
|
+
mtL2 = _mm_mul_ps(mtL2, RDet);
|
862
|
+
mtL3 = _mm_mul_ps(mtL3, RDet);
|
863
|
+
|
864
|
+
// Calculate the minterms of the forth line and devide by the determinant.
|
865
|
+
tt = _mm_ror_ps(_L3,1); sum = _mm_mul_ps(tt,r1);
|
866
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
|
867
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
|
868
|
+
__m128 mtL4 = _mm_xor_ps(sum,Sign_NPNP);
|
869
|
+
mtL4 = _mm_mul_ps(mtL4, RDet);
|
870
|
+
|
871
|
+
// Now we just have to transpose the minterms matrix.
|
872
|
+
trns0 = _mm_unpacklo_ps(mtL1,mtL2);
|
873
|
+
trns1 = _mm_unpacklo_ps(mtL3,mtL4);
|
874
|
+
trns2 = _mm_unpackhi_ps(mtL1,mtL2);
|
875
|
+
trns3 = _mm_unpackhi_ps(mtL3,mtL4);
|
876
|
+
_L1 = _mm_movelh_ps(trns0,trns1);
|
877
|
+
_L2 = _mm_movehl_ps(trns1,trns0);
|
878
|
+
_L3 = _mm_movelh_ps(trns2,trns3);
|
879
|
+
_L4 = _mm_movehl_ps(trns3,trns2);
|
880
|
+
|
881
|
+
return Matrix4(
|
882
|
+
Vector4( _L1 ),
|
883
|
+
Vector4( _L2 ),
|
884
|
+
Vector4( _L3 ),
|
885
|
+
Vector4( _L4 )
|
886
|
+
);
|
887
|
+
}
|
888
|
+
|
889
|
+
VECTORMATH_FORCE_INLINE const Matrix4 affineInverse( const Matrix4 & mat )
|
890
|
+
{
|
891
|
+
Transform3 affineMat;
|
892
|
+
affineMat.setCol0( mat.getCol0().getXYZ( ) );
|
893
|
+
affineMat.setCol1( mat.getCol1().getXYZ( ) );
|
894
|
+
affineMat.setCol2( mat.getCol2().getXYZ( ) );
|
895
|
+
affineMat.setCol3( mat.getCol3().getXYZ( ) );
|
896
|
+
return Matrix4( inverse( affineMat ) );
|
897
|
+
}
|
898
|
+
|
899
|
+
VECTORMATH_FORCE_INLINE const Matrix4 orthoInverse( const Matrix4 & mat )
|
900
|
+
{
|
901
|
+
Transform3 affineMat;
|
902
|
+
affineMat.setCol0( mat.getCol0().getXYZ( ) );
|
903
|
+
affineMat.setCol1( mat.getCol1().getXYZ( ) );
|
904
|
+
affineMat.setCol2( mat.getCol2().getXYZ( ) );
|
905
|
+
affineMat.setCol3( mat.getCol3().getXYZ( ) );
|
906
|
+
return Matrix4( orthoInverse( affineMat ) );
|
907
|
+
}
|
908
|
+
|
909
|
+
VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix4 & mat )
|
910
|
+
{
|
911
|
+
__m128 Va,Vb,Vc;
|
912
|
+
__m128 r1,r2,r3,tt,tt2;
|
913
|
+
__m128 sum,Det;
|
914
|
+
|
915
|
+
__m128 _L1 = mat.getCol0().get128();
|
916
|
+
__m128 _L2 = mat.getCol1().get128();
|
917
|
+
__m128 _L3 = mat.getCol2().get128();
|
918
|
+
__m128 _L4 = mat.getCol3().get128();
|
919
|
+
// Calculating the minterms for the first line.
|
920
|
+
|
921
|
+
// _mm_ror_ps is just a macro using _mm_shuffle_ps().
|
922
|
+
tt = _L4; tt2 = _mm_ror_ps(_L3,1);
|
923
|
+
Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3' dot V4
|
924
|
+
Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3' dot V4"
|
925
|
+
Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3' dot V4^
|
926
|
+
|
927
|
+
r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3" dot V4^ - V3^ dot V4"
|
928
|
+
r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^ dot V4' - V3' dot V4^
|
929
|
+
r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3' dot V4" - V3" dot V4'
|
930
|
+
|
931
|
+
tt = _L2;
|
932
|
+
Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1);
|
933
|
+
Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2));
|
934
|
+
Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3));
|
935
|
+
|
936
|
+
// Calculating the determinant.
|
937
|
+
Det = _mm_mul_ps(sum,_L1);
|
938
|
+
Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det));
|
939
|
+
|
940
|
+
// Calculating the minterms of the second line (using previous results).
|
941
|
+
tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1);
|
942
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2));
|
943
|
+
tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3));
|
944
|
+
|
945
|
+
// Testing the determinant.
|
946
|
+
Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1));
|
947
|
+
return floatInVec(Det, 0);
|
948
|
+
}
|
949
|
+
|
950
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const
|
951
|
+
{
|
952
|
+
return Matrix4(
|
953
|
+
( mCol0 + mat.mCol0 ),
|
954
|
+
( mCol1 + mat.mCol1 ),
|
955
|
+
( mCol2 + mat.mCol2 ),
|
956
|
+
( mCol3 + mat.mCol3 )
|
957
|
+
);
|
958
|
+
}
|
959
|
+
|
960
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const
|
961
|
+
{
|
962
|
+
return Matrix4(
|
963
|
+
( mCol0 - mat.mCol0 ),
|
964
|
+
( mCol1 - mat.mCol1 ),
|
965
|
+
( mCol2 - mat.mCol2 ),
|
966
|
+
( mCol3 - mat.mCol3 )
|
967
|
+
);
|
968
|
+
}
|
969
|
+
|
970
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator +=( const Matrix4 & mat )
|
971
|
+
{
|
972
|
+
*this = *this + mat;
|
973
|
+
return *this;
|
974
|
+
}
|
975
|
+
|
976
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator -=( const Matrix4 & mat )
|
977
|
+
{
|
978
|
+
*this = *this - mat;
|
979
|
+
return *this;
|
980
|
+
}
|
981
|
+
|
982
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator -( ) const
|
983
|
+
{
|
984
|
+
return Matrix4(
|
985
|
+
( -mCol0 ),
|
986
|
+
( -mCol1 ),
|
987
|
+
( -mCol2 ),
|
988
|
+
( -mCol3 )
|
989
|
+
);
|
990
|
+
}
|
991
|
+
|
992
|
+
VECTORMATH_FORCE_INLINE const Matrix4 absPerElem( const Matrix4 & mat )
|
993
|
+
{
|
994
|
+
return Matrix4(
|
995
|
+
absPerElem( mat.getCol0() ),
|
996
|
+
absPerElem( mat.getCol1() ),
|
997
|
+
absPerElem( mat.getCol2() ),
|
998
|
+
absPerElem( mat.getCol3() )
|
999
|
+
);
|
1000
|
+
}
|
1001
|
+
|
1002
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( float scalar ) const
|
1003
|
+
{
|
1004
|
+
return *this * floatInVec(scalar);
|
1005
|
+
}
|
1006
|
+
|
1007
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( const floatInVec &scalar ) const
|
1008
|
+
{
|
1009
|
+
return Matrix4(
|
1010
|
+
( mCol0 * scalar ),
|
1011
|
+
( mCol1 * scalar ),
|
1012
|
+
( mCol2 * scalar ),
|
1013
|
+
( mCol3 * scalar )
|
1014
|
+
);
|
1015
|
+
}
|
1016
|
+
|
1017
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( float scalar )
|
1018
|
+
{
|
1019
|
+
return *this *= floatInVec(scalar);
|
1020
|
+
}
|
1021
|
+
|
1022
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( const floatInVec &scalar )
|
1023
|
+
{
|
1024
|
+
*this = *this * scalar;
|
1025
|
+
return *this;
|
1026
|
+
}
|
1027
|
+
|
1028
|
+
VECTORMATH_FORCE_INLINE const Matrix4 operator *( float scalar, const Matrix4 & mat )
|
1029
|
+
{
|
1030
|
+
return floatInVec(scalar) * mat;
|
1031
|
+
}
|
1032
|
+
|
1033
|
+
VECTORMATH_FORCE_INLINE const Matrix4 operator *( const floatInVec &scalar, const Matrix4 & mat )
|
1034
|
+
{
|
1035
|
+
return mat * scalar;
|
1036
|
+
}
|
1037
|
+
|
1038
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator *( const Vector4 &vec ) const
|
1039
|
+
{
|
1040
|
+
return Vector4(
|
1041
|
+
_mm_add_ps(
|
1042
|
+
_mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(1,1,1,1)))),
|
1043
|
+
_mm_add_ps(_mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(2,2,2,2))), _mm_mul_ps(mCol3.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(3,3,3,3)))))
|
1044
|
+
);
|
1045
|
+
}
|
1046
|
+
|
1047
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator *( const Vector3 &vec ) const
|
1048
|
+
{
|
1049
|
+
return Vector4(
|
1050
|
+
_mm_add_ps(
|
1051
|
+
_mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(1,1,1,1)))),
|
1052
|
+
_mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(2,2,2,2))))
|
1053
|
+
);
|
1054
|
+
}
|
1055
|
+
|
1056
|
+
VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator *( const Point3 &pnt ) const
|
1057
|
+
{
|
1058
|
+
return Vector4(
|
1059
|
+
_mm_add_ps(
|
1060
|
+
_mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(1,1,1,1)))),
|
1061
|
+
_mm_add_ps(_mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(2,2,2,2))), mCol3.get128()))
|
1062
|
+
);
|
1063
|
+
}
|
1064
|
+
|
1065
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const
|
1066
|
+
{
|
1067
|
+
return Matrix4(
|
1068
|
+
( *this * mat.mCol0 ),
|
1069
|
+
( *this * mat.mCol1 ),
|
1070
|
+
( *this * mat.mCol2 ),
|
1071
|
+
( *this * mat.mCol3 )
|
1072
|
+
);
|
1073
|
+
}
|
1074
|
+
|
1075
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( const Matrix4 & mat )
|
1076
|
+
{
|
1077
|
+
*this = *this * mat;
|
1078
|
+
return *this;
|
1079
|
+
}
|
1080
|
+
|
1081
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const
|
1082
|
+
{
|
1083
|
+
return Matrix4(
|
1084
|
+
( *this * tfrm.getCol0() ),
|
1085
|
+
( *this * tfrm.getCol1() ),
|
1086
|
+
( *this * tfrm.getCol2() ),
|
1087
|
+
( *this * Point3( tfrm.getCol3() ) )
|
1088
|
+
);
|
1089
|
+
}
|
1090
|
+
|
1091
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( const Transform3 & tfrm )
|
1092
|
+
{
|
1093
|
+
*this = *this * tfrm;
|
1094
|
+
return *this;
|
1095
|
+
}
|
1096
|
+
|
1097
|
+
VECTORMATH_FORCE_INLINE const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 )
|
1098
|
+
{
|
1099
|
+
return Matrix4(
|
1100
|
+
mulPerElem( mat0.getCol0(), mat1.getCol0() ),
|
1101
|
+
mulPerElem( mat0.getCol1(), mat1.getCol1() ),
|
1102
|
+
mulPerElem( mat0.getCol2(), mat1.getCol2() ),
|
1103
|
+
mulPerElem( mat0.getCol3(), mat1.getCol3() )
|
1104
|
+
);
|
1105
|
+
}
|
1106
|
+
|
1107
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::identity( )
|
1108
|
+
{
|
1109
|
+
return Matrix4(
|
1110
|
+
Vector4::xAxis( ),
|
1111
|
+
Vector4::yAxis( ),
|
1112
|
+
Vector4::zAxis( ),
|
1113
|
+
Vector4::wAxis( )
|
1114
|
+
);
|
1115
|
+
}
|
1116
|
+
|
1117
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 )
|
1118
|
+
{
|
1119
|
+
mCol0.setXYZ( mat3.getCol0() );
|
1120
|
+
mCol1.setXYZ( mat3.getCol1() );
|
1121
|
+
mCol2.setXYZ( mat3.getCol2() );
|
1122
|
+
return *this;
|
1123
|
+
}
|
1124
|
+
|
1125
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Matrix4::getUpper3x3( ) const
|
1126
|
+
{
|
1127
|
+
return Matrix3(
|
1128
|
+
mCol0.getXYZ( ),
|
1129
|
+
mCol1.getXYZ( ),
|
1130
|
+
mCol2.getXYZ( )
|
1131
|
+
);
|
1132
|
+
}
|
1133
|
+
|
1134
|
+
VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setTranslation( const Vector3 &translateVec )
|
1135
|
+
{
|
1136
|
+
mCol3.setXYZ( translateVec );
|
1137
|
+
return *this;
|
1138
|
+
}
|
1139
|
+
|
1140
|
+
VECTORMATH_FORCE_INLINE const Vector3 Matrix4::getTranslation( ) const
|
1141
|
+
{
|
1142
|
+
return mCol3.getXYZ( );
|
1143
|
+
}
|
1144
|
+
|
1145
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationX( float radians )
|
1146
|
+
{
|
1147
|
+
return rotationX( floatInVec(radians) );
|
1148
|
+
}
|
1149
|
+
|
1150
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationX( const floatInVec &radians )
|
1151
|
+
{
|
1152
|
+
__m128 s, c, res1, res2;
|
1153
|
+
__m128 zero;
|
1154
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1155
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1156
|
+
zero = _mm_setzero_ps();
|
1157
|
+
sincosf4( radians.get128(), &s, &c );
|
1158
|
+
res1 = vec_sel( zero, c, select_y );
|
1159
|
+
res1 = vec_sel( res1, s, select_z );
|
1160
|
+
res2 = vec_sel( zero, negatef4(s), select_y );
|
1161
|
+
res2 = vec_sel( res2, c, select_z );
|
1162
|
+
return Matrix4(
|
1163
|
+
Vector4::xAxis( ),
|
1164
|
+
Vector4( res1 ),
|
1165
|
+
Vector4( res2 ),
|
1166
|
+
Vector4::wAxis( )
|
1167
|
+
);
|
1168
|
+
}
|
1169
|
+
|
1170
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationY( float radians )
|
1171
|
+
{
|
1172
|
+
return rotationY( floatInVec(radians) );
|
1173
|
+
}
|
1174
|
+
|
1175
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationY( const floatInVec &radians )
|
1176
|
+
{
|
1177
|
+
__m128 s, c, res0, res2;
|
1178
|
+
__m128 zero;
|
1179
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1180
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1181
|
+
zero = _mm_setzero_ps();
|
1182
|
+
sincosf4( radians.get128(), &s, &c );
|
1183
|
+
res0 = vec_sel( zero, c, select_x );
|
1184
|
+
res0 = vec_sel( res0, negatef4(s), select_z );
|
1185
|
+
res2 = vec_sel( zero, s, select_x );
|
1186
|
+
res2 = vec_sel( res2, c, select_z );
|
1187
|
+
return Matrix4(
|
1188
|
+
Vector4( res0 ),
|
1189
|
+
Vector4::yAxis( ),
|
1190
|
+
Vector4( res2 ),
|
1191
|
+
Vector4::wAxis( )
|
1192
|
+
);
|
1193
|
+
}
|
1194
|
+
|
1195
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationZ( float radians )
|
1196
|
+
{
|
1197
|
+
return rotationZ( floatInVec(radians) );
|
1198
|
+
}
|
1199
|
+
|
1200
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationZ( const floatInVec &radians )
|
1201
|
+
{
|
1202
|
+
__m128 s, c, res0, res1;
|
1203
|
+
__m128 zero;
|
1204
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1205
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1206
|
+
zero = _mm_setzero_ps();
|
1207
|
+
sincosf4( radians.get128(), &s, &c );
|
1208
|
+
res0 = vec_sel( zero, c, select_x );
|
1209
|
+
res0 = vec_sel( res0, s, select_y );
|
1210
|
+
res1 = vec_sel( zero, negatef4(s), select_x );
|
1211
|
+
res1 = vec_sel( res1, c, select_y );
|
1212
|
+
return Matrix4(
|
1213
|
+
Vector4( res0 ),
|
1214
|
+
Vector4( res1 ),
|
1215
|
+
Vector4::zAxis( ),
|
1216
|
+
Vector4::wAxis( )
|
1217
|
+
);
|
1218
|
+
}
|
1219
|
+
|
1220
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationZYX( const Vector3 &radiansXYZ )
|
1221
|
+
{
|
1222
|
+
__m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp;
|
1223
|
+
angles = Vector4( radiansXYZ, 0.0f ).get128();
|
1224
|
+
sincosf4( angles, &s, &c );
|
1225
|
+
negS = negatef4( s );
|
1226
|
+
Z0 = vec_mergel( c, s );
|
1227
|
+
Z1 = vec_mergel( negS, c );
|
1228
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0};
|
1229
|
+
Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) );
|
1230
|
+
Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) );
|
1231
|
+
Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) );
|
1232
|
+
X0 = vec_splat( s, 0 );
|
1233
|
+
X1 = vec_splat( c, 0 );
|
1234
|
+
tmp = vec_mul( Z0, Y1 );
|
1235
|
+
return Matrix4(
|
1236
|
+
Vector4( vec_mul( Z0, Y0 ) ),
|
1237
|
+
Vector4( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ),
|
1238
|
+
Vector4( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ),
|
1239
|
+
Vector4::wAxis( )
|
1240
|
+
);
|
1241
|
+
}
|
1242
|
+
|
1243
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotation( float radians, const Vector3 &unitVec )
|
1244
|
+
{
|
1245
|
+
return rotation( floatInVec(radians), unitVec );
|
1246
|
+
}
|
1247
|
+
|
1248
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotation( const floatInVec &radians, const Vector3 &unitVec )
|
1249
|
+
{
|
1250
|
+
__m128 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2;
|
1251
|
+
axis = unitVec.get128();
|
1252
|
+
sincosf4( radians.get128(), &s, &c );
|
1253
|
+
xxxx = vec_splat( axis, 0 );
|
1254
|
+
yyyy = vec_splat( axis, 1 );
|
1255
|
+
zzzz = vec_splat( axis, 2 );
|
1256
|
+
oneMinusC = vec_sub( _mm_set1_ps(1.0f), c );
|
1257
|
+
axisS = vec_mul( axis, s );
|
1258
|
+
negAxisS = negatef4( axisS );
|
1259
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1260
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1261
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1262
|
+
//tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX );
|
1263
|
+
tmp0 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,2,0) );
|
1264
|
+
tmp0 = vec_sel(tmp0, vec_splat(negAxisS, 1), select_z);
|
1265
|
+
//tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX );
|
1266
|
+
tmp1 = vec_sel( vec_splat(axisS, 0), vec_splat(negAxisS, 2), select_x );
|
1267
|
+
//tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX );
|
1268
|
+
tmp2 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,0,1) );
|
1269
|
+
tmp2 = vec_sel(tmp2, vec_splat(negAxisS, 0), select_y);
|
1270
|
+
tmp0 = vec_sel( tmp0, c, select_x );
|
1271
|
+
tmp1 = vec_sel( tmp1, c, select_y );
|
1272
|
+
tmp2 = vec_sel( tmp2, c, select_z );
|
1273
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0};
|
1274
|
+
axis = vec_and( axis, _mm_load_ps( (float *)select_xyz ) );
|
1275
|
+
tmp0 = vec_and( tmp0, _mm_load_ps( (float *)select_xyz ) );
|
1276
|
+
tmp1 = vec_and( tmp1, _mm_load_ps( (float *)select_xyz ) );
|
1277
|
+
tmp2 = vec_and( tmp2, _mm_load_ps( (float *)select_xyz ) );
|
1278
|
+
return Matrix4(
|
1279
|
+
Vector4( vec_madd( vec_mul( axis, xxxx ), oneMinusC, tmp0 ) ),
|
1280
|
+
Vector4( vec_madd( vec_mul( axis, yyyy ), oneMinusC, tmp1 ) ),
|
1281
|
+
Vector4( vec_madd( vec_mul( axis, zzzz ), oneMinusC, tmp2 ) ),
|
1282
|
+
Vector4::wAxis( )
|
1283
|
+
);
|
1284
|
+
}
|
1285
|
+
|
1286
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotation( const Quat &unitQuat )
|
1287
|
+
{
|
1288
|
+
return Matrix4( Transform3::rotation( unitQuat ) );
|
1289
|
+
}
|
1290
|
+
|
1291
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::scale( const Vector3 &scaleVec )
|
1292
|
+
{
|
1293
|
+
__m128 zero = _mm_setzero_ps();
|
1294
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1295
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1296
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1297
|
+
return Matrix4(
|
1298
|
+
Vector4( vec_sel( zero, scaleVec.get128(), select_x ) ),
|
1299
|
+
Vector4( vec_sel( zero, scaleVec.get128(), select_y ) ),
|
1300
|
+
Vector4( vec_sel( zero, scaleVec.get128(), select_z ) ),
|
1301
|
+
Vector4::wAxis( )
|
1302
|
+
);
|
1303
|
+
}
|
1304
|
+
|
1305
|
+
VECTORMATH_FORCE_INLINE const Matrix4 appendScale( const Matrix4 & mat, const Vector3 &scaleVec )
|
1306
|
+
{
|
1307
|
+
return Matrix4(
|
1308
|
+
( mat.getCol0() * scaleVec.getX( ) ),
|
1309
|
+
( mat.getCol1() * scaleVec.getY( ) ),
|
1310
|
+
( mat.getCol2() * scaleVec.getZ( ) ),
|
1311
|
+
mat.getCol3()
|
1312
|
+
);
|
1313
|
+
}
|
1314
|
+
|
1315
|
+
VECTORMATH_FORCE_INLINE const Matrix4 prependScale( const Vector3 &scaleVec, const Matrix4 & mat )
|
1316
|
+
{
|
1317
|
+
Vector4 scale4;
|
1318
|
+
scale4 = Vector4( scaleVec, 1.0f );
|
1319
|
+
return Matrix4(
|
1320
|
+
mulPerElem( mat.getCol0(), scale4 ),
|
1321
|
+
mulPerElem( mat.getCol1(), scale4 ),
|
1322
|
+
mulPerElem( mat.getCol2(), scale4 ),
|
1323
|
+
mulPerElem( mat.getCol3(), scale4 )
|
1324
|
+
);
|
1325
|
+
}
|
1326
|
+
|
1327
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::translation( const Vector3 &translateVec )
|
1328
|
+
{
|
1329
|
+
return Matrix4(
|
1330
|
+
Vector4::xAxis( ),
|
1331
|
+
Vector4::yAxis( ),
|
1332
|
+
Vector4::zAxis( ),
|
1333
|
+
Vector4( translateVec, 1.0f )
|
1334
|
+
);
|
1335
|
+
}
|
1336
|
+
|
1337
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::lookAt( const Point3 &eyePos, const Point3 &lookAtPos, const Vector3 &upVec )
|
1338
|
+
{
|
1339
|
+
Matrix4 m4EyeFrame;
|
1340
|
+
Vector3 v3X, v3Y, v3Z;
|
1341
|
+
v3Y = normalize( upVec );
|
1342
|
+
v3Z = normalize( ( eyePos - lookAtPos ) );
|
1343
|
+
v3X = normalize( cross( v3Y, v3Z ) );
|
1344
|
+
v3Y = cross( v3Z, v3X );
|
1345
|
+
m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) );
|
1346
|
+
return orthoInverse( m4EyeFrame );
|
1347
|
+
}
|
1348
|
+
|
1349
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar )
|
1350
|
+
{
|
1351
|
+
float f, rangeInv;
|
1352
|
+
__m128 zero, col0, col1, col2, col3;
|
1353
|
+
union { __m128 v; float s[4]; } tmp;
|
1354
|
+
f = tanf( _VECTORMATH_PI_OVER_2 - fovyRadians * 0.5f );
|
1355
|
+
rangeInv = 1.0f / ( zNear - zFar );
|
1356
|
+
zero = _mm_setzero_ps();
|
1357
|
+
tmp.v = zero;
|
1358
|
+
tmp.s[0] = f / aspect;
|
1359
|
+
col0 = tmp.v;
|
1360
|
+
tmp.v = zero;
|
1361
|
+
tmp.s[1] = f;
|
1362
|
+
col1 = tmp.v;
|
1363
|
+
tmp.v = zero;
|
1364
|
+
tmp.s[2] = ( zNear + zFar ) * rangeInv;
|
1365
|
+
tmp.s[3] = -1.0f;
|
1366
|
+
col2 = tmp.v;
|
1367
|
+
tmp.v = zero;
|
1368
|
+
tmp.s[2] = zNear * zFar * rangeInv * 2.0f;
|
1369
|
+
col3 = tmp.v;
|
1370
|
+
return Matrix4(
|
1371
|
+
Vector4( col0 ),
|
1372
|
+
Vector4( col1 ),
|
1373
|
+
Vector4( col2 ),
|
1374
|
+
Vector4( col3 )
|
1375
|
+
);
|
1376
|
+
}
|
1377
|
+
|
1378
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar )
|
1379
|
+
{
|
1380
|
+
/* function implementation based on code from STIDC SDK: */
|
1381
|
+
/* -------------------------------------------------------------- */
|
1382
|
+
/* PLEASE DO NOT MODIFY THIS SECTION */
|
1383
|
+
/* This prolog section is automatically generated. */
|
1384
|
+
/* */
|
1385
|
+
/* (C)Copyright */
|
1386
|
+
/* Sony Computer Entertainment, Inc., */
|
1387
|
+
/* Toshiba Corporation, */
|
1388
|
+
/* International Business Machines Corporation, */
|
1389
|
+
/* 2001,2002. */
|
1390
|
+
/* S/T/I Confidential Information */
|
1391
|
+
/* -------------------------------------------------------------- */
|
1392
|
+
__m128 lbf, rtn;
|
1393
|
+
__m128 diff, sum, inv_diff;
|
1394
|
+
__m128 diagonal, column, near2;
|
1395
|
+
__m128 zero = _mm_setzero_ps();
|
1396
|
+
union { __m128 v; float s[4]; } l, f, r, n, b, t; // TODO: Union?
|
1397
|
+
l.s[0] = left;
|
1398
|
+
f.s[0] = zFar;
|
1399
|
+
r.s[0] = right;
|
1400
|
+
n.s[0] = zNear;
|
1401
|
+
b.s[0] = bottom;
|
1402
|
+
t.s[0] = top;
|
1403
|
+
lbf = vec_mergeh( l.v, f.v );
|
1404
|
+
rtn = vec_mergeh( r.v, n.v );
|
1405
|
+
lbf = vec_mergeh( lbf, b.v );
|
1406
|
+
rtn = vec_mergeh( rtn, t.v );
|
1407
|
+
diff = vec_sub( rtn, lbf );
|
1408
|
+
sum = vec_add( rtn, lbf );
|
1409
|
+
inv_diff = recipf4( diff );
|
1410
|
+
near2 = vec_splat( n.v, 0 );
|
1411
|
+
near2 = vec_add( near2, near2 );
|
1412
|
+
diagonal = vec_mul( near2, inv_diff );
|
1413
|
+
column = vec_mul( sum, inv_diff );
|
1414
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1415
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1416
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1417
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_w[4] = {0, 0, 0, 0xffffffff};
|
1418
|
+
return Matrix4(
|
1419
|
+
Vector4( vec_sel( zero, diagonal, select_x ) ),
|
1420
|
+
Vector4( vec_sel( zero, diagonal, select_y ) ),
|
1421
|
+
Vector4( vec_sel( column, _mm_set1_ps(-1.0f), select_w ) ),
|
1422
|
+
Vector4( vec_sel( zero, vec_mul( diagonal, vec_splat( f.v, 0 ) ), select_z ) )
|
1423
|
+
);
|
1424
|
+
}
|
1425
|
+
|
1426
|
+
VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar )
|
1427
|
+
{
|
1428
|
+
/* function implementation based on code from STIDC SDK: */
|
1429
|
+
/* -------------------------------------------------------------- */
|
1430
|
+
/* PLEASE DO NOT MODIFY THIS SECTION */
|
1431
|
+
/* This prolog section is automatically generated. */
|
1432
|
+
/* */
|
1433
|
+
/* (C)Copyright */
|
1434
|
+
/* Sony Computer Entertainment, Inc., */
|
1435
|
+
/* Toshiba Corporation, */
|
1436
|
+
/* International Business Machines Corporation, */
|
1437
|
+
/* 2001,2002. */
|
1438
|
+
/* S/T/I Confidential Information */
|
1439
|
+
/* -------------------------------------------------------------- */
|
1440
|
+
__m128 lbf, rtn;
|
1441
|
+
__m128 diff, sum, inv_diff, neg_inv_diff;
|
1442
|
+
__m128 diagonal, column;
|
1443
|
+
__m128 zero = _mm_setzero_ps();
|
1444
|
+
union { __m128 v; float s[4]; } l, f, r, n, b, t;
|
1445
|
+
l.s[0] = left;
|
1446
|
+
f.s[0] = zFar;
|
1447
|
+
r.s[0] = right;
|
1448
|
+
n.s[0] = zNear;
|
1449
|
+
b.s[0] = bottom;
|
1450
|
+
t.s[0] = top;
|
1451
|
+
lbf = vec_mergeh( l.v, f.v );
|
1452
|
+
rtn = vec_mergeh( r.v, n.v );
|
1453
|
+
lbf = vec_mergeh( lbf, b.v );
|
1454
|
+
rtn = vec_mergeh( rtn, t.v );
|
1455
|
+
diff = vec_sub( rtn, lbf );
|
1456
|
+
sum = vec_add( rtn, lbf );
|
1457
|
+
inv_diff = recipf4( diff );
|
1458
|
+
neg_inv_diff = negatef4( inv_diff );
|
1459
|
+
diagonal = vec_add( inv_diff, inv_diff );
|
1460
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1461
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1462
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1463
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_w[4] = {0, 0, 0, 0xffffffff};
|
1464
|
+
column = vec_mul( sum, vec_sel( neg_inv_diff, inv_diff, select_z ) ); // TODO: no madds with zero
|
1465
|
+
return Matrix4(
|
1466
|
+
Vector4( vec_sel( zero, diagonal, select_x ) ),
|
1467
|
+
Vector4( vec_sel( zero, diagonal, select_y ) ),
|
1468
|
+
Vector4( vec_sel( zero, diagonal, select_z ) ),
|
1469
|
+
Vector4( vec_sel( column, _mm_set1_ps(1.0f), select_w ) )
|
1470
|
+
);
|
1471
|
+
}
|
1472
|
+
|
1473
|
+
VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 )
|
1474
|
+
{
|
1475
|
+
return Matrix4(
|
1476
|
+
select( mat0.getCol0(), mat1.getCol0(), select1 ),
|
1477
|
+
select( mat0.getCol1(), mat1.getCol1(), select1 ),
|
1478
|
+
select( mat0.getCol2(), mat1.getCol2(), select1 ),
|
1479
|
+
select( mat0.getCol3(), mat1.getCol3(), select1 )
|
1480
|
+
);
|
1481
|
+
}
|
1482
|
+
|
1483
|
+
VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, const boolInVec &select1 )
|
1484
|
+
{
|
1485
|
+
return Matrix4(
|
1486
|
+
select( mat0.getCol0(), mat1.getCol0(), select1 ),
|
1487
|
+
select( mat0.getCol1(), mat1.getCol1(), select1 ),
|
1488
|
+
select( mat0.getCol2(), mat1.getCol2(), select1 ),
|
1489
|
+
select( mat0.getCol3(), mat1.getCol3(), select1 )
|
1490
|
+
);
|
1491
|
+
}
|
1492
|
+
|
1493
|
+
#ifdef _VECTORMATH_DEBUG
|
1494
|
+
|
1495
|
+
VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat )
|
1496
|
+
{
|
1497
|
+
print( mat.getRow( 0 ) );
|
1498
|
+
print( mat.getRow( 1 ) );
|
1499
|
+
print( mat.getRow( 2 ) );
|
1500
|
+
print( mat.getRow( 3 ) );
|
1501
|
+
}
|
1502
|
+
|
1503
|
+
VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat, const char * name )
|
1504
|
+
{
|
1505
|
+
printf("%s:\n", name);
|
1506
|
+
print( mat );
|
1507
|
+
}
|
1508
|
+
|
1509
|
+
#endif
|
1510
|
+
|
1511
|
+
VECTORMATH_FORCE_INLINE Transform3::Transform3( const Transform3 & tfrm )
|
1512
|
+
{
|
1513
|
+
mCol0 = tfrm.mCol0;
|
1514
|
+
mCol1 = tfrm.mCol1;
|
1515
|
+
mCol2 = tfrm.mCol2;
|
1516
|
+
mCol3 = tfrm.mCol3;
|
1517
|
+
}
|
1518
|
+
|
1519
|
+
VECTORMATH_FORCE_INLINE Transform3::Transform3( float scalar )
|
1520
|
+
{
|
1521
|
+
mCol0 = Vector3( scalar );
|
1522
|
+
mCol1 = Vector3( scalar );
|
1523
|
+
mCol2 = Vector3( scalar );
|
1524
|
+
mCol3 = Vector3( scalar );
|
1525
|
+
}
|
1526
|
+
|
1527
|
+
VECTORMATH_FORCE_INLINE Transform3::Transform3( const floatInVec &scalar )
|
1528
|
+
{
|
1529
|
+
mCol0 = Vector3( scalar );
|
1530
|
+
mCol1 = Vector3( scalar );
|
1531
|
+
mCol2 = Vector3( scalar );
|
1532
|
+
mCol3 = Vector3( scalar );
|
1533
|
+
}
|
1534
|
+
|
1535
|
+
VECTORMATH_FORCE_INLINE Transform3::Transform3( const Vector3 &_col0, const Vector3 &_col1, const Vector3 &_col2, const Vector3 &_col3 )
|
1536
|
+
{
|
1537
|
+
mCol0 = _col0;
|
1538
|
+
mCol1 = _col1;
|
1539
|
+
mCol2 = _col2;
|
1540
|
+
mCol3 = _col3;
|
1541
|
+
}
|
1542
|
+
|
1543
|
+
VECTORMATH_FORCE_INLINE Transform3::Transform3( const Matrix3 & tfrm, const Vector3 &translateVec )
|
1544
|
+
{
|
1545
|
+
this->setUpper3x3( tfrm );
|
1546
|
+
this->setTranslation( translateVec );
|
1547
|
+
}
|
1548
|
+
|
1549
|
+
VECTORMATH_FORCE_INLINE Transform3::Transform3( const Quat &unitQuat, const Vector3 &translateVec )
|
1550
|
+
{
|
1551
|
+
this->setUpper3x3( Matrix3( unitQuat ) );
|
1552
|
+
this->setTranslation( translateVec );
|
1553
|
+
}
|
1554
|
+
|
1555
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol0( const Vector3 &_col0 )
|
1556
|
+
{
|
1557
|
+
mCol0 = _col0;
|
1558
|
+
return *this;
|
1559
|
+
}
|
1560
|
+
|
1561
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol1( const Vector3 &_col1 )
|
1562
|
+
{
|
1563
|
+
mCol1 = _col1;
|
1564
|
+
return *this;
|
1565
|
+
}
|
1566
|
+
|
1567
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol2( const Vector3 &_col2 )
|
1568
|
+
{
|
1569
|
+
mCol2 = _col2;
|
1570
|
+
return *this;
|
1571
|
+
}
|
1572
|
+
|
1573
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol3( const Vector3 &_col3 )
|
1574
|
+
{
|
1575
|
+
mCol3 = _col3;
|
1576
|
+
return *this;
|
1577
|
+
}
|
1578
|
+
|
1579
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol( int col, const Vector3 &vec )
|
1580
|
+
{
|
1581
|
+
*(&mCol0 + col) = vec;
|
1582
|
+
return *this;
|
1583
|
+
}
|
1584
|
+
|
1585
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setRow( int row, const Vector4 &vec )
|
1586
|
+
{
|
1587
|
+
mCol0.setElem( row, vec.getElem( 0 ) );
|
1588
|
+
mCol1.setElem( row, vec.getElem( 1 ) );
|
1589
|
+
mCol2.setElem( row, vec.getElem( 2 ) );
|
1590
|
+
mCol3.setElem( row, vec.getElem( 3 ) );
|
1591
|
+
return *this;
|
1592
|
+
}
|
1593
|
+
|
1594
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setElem( int col, int row, float val )
|
1595
|
+
{
|
1596
|
+
(*this)[col].setElem(row, val);
|
1597
|
+
return *this;
|
1598
|
+
}
|
1599
|
+
|
1600
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setElem( int col, int row, const floatInVec &val )
|
1601
|
+
{
|
1602
|
+
Vector3 tmpV3_0;
|
1603
|
+
tmpV3_0 = this->getCol( col );
|
1604
|
+
tmpV3_0.setElem( row, val );
|
1605
|
+
this->setCol( col, tmpV3_0 );
|
1606
|
+
return *this;
|
1607
|
+
}
|
1608
|
+
|
1609
|
+
VECTORMATH_FORCE_INLINE const floatInVec Transform3::getElem( int col, int row ) const
|
1610
|
+
{
|
1611
|
+
return this->getCol( col ).getElem( row );
|
1612
|
+
}
|
1613
|
+
|
1614
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol0( ) const
|
1615
|
+
{
|
1616
|
+
return mCol0;
|
1617
|
+
}
|
1618
|
+
|
1619
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol1( ) const
|
1620
|
+
{
|
1621
|
+
return mCol1;
|
1622
|
+
}
|
1623
|
+
|
1624
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol2( ) const
|
1625
|
+
{
|
1626
|
+
return mCol2;
|
1627
|
+
}
|
1628
|
+
|
1629
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol3( ) const
|
1630
|
+
{
|
1631
|
+
return mCol3;
|
1632
|
+
}
|
1633
|
+
|
1634
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol( int col ) const
|
1635
|
+
{
|
1636
|
+
return *(&mCol0 + col);
|
1637
|
+
}
|
1638
|
+
|
1639
|
+
VECTORMATH_FORCE_INLINE const Vector4 Transform3::getRow( int row ) const
|
1640
|
+
{
|
1641
|
+
return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) );
|
1642
|
+
}
|
1643
|
+
|
1644
|
+
VECTORMATH_FORCE_INLINE Vector3 & Transform3::operator []( int col )
|
1645
|
+
{
|
1646
|
+
return *(&mCol0 + col);
|
1647
|
+
}
|
1648
|
+
|
1649
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::operator []( int col ) const
|
1650
|
+
{
|
1651
|
+
return *(&mCol0 + col);
|
1652
|
+
}
|
1653
|
+
|
1654
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::operator =( const Transform3 & tfrm )
|
1655
|
+
{
|
1656
|
+
mCol0 = tfrm.mCol0;
|
1657
|
+
mCol1 = tfrm.mCol1;
|
1658
|
+
mCol2 = tfrm.mCol2;
|
1659
|
+
mCol3 = tfrm.mCol3;
|
1660
|
+
return *this;
|
1661
|
+
}
|
1662
|
+
|
1663
|
+
VECTORMATH_FORCE_INLINE const Transform3 inverse( const Transform3 & tfrm )
|
1664
|
+
{
|
1665
|
+
__m128 inv0, inv1, inv2, inv3;
|
1666
|
+
__m128 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet;
|
1667
|
+
__m128 xxxx, yyyy, zzzz;
|
1668
|
+
tmp2 = _vmathVfCross( tfrm.getCol0().get128(), tfrm.getCol1().get128() );
|
1669
|
+
tmp0 = _vmathVfCross( tfrm.getCol1().get128(), tfrm.getCol2().get128() );
|
1670
|
+
tmp1 = _vmathVfCross( tfrm.getCol2().get128(), tfrm.getCol0().get128() );
|
1671
|
+
inv3 = negatef4( tfrm.getCol3().get128() );
|
1672
|
+
dot = _vmathVfDot3( tmp2, tfrm.getCol2().get128() );
|
1673
|
+
dot = vec_splat( dot, 0 );
|
1674
|
+
invdet = recipf4( dot );
|
1675
|
+
tmp3 = vec_mergeh( tmp0, tmp2 );
|
1676
|
+
tmp4 = vec_mergel( tmp0, tmp2 );
|
1677
|
+
inv0 = vec_mergeh( tmp3, tmp1 );
|
1678
|
+
xxxx = vec_splat( inv3, 0 );
|
1679
|
+
//inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX );
|
1680
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1681
|
+
inv1 = _mm_shuffle_ps( tmp3, tmp3, _MM_SHUFFLE(0,3,2,2));
|
1682
|
+
inv1 = vec_sel(inv1, tmp1, select_y);
|
1683
|
+
//inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX );
|
1684
|
+
inv2 = _mm_shuffle_ps( tmp4, tmp4, _MM_SHUFFLE(0,1,1,0));
|
1685
|
+
inv2 = vec_sel(inv2, vec_splat(tmp1, 2), select_y);
|
1686
|
+
yyyy = vec_splat( inv3, 1 );
|
1687
|
+
zzzz = vec_splat( inv3, 2 );
|
1688
|
+
inv3 = vec_mul( inv0, xxxx );
|
1689
|
+
inv3 = vec_madd( inv1, yyyy, inv3 );
|
1690
|
+
inv3 = vec_madd( inv2, zzzz, inv3 );
|
1691
|
+
inv0 = vec_mul( inv0, invdet );
|
1692
|
+
inv1 = vec_mul( inv1, invdet );
|
1693
|
+
inv2 = vec_mul( inv2, invdet );
|
1694
|
+
inv3 = vec_mul( inv3, invdet );
|
1695
|
+
return Transform3(
|
1696
|
+
Vector3( inv0 ),
|
1697
|
+
Vector3( inv1 ),
|
1698
|
+
Vector3( inv2 ),
|
1699
|
+
Vector3( inv3 )
|
1700
|
+
);
|
1701
|
+
}
|
1702
|
+
|
1703
|
+
VECTORMATH_FORCE_INLINE const Transform3 orthoInverse( const Transform3 & tfrm )
|
1704
|
+
{
|
1705
|
+
__m128 inv0, inv1, inv2, inv3;
|
1706
|
+
__m128 tmp0, tmp1;
|
1707
|
+
__m128 xxxx, yyyy, zzzz;
|
1708
|
+
tmp0 = vec_mergeh( tfrm.getCol0().get128(), tfrm.getCol2().get128() );
|
1709
|
+
tmp1 = vec_mergel( tfrm.getCol0().get128(), tfrm.getCol2().get128() );
|
1710
|
+
inv3 = negatef4( tfrm.getCol3().get128() );
|
1711
|
+
inv0 = vec_mergeh( tmp0, tfrm.getCol1().get128() );
|
1712
|
+
xxxx = vec_splat( inv3, 0 );
|
1713
|
+
//inv1 = vec_perm( tmp0, tfrm.getCol1().get128(), _VECTORMATH_PERM_ZBWX );
|
1714
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1715
|
+
inv1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2));
|
1716
|
+
inv1 = vec_sel(inv1, tfrm.getCol1().get128(), select_y);
|
1717
|
+
//inv2 = vec_perm( tmp1, tfrm.getCol1().get128(), _VECTORMATH_PERM_XCYX );
|
1718
|
+
inv2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0));
|
1719
|
+
inv2 = vec_sel(inv2, vec_splat(tfrm.getCol1().get128(), 2), select_y);
|
1720
|
+
yyyy = vec_splat( inv3, 1 );
|
1721
|
+
zzzz = vec_splat( inv3, 2 );
|
1722
|
+
inv3 = vec_mul( inv0, xxxx );
|
1723
|
+
inv3 = vec_madd( inv1, yyyy, inv3 );
|
1724
|
+
inv3 = vec_madd( inv2, zzzz, inv3 );
|
1725
|
+
return Transform3(
|
1726
|
+
Vector3( inv0 ),
|
1727
|
+
Vector3( inv1 ),
|
1728
|
+
Vector3( inv2 ),
|
1729
|
+
Vector3( inv3 )
|
1730
|
+
);
|
1731
|
+
}
|
1732
|
+
|
1733
|
+
VECTORMATH_FORCE_INLINE const Transform3 absPerElem( const Transform3 & tfrm )
|
1734
|
+
{
|
1735
|
+
return Transform3(
|
1736
|
+
absPerElem( tfrm.getCol0() ),
|
1737
|
+
absPerElem( tfrm.getCol1() ),
|
1738
|
+
absPerElem( tfrm.getCol2() ),
|
1739
|
+
absPerElem( tfrm.getCol3() )
|
1740
|
+
);
|
1741
|
+
}
|
1742
|
+
|
1743
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::operator *( const Vector3 &vec ) const
|
1744
|
+
{
|
1745
|
+
__m128 res;
|
1746
|
+
__m128 xxxx, yyyy, zzzz;
|
1747
|
+
xxxx = vec_splat( vec.get128(), 0 );
|
1748
|
+
yyyy = vec_splat( vec.get128(), 1 );
|
1749
|
+
zzzz = vec_splat( vec.get128(), 2 );
|
1750
|
+
res = vec_mul( mCol0.get128(), xxxx );
|
1751
|
+
res = vec_madd( mCol1.get128(), yyyy, res );
|
1752
|
+
res = vec_madd( mCol2.get128(), zzzz, res );
|
1753
|
+
return Vector3( res );
|
1754
|
+
}
|
1755
|
+
|
1756
|
+
VECTORMATH_FORCE_INLINE const Point3 Transform3::operator *( const Point3 &pnt ) const
|
1757
|
+
{
|
1758
|
+
__m128 tmp0, tmp1, res;
|
1759
|
+
__m128 xxxx, yyyy, zzzz;
|
1760
|
+
xxxx = vec_splat( pnt.get128(), 0 );
|
1761
|
+
yyyy = vec_splat( pnt.get128(), 1 );
|
1762
|
+
zzzz = vec_splat( pnt.get128(), 2 );
|
1763
|
+
tmp0 = vec_mul( mCol0.get128(), xxxx );
|
1764
|
+
tmp1 = vec_mul( mCol1.get128(), yyyy );
|
1765
|
+
tmp0 = vec_madd( mCol2.get128(), zzzz, tmp0 );
|
1766
|
+
tmp1 = vec_add( mCol3.get128(), tmp1 );
|
1767
|
+
res = vec_add( tmp0, tmp1 );
|
1768
|
+
return Point3( res );
|
1769
|
+
}
|
1770
|
+
|
1771
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::operator *( const Transform3 & tfrm ) const
|
1772
|
+
{
|
1773
|
+
return Transform3(
|
1774
|
+
( *this * tfrm.mCol0 ),
|
1775
|
+
( *this * tfrm.mCol1 ),
|
1776
|
+
( *this * tfrm.mCol2 ),
|
1777
|
+
Vector3( ( *this * Point3( tfrm.mCol3 ) ) )
|
1778
|
+
);
|
1779
|
+
}
|
1780
|
+
|
1781
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::operator *=( const Transform3 & tfrm )
|
1782
|
+
{
|
1783
|
+
*this = *this * tfrm;
|
1784
|
+
return *this;
|
1785
|
+
}
|
1786
|
+
|
1787
|
+
VECTORMATH_FORCE_INLINE const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 )
|
1788
|
+
{
|
1789
|
+
return Transform3(
|
1790
|
+
mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ),
|
1791
|
+
mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ),
|
1792
|
+
mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ),
|
1793
|
+
mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() )
|
1794
|
+
);
|
1795
|
+
}
|
1796
|
+
|
1797
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::identity( )
|
1798
|
+
{
|
1799
|
+
return Transform3(
|
1800
|
+
Vector3::xAxis( ),
|
1801
|
+
Vector3::yAxis( ),
|
1802
|
+
Vector3::zAxis( ),
|
1803
|
+
Vector3( 0.0f )
|
1804
|
+
);
|
1805
|
+
}
|
1806
|
+
|
1807
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm )
|
1808
|
+
{
|
1809
|
+
mCol0 = tfrm.getCol0();
|
1810
|
+
mCol1 = tfrm.getCol1();
|
1811
|
+
mCol2 = tfrm.getCol2();
|
1812
|
+
return *this;
|
1813
|
+
}
|
1814
|
+
|
1815
|
+
VECTORMATH_FORCE_INLINE const Matrix3 Transform3::getUpper3x3( ) const
|
1816
|
+
{
|
1817
|
+
return Matrix3( mCol0, mCol1, mCol2 );
|
1818
|
+
}
|
1819
|
+
|
1820
|
+
VECTORMATH_FORCE_INLINE Transform3 & Transform3::setTranslation( const Vector3 &translateVec )
|
1821
|
+
{
|
1822
|
+
mCol3 = translateVec;
|
1823
|
+
return *this;
|
1824
|
+
}
|
1825
|
+
|
1826
|
+
VECTORMATH_FORCE_INLINE const Vector3 Transform3::getTranslation( ) const
|
1827
|
+
{
|
1828
|
+
return mCol3;
|
1829
|
+
}
|
1830
|
+
|
1831
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationX( float radians )
|
1832
|
+
{
|
1833
|
+
return rotationX( floatInVec(radians) );
|
1834
|
+
}
|
1835
|
+
|
1836
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationX( const floatInVec &radians )
|
1837
|
+
{
|
1838
|
+
__m128 s, c, res1, res2;
|
1839
|
+
__m128 zero;
|
1840
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1841
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1842
|
+
zero = _mm_setzero_ps();
|
1843
|
+
sincosf4( radians.get128(), &s, &c );
|
1844
|
+
res1 = vec_sel( zero, c, select_y );
|
1845
|
+
res1 = vec_sel( res1, s, select_z );
|
1846
|
+
res2 = vec_sel( zero, negatef4(s), select_y );
|
1847
|
+
res2 = vec_sel( res2, c, select_z );
|
1848
|
+
return Transform3(
|
1849
|
+
Vector3::xAxis( ),
|
1850
|
+
Vector3( res1 ),
|
1851
|
+
Vector3( res2 ),
|
1852
|
+
Vector3( _mm_setzero_ps() )
|
1853
|
+
);
|
1854
|
+
}
|
1855
|
+
|
1856
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationY( float radians )
|
1857
|
+
{
|
1858
|
+
return rotationY( floatInVec(radians) );
|
1859
|
+
}
|
1860
|
+
|
1861
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationY( const floatInVec &radians )
|
1862
|
+
{
|
1863
|
+
__m128 s, c, res0, res2;
|
1864
|
+
__m128 zero;
|
1865
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1866
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1867
|
+
zero = _mm_setzero_ps();
|
1868
|
+
sincosf4( radians.get128(), &s, &c );
|
1869
|
+
res0 = vec_sel( zero, c, select_x );
|
1870
|
+
res0 = vec_sel( res0, negatef4(s), select_z );
|
1871
|
+
res2 = vec_sel( zero, s, select_x );
|
1872
|
+
res2 = vec_sel( res2, c, select_z );
|
1873
|
+
return Transform3(
|
1874
|
+
Vector3( res0 ),
|
1875
|
+
Vector3::yAxis( ),
|
1876
|
+
Vector3( res2 ),
|
1877
|
+
Vector3( 0.0f )
|
1878
|
+
);
|
1879
|
+
}
|
1880
|
+
|
1881
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationZ( float radians )
|
1882
|
+
{
|
1883
|
+
return rotationZ( floatInVec(radians) );
|
1884
|
+
}
|
1885
|
+
|
1886
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationZ( const floatInVec &radians )
|
1887
|
+
{
|
1888
|
+
__m128 s, c, res0, res1;
|
1889
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1890
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1891
|
+
__m128 zero = _mm_setzero_ps();
|
1892
|
+
sincosf4( radians.get128(), &s, &c );
|
1893
|
+
res0 = vec_sel( zero, c, select_x );
|
1894
|
+
res0 = vec_sel( res0, s, select_y );
|
1895
|
+
res1 = vec_sel( zero, negatef4(s), select_x );
|
1896
|
+
res1 = vec_sel( res1, c, select_y );
|
1897
|
+
return Transform3(
|
1898
|
+
Vector3( res0 ),
|
1899
|
+
Vector3( res1 ),
|
1900
|
+
Vector3::zAxis( ),
|
1901
|
+
Vector3( 0.0f )
|
1902
|
+
);
|
1903
|
+
}
|
1904
|
+
|
1905
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationZYX( const Vector3 &radiansXYZ )
|
1906
|
+
{
|
1907
|
+
__m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp;
|
1908
|
+
angles = Vector4( radiansXYZ, 0.0f ).get128();
|
1909
|
+
sincosf4( angles, &s, &c );
|
1910
|
+
negS = negatef4( s );
|
1911
|
+
Z0 = vec_mergel( c, s );
|
1912
|
+
Z1 = vec_mergel( negS, c );
|
1913
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0};
|
1914
|
+
Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) );
|
1915
|
+
Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) );
|
1916
|
+
Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) );
|
1917
|
+
X0 = vec_splat( s, 0 );
|
1918
|
+
X1 = vec_splat( c, 0 );
|
1919
|
+
tmp = vec_mul( Z0, Y1 );
|
1920
|
+
return Transform3(
|
1921
|
+
Vector3( vec_mul( Z0, Y0 ) ),
|
1922
|
+
Vector3( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ),
|
1923
|
+
Vector3( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ),
|
1924
|
+
Vector3( 0.0f )
|
1925
|
+
);
|
1926
|
+
}
|
1927
|
+
|
1928
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotation( float radians, const Vector3 &unitVec )
|
1929
|
+
{
|
1930
|
+
return rotation( floatInVec(radians), unitVec );
|
1931
|
+
}
|
1932
|
+
|
1933
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotation( const floatInVec &radians, const Vector3 &unitVec )
|
1934
|
+
{
|
1935
|
+
return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) );
|
1936
|
+
}
|
1937
|
+
|
1938
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotation( const Quat &unitQuat )
|
1939
|
+
{
|
1940
|
+
return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) );
|
1941
|
+
}
|
1942
|
+
|
1943
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::scale( const Vector3 &scaleVec )
|
1944
|
+
{
|
1945
|
+
__m128 zero = _mm_setzero_ps();
|
1946
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
1947
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
1948
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
1949
|
+
return Transform3(
|
1950
|
+
Vector3( vec_sel( zero, scaleVec.get128(), select_x ) ),
|
1951
|
+
Vector3( vec_sel( zero, scaleVec.get128(), select_y ) ),
|
1952
|
+
Vector3( vec_sel( zero, scaleVec.get128(), select_z ) ),
|
1953
|
+
Vector3( 0.0f )
|
1954
|
+
);
|
1955
|
+
}
|
1956
|
+
|
1957
|
+
VECTORMATH_FORCE_INLINE const Transform3 appendScale( const Transform3 & tfrm, const Vector3 &scaleVec )
|
1958
|
+
{
|
1959
|
+
return Transform3(
|
1960
|
+
( tfrm.getCol0() * scaleVec.getX( ) ),
|
1961
|
+
( tfrm.getCol1() * scaleVec.getY( ) ),
|
1962
|
+
( tfrm.getCol2() * scaleVec.getZ( ) ),
|
1963
|
+
tfrm.getCol3()
|
1964
|
+
);
|
1965
|
+
}
|
1966
|
+
|
1967
|
+
VECTORMATH_FORCE_INLINE const Transform3 prependScale( const Vector3 &scaleVec, const Transform3 & tfrm )
|
1968
|
+
{
|
1969
|
+
return Transform3(
|
1970
|
+
mulPerElem( tfrm.getCol0(), scaleVec ),
|
1971
|
+
mulPerElem( tfrm.getCol1(), scaleVec ),
|
1972
|
+
mulPerElem( tfrm.getCol2(), scaleVec ),
|
1973
|
+
mulPerElem( tfrm.getCol3(), scaleVec )
|
1974
|
+
);
|
1975
|
+
}
|
1976
|
+
|
1977
|
+
VECTORMATH_FORCE_INLINE const Transform3 Transform3::translation( const Vector3 &translateVec )
|
1978
|
+
{
|
1979
|
+
return Transform3(
|
1980
|
+
Vector3::xAxis( ),
|
1981
|
+
Vector3::yAxis( ),
|
1982
|
+
Vector3::zAxis( ),
|
1983
|
+
translateVec
|
1984
|
+
);
|
1985
|
+
}
|
1986
|
+
|
1987
|
+
VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 )
|
1988
|
+
{
|
1989
|
+
return Transform3(
|
1990
|
+
select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ),
|
1991
|
+
select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ),
|
1992
|
+
select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ),
|
1993
|
+
select( tfrm0.getCol3(), tfrm1.getCol3(), select1 )
|
1994
|
+
);
|
1995
|
+
}
|
1996
|
+
|
1997
|
+
VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, const boolInVec &select1 )
|
1998
|
+
{
|
1999
|
+
return Transform3(
|
2000
|
+
select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ),
|
2001
|
+
select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ),
|
2002
|
+
select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ),
|
2003
|
+
select( tfrm0.getCol3(), tfrm1.getCol3(), select1 )
|
2004
|
+
);
|
2005
|
+
}
|
2006
|
+
|
2007
|
+
#ifdef _VECTORMATH_DEBUG
|
2008
|
+
|
2009
|
+
VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm )
|
2010
|
+
{
|
2011
|
+
print( tfrm.getRow( 0 ) );
|
2012
|
+
print( tfrm.getRow( 1 ) );
|
2013
|
+
print( tfrm.getRow( 2 ) );
|
2014
|
+
}
|
2015
|
+
|
2016
|
+
VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm, const char * name )
|
2017
|
+
{
|
2018
|
+
printf("%s:\n", name);
|
2019
|
+
print( tfrm );
|
2020
|
+
}
|
2021
|
+
|
2022
|
+
#endif
|
2023
|
+
|
2024
|
+
VECTORMATH_FORCE_INLINE Quat::Quat( const Matrix3 & tfrm )
|
2025
|
+
{
|
2026
|
+
__m128 res;
|
2027
|
+
__m128 col0, col1, col2;
|
2028
|
+
__m128 xx_yy, xx_yy_zz_xx, yy_zz_xx_yy, zz_xx_yy_zz, diagSum, diagDiff;
|
2029
|
+
__m128 zy_xz_yx, yz_zx_xy, sum, diff;
|
2030
|
+
__m128 radicand, invSqrt, scale;
|
2031
|
+
__m128 res0, res1, res2, res3;
|
2032
|
+
__m128 xx, yy, zz;
|
2033
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
2034
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
2035
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
2036
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_w[4] = {0, 0, 0, 0xffffffff};
|
2037
|
+
|
2038
|
+
col0 = tfrm.getCol0().get128();
|
2039
|
+
col1 = tfrm.getCol1().get128();
|
2040
|
+
col2 = tfrm.getCol2().get128();
|
2041
|
+
|
2042
|
+
/* four cases: */
|
2043
|
+
/* trace > 0 */
|
2044
|
+
/* else */
|
2045
|
+
/* xx largest diagonal element */
|
2046
|
+
/* yy largest diagonal element */
|
2047
|
+
/* zz largest diagonal element */
|
2048
|
+
|
2049
|
+
/* compute quaternion for each case */
|
2050
|
+
|
2051
|
+
xx_yy = vec_sel( col0, col1, select_y );
|
2052
|
+
//xx_yy_zz_xx = vec_perm( xx_yy, col2, _VECTORMATH_PERM_XYCX );
|
2053
|
+
//yy_zz_xx_yy = vec_perm( xx_yy, col2, _VECTORMATH_PERM_YCXY );
|
2054
|
+
//zz_xx_yy_zz = vec_perm( xx_yy, col2, _VECTORMATH_PERM_CXYC );
|
2055
|
+
xx_yy_zz_xx = _mm_shuffle_ps( xx_yy, xx_yy, _MM_SHUFFLE(0,0,1,0) );
|
2056
|
+
xx_yy_zz_xx = vec_sel( xx_yy_zz_xx, col2, select_z ); // TODO: Ck
|
2057
|
+
yy_zz_xx_yy = _mm_shuffle_ps( xx_yy_zz_xx, xx_yy_zz_xx, _MM_SHUFFLE(1,0,2,1) );
|
2058
|
+
zz_xx_yy_zz = _mm_shuffle_ps( xx_yy_zz_xx, xx_yy_zz_xx, _MM_SHUFFLE(2,1,0,2) );
|
2059
|
+
|
2060
|
+
diagSum = vec_add( vec_add( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz );
|
2061
|
+
diagDiff = vec_sub( vec_sub( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz );
|
2062
|
+
radicand = vec_add( vec_sel( diagDiff, diagSum, select_w ), _mm_set1_ps(1.0f) );
|
2063
|
+
// invSqrt = rsqrtf4( radicand );
|
2064
|
+
invSqrt = newtonrapson_rsqrt4( radicand );
|
2065
|
+
|
2066
|
+
|
2067
|
+
|
2068
|
+
zy_xz_yx = vec_sel( col0, col1, select_z ); // zy_xz_yx = 00 01 12 03
|
2069
|
+
//zy_xz_yx = vec_perm( zy_xz_yx, col2, _VECTORMATH_PERM_ZAYX );
|
2070
|
+
zy_xz_yx = _mm_shuffle_ps( zy_xz_yx, zy_xz_yx, _MM_SHUFFLE(0,1,2,2) ); // zy_xz_yx = 12 12 01 00
|
2071
|
+
zy_xz_yx = vec_sel( zy_xz_yx, vec_splat(col2, 0), select_y ); // zy_xz_yx = 12 20 01 00
|
2072
|
+
yz_zx_xy = vec_sel( col0, col1, select_x ); // yz_zx_xy = 10 01 02 03
|
2073
|
+
//yz_zx_xy = vec_perm( yz_zx_xy, col2, _VECTORMATH_PERM_BZXX );
|
2074
|
+
yz_zx_xy = _mm_shuffle_ps( yz_zx_xy, yz_zx_xy, _MM_SHUFFLE(0,0,2,0) ); // yz_zx_xy = 10 02 10 10
|
2075
|
+
yz_zx_xy = vec_sel( yz_zx_xy, vec_splat(col2, 1), select_x ); // yz_zx_xy = 21 02 10 10
|
2076
|
+
|
2077
|
+
sum = vec_add( zy_xz_yx, yz_zx_xy );
|
2078
|
+
diff = vec_sub( zy_xz_yx, yz_zx_xy );
|
2079
|
+
|
2080
|
+
scale = vec_mul( invSqrt, _mm_set1_ps(0.5f) );
|
2081
|
+
|
2082
|
+
//res0 = vec_perm( sum, diff, _VECTORMATH_PERM_XZYA );
|
2083
|
+
res0 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,1,2,0) );
|
2084
|
+
res0 = vec_sel( res0, vec_splat(diff, 0), select_w ); // TODO: Ck
|
2085
|
+
//res1 = vec_perm( sum, diff, _VECTORMATH_PERM_ZXXB );
|
2086
|
+
res1 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,0,0,2) );
|
2087
|
+
res1 = vec_sel( res1, vec_splat(diff, 1), select_w ); // TODO: Ck
|
2088
|
+
//res2 = vec_perm( sum, diff, _VECTORMATH_PERM_YXXC );
|
2089
|
+
res2 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,0,0,1) );
|
2090
|
+
res2 = vec_sel( res2, vec_splat(diff, 2), select_w ); // TODO: Ck
|
2091
|
+
res3 = diff;
|
2092
|
+
res0 = vec_sel( res0, radicand, select_x );
|
2093
|
+
res1 = vec_sel( res1, radicand, select_y );
|
2094
|
+
res2 = vec_sel( res2, radicand, select_z );
|
2095
|
+
res3 = vec_sel( res3, radicand, select_w );
|
2096
|
+
res0 = vec_mul( res0, vec_splat( scale, 0 ) );
|
2097
|
+
res1 = vec_mul( res1, vec_splat( scale, 1 ) );
|
2098
|
+
res2 = vec_mul( res2, vec_splat( scale, 2 ) );
|
2099
|
+
res3 = vec_mul( res3, vec_splat( scale, 3 ) );
|
2100
|
+
|
2101
|
+
/* determine case and select answer */
|
2102
|
+
|
2103
|
+
xx = vec_splat( col0, 0 );
|
2104
|
+
yy = vec_splat( col1, 1 );
|
2105
|
+
zz = vec_splat( col2, 2 );
|
2106
|
+
res = vec_sel( res0, res1, vec_cmpgt( yy, xx ) );
|
2107
|
+
res = vec_sel( res, res2, vec_and( vec_cmpgt( zz, xx ), vec_cmpgt( zz, yy ) ) );
|
2108
|
+
res = vec_sel( res, res3, vec_cmpgt( vec_splat( diagSum, 0 ), _mm_setzero_ps() ) );
|
2109
|
+
mVec128 = res;
|
2110
|
+
}
|
2111
|
+
|
2112
|
+
VECTORMATH_FORCE_INLINE const Matrix3 outer( const Vector3 &tfrm0, const Vector3 &tfrm1 )
|
2113
|
+
{
|
2114
|
+
return Matrix3(
|
2115
|
+
( tfrm0 * tfrm1.getX( ) ),
|
2116
|
+
( tfrm0 * tfrm1.getY( ) ),
|
2117
|
+
( tfrm0 * tfrm1.getZ( ) )
|
2118
|
+
);
|
2119
|
+
}
|
2120
|
+
|
2121
|
+
VECTORMATH_FORCE_INLINE const Matrix4 outer( const Vector4 &tfrm0, const Vector4 &tfrm1 )
|
2122
|
+
{
|
2123
|
+
return Matrix4(
|
2124
|
+
( tfrm0 * tfrm1.getX( ) ),
|
2125
|
+
( tfrm0 * tfrm1.getY( ) ),
|
2126
|
+
( tfrm0 * tfrm1.getZ( ) ),
|
2127
|
+
( tfrm0 * tfrm1.getW( ) )
|
2128
|
+
);
|
2129
|
+
}
|
2130
|
+
|
2131
|
+
VECTORMATH_FORCE_INLINE const Vector3 rowMul( const Vector3 &vec, const Matrix3 & mat )
|
2132
|
+
{
|
2133
|
+
__m128 tmp0, tmp1, mcol0, mcol1, mcol2, res;
|
2134
|
+
__m128 xxxx, yyyy, zzzz;
|
2135
|
+
tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() );
|
2136
|
+
tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() );
|
2137
|
+
xxxx = vec_splat( vec.get128(), 0 );
|
2138
|
+
mcol0 = vec_mergeh( tmp0, mat.getCol1().get128() );
|
2139
|
+
//mcol1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX );
|
2140
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
2141
|
+
mcol1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2));
|
2142
|
+
mcol1 = vec_sel(mcol1, mat.getCol1().get128(), select_y);
|
2143
|
+
//mcol2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX );
|
2144
|
+
mcol2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0));
|
2145
|
+
mcol2 = vec_sel(mcol2, vec_splat(mat.getCol1().get128(), 2), select_y);
|
2146
|
+
yyyy = vec_splat( vec.get128(), 1 );
|
2147
|
+
res = vec_mul( mcol0, xxxx );
|
2148
|
+
zzzz = vec_splat( vec.get128(), 2 );
|
2149
|
+
res = vec_madd( mcol1, yyyy, res );
|
2150
|
+
res = vec_madd( mcol2, zzzz, res );
|
2151
|
+
return Vector3( res );
|
2152
|
+
}
|
2153
|
+
|
2154
|
+
VECTORMATH_FORCE_INLINE const Matrix3 crossMatrix( const Vector3 &vec )
|
2155
|
+
{
|
2156
|
+
__m128 neg, res0, res1, res2;
|
2157
|
+
neg = negatef4( vec.get128() );
|
2158
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0};
|
2159
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0};
|
2160
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0};
|
2161
|
+
//res0 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_XZBX );
|
2162
|
+
res0 = _mm_shuffle_ps( vec.get128(), vec.get128(), _MM_SHUFFLE(0,2,2,0) );
|
2163
|
+
res0 = vec_sel(res0, vec_splat(neg, 1), select_z);
|
2164
|
+
//res1 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_CXXX );
|
2165
|
+
res1 = vec_sel(vec_splat(vec.get128(), 0), vec_splat(neg, 2), select_x);
|
2166
|
+
//res2 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_YAXX );
|
2167
|
+
res2 = _mm_shuffle_ps( vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,1,1) );
|
2168
|
+
res2 = vec_sel(res2, vec_splat(neg, 0), select_y);
|
2169
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int filter_x[4] = {0, 0xffffffff, 0xffffffff, 0xffffffff};
|
2170
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int filter_y[4] = {0xffffffff, 0, 0xffffffff, 0xffffffff};
|
2171
|
+
VM_ATTRIBUTE_ALIGN16 unsigned int filter_z[4] = {0xffffffff, 0xffffffff, 0, 0xffffffff};
|
2172
|
+
res0 = vec_and( res0, _mm_load_ps((float *)filter_x ) );
|
2173
|
+
res1 = vec_and( res1, _mm_load_ps((float *)filter_y ) );
|
2174
|
+
res2 = vec_and( res2, _mm_load_ps((float *)filter_z ) ); // TODO: Use selects?
|
2175
|
+
return Matrix3(
|
2176
|
+
Vector3( res0 ),
|
2177
|
+
Vector3( res1 ),
|
2178
|
+
Vector3( res2 )
|
2179
|
+
);
|
2180
|
+
}
|
2181
|
+
|
2182
|
+
VECTORMATH_FORCE_INLINE const Matrix3 crossMatrixMul( const Vector3 &vec, const Matrix3 & mat )
|
2183
|
+
{
|
2184
|
+
return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) );
|
2185
|
+
}
|
2186
|
+
|
2187
|
+
} // namespace Aos
|
2188
|
+
} // namespace Vectormath
|
2189
|
+
|
2190
|
+
#endif
|