sse/quat_aos.h

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/*
   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
   All rights reserved.

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   with or without modification, are permitted provided that the
   following conditions are met:
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      notice, this list of conditions and the following disclaimer.
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      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
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      of its contributors may be used to endorse or promote products derived
      from this software without specific prior written permission.

   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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*/


#ifndef _VECTORMATH_QUAT_AOS_CPP_H
#define _VECTORMATH_QUAT_AOS_CPP_H

//-----------------------------------------------------------------------------
// Definitions

#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
#define _VECTORMATH_INTERNAL_FUNCTIONS

#endif

namespace Vectormath {
namespace Aos {

VECTORMATH_FORCE_INLINE void Quat::set128(vec_float4 vec)
{
    mVec128 = vec;
}

VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w )
{
        mVec128 = _mm_unpacklo_ps(
                _mm_unpacklo_ps( _x.get128(), _z.get128() ),
                _mm_unpacklo_ps( _y.get128(), _w.get128() ) );
}

VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, float _w )
{
    mVec128 = xyz.get128();
    _vmathVfSetElement(mVec128, _w, 3);
}



VECTORMATH_FORCE_INLINE  Quat::Quat(const Quat& quat)
{
        mVec128 = quat.get128();
}

VECTORMATH_FORCE_INLINE Quat::Quat( float _x, float _y, float _z, float _w )
{
        mVec128 = _mm_setr_ps(_x, _y, _z, _w);
}





VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, const floatInVec &_w )
{
    mVec128 = xyz.get128();
    mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
}

VECTORMATH_FORCE_INLINE Quat::Quat( const Vector4 &vec )
{
    mVec128 = vec.get128();
}

VECTORMATH_FORCE_INLINE Quat::Quat( float scalar )
{
    mVec128 = floatInVec(scalar).get128();
}

VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &scalar )
{
    mVec128 = scalar.get128();
}

VECTORMATH_FORCE_INLINE Quat::Quat( __m128 vf4 )
{
    mVec128 = vf4;
}

VECTORMATH_FORCE_INLINE const Quat Quat::identity( )
{
    return Quat( _VECTORMATH_UNIT_0001 );
}

VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 )
{
    return lerp( floatInVec(t), quat0, quat1 );
}

VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 )
{
    return ( quat0 + ( ( quat1 - quat0 ) * t ) );
}

VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 )
{
    return slerp( floatInVec(t), unitQuat0, unitQuat1 );
}

VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 )
{
    Quat start;
    vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
    __m128 selectMask;
    cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() );
    selectMask = (__m128)vec_cmpgt( _mm_setzero_ps(), cosAngle );
    cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask );
    start = Quat( vec_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) );
    selectMask = (__m128)vec_cmpgt( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle );
    angle = acosf4( cosAngle );
    tttt = t.get128();
    oneMinusT = vec_sub( _mm_set1_ps(1.0f), tttt );
    angles = vec_mergeh( _mm_set1_ps(1.0f), tttt );
    angles = vec_mergeh( angles, oneMinusT );
    angles = vec_madd( angles, angle, _mm_setzero_ps() );
    sines = sinf4( angles );
    scales = _mm_div_ps( sines, vec_splat( sines, 0 ) );
    scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask );
    scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask );
    return Quat( vec_madd( start.get128(), scale0, vec_mul( unitQuat1.get128(), scale1 ) ) );
}

VECTORMATH_FORCE_INLINE const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
{
    return squad( floatInVec(t), unitQuat0, unitQuat1, unitQuat2, unitQuat3 );
}

VECTORMATH_FORCE_INLINE const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
{
    return slerp( ( ( floatInVec(2.0f) * t ) * ( floatInVec(1.0f) - t ) ), slerp( t, unitQuat0, unitQuat3 ), slerp( t, unitQuat1, unitQuat2 ) );
}

VECTORMATH_FORCE_INLINE __m128 Quat::get128( ) const
{
    return mVec128;
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator =( const Quat &quat )
{
    mVec128 = quat.mVec128;
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::setXYZ( const Vector3 &vec )
{
        VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
        mVec128 = vec_sel( vec.get128(), mVec128, sw );
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector3 Quat::getXYZ( ) const
{
    return Vector3( mVec128 );
}

VECTORMATH_FORCE_INLINE Quat & Quat::setX( float _x )
{
    _vmathVfSetElement(mVec128, _x, 0);
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::setX( const floatInVec &_x )
{
    mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Quat::getX( ) const
{
    return floatInVec( mVec128, 0 );
}

VECTORMATH_FORCE_INLINE Quat & Quat::setY( float _y )
{
    _vmathVfSetElement(mVec128, _y, 1);
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::setY( const floatInVec &_y )
{
    mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Quat::getY( ) const
{
    return floatInVec( mVec128, 1 );
}

VECTORMATH_FORCE_INLINE Quat & Quat::setZ( float _z )
{
    _vmathVfSetElement(mVec128, _z, 2);
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::setZ( const floatInVec &_z )
{
    mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Quat::getZ( ) const
{
    return floatInVec( mVec128, 2 );
}

VECTORMATH_FORCE_INLINE Quat & Quat::setW( float _w )
{
    _vmathVfSetElement(mVec128, _w, 3);
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::setW( const floatInVec &_w )
{
    mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Quat::getW( ) const
{
    return floatInVec( mVec128, 3 );
}

VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, float value )
{
    _vmathVfSetElement(mVec128, value, idx);
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, const floatInVec &value )
{
    mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Quat::getElem( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE VecIdx Quat::operator []( int idx )
{
    return VecIdx( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const floatInVec Quat::operator []( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator +( const Quat &quat ) const
{
    return Quat( _mm_add_ps( mVec128, quat.mVec128 ) );
}


VECTORMATH_FORCE_INLINE const Quat Quat::operator -( const Quat &quat ) const
{
    return Quat( _mm_sub_ps( mVec128, quat.mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator *( float scalar ) const
{
    return *this * floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const floatInVec &scalar ) const
{
    return Quat( _mm_mul_ps( mVec128, scalar.get128() ) );
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator +=( const Quat &quat )
{
    *this = *this + quat;
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator -=( const Quat &quat )
{
    *this = *this - quat;
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( float scalar )
{
    *this = *this * scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const floatInVec &scalar )
{
    *this = *this * scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator /( float scalar ) const
{
    return *this / floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator /( const floatInVec &scalar ) const
{
    return Quat( _mm_div_ps( mVec128, scalar.get128() ) );
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( float scalar )
{
    *this = *this / scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( const floatInVec &scalar )
{
    *this = *this / scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator -( ) const
{
        return Quat(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat )
{
    return floatInVec(scalar) * quat;
}

VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat )
{
    return quat * scalar;
}

VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 )
{
    return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat )
{
    return floatInVec(  _vmathVfDot4( quat.get128(), quat.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec length( const Quat &quat )
{
    return floatInVec(  _mm_sqrt_ps(_vmathVfDot4( quat.get128(), quat.get128() )), 0 );
}

VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat )
{
        vec_float4 dot =_vmathVfDot4( quat.get128(), quat.get128());
    return Quat( _mm_mul_ps( quat.get128(), newtonrapson_rsqrt4( dot ) ) );
}


VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 )
{
    Vector3 crossVec;
    __m128 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res;
    cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() );
    cosAngleX2Plus2 = vec_madd( cosAngle, _mm_set1_ps(2.0f), _mm_set1_ps(2.0f) );
    recipCosHalfAngleX2 = _mm_rsqrt_ps( cosAngleX2Plus2 );
    cosHalfAngleX2 = vec_mul( recipCosHalfAngleX2, cosAngleX2Plus2 );
    crossVec = cross( unitVec0, unitVec1 );
    res = vec_mul( crossVec.get128(), recipCosHalfAngleX2 );
        VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( res, vec_mul( cosHalfAngleX2, _mm_set1_ps(0.5f) ), sw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotation( float radians, const Vector3 &unitVec )
{
    return rotation( floatInVec(radians), unitVec );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const floatInVec &radians, const Vector3 &unitVec )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
        VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( vec_mul( unitVec.get128(), s ), c, sw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( float radians )
{
    return rotationX( floatInVec(radians) );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( const floatInVec &radians )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
        VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0xffffffff, 0, 0, 0};
        VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( _mm_setzero_ps(), s, xsw );
    res = vec_sel( res, c, wsw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( float radians )
{
    return rotationY( floatInVec(radians) );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( const floatInVec &radians )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
        VM_ATTRIBUTE_ALIGN16 unsigned int ysw[4] = {0, 0xffffffff, 0, 0};
        VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( _mm_setzero_ps(), s, ysw );
    res = vec_sel( res, c, wsw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( float radians )
{
    return rotationZ( floatInVec(radians) );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( const floatInVec &radians )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
        VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0, 0, 0xffffffff, 0};
        VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( _mm_setzero_ps(), s, zsw );
    res = vec_sel( res, c, wsw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const Quat &quat ) const
{
    __m128 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3;
    __m128 product, l_wxyz, r_wxyz, xy, qw;
    ldata = mVec128;
    rdata = quat.mVec128;
    tmp0 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,0,2,1) );
    tmp1 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,1,0,2) );
    tmp2 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,1,0,2) );
    tmp3 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,0,2,1) );
    qv = vec_mul( vec_splat( ldata, 3 ), rdata );
    qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv );
    qv = vec_madd( tmp0, tmp1, qv );
    qv = vec_nmsub( tmp2, tmp3, qv );
    product = vec_mul( ldata, rdata );
    l_wxyz = vec_sld( ldata, ldata, 12 );
    r_wxyz = vec_sld( rdata, rdata, 12 );
    qw = vec_nmsub( l_wxyz, r_wxyz, product );
    xy = vec_madd( l_wxyz, r_wxyz, product );
    qw = vec_sub( qw, vec_sld( xy, xy, 8 ) );
        VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
    return Quat( vec_sel( qv, qw, sw ) );
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const Quat &quat )
{
    *this = *this * quat;
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector3 rotate( const Quat &quat, const Vector3 &vec )
{    __m128 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res;
    qdata = quat.get128();
    vdata = vec.get128();
    tmp0 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,0,2,1) );
    tmp1 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,1,0,2) );
    tmp2 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,1,0,2) );
    tmp3 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,0,2,1) );
    wwww = vec_splat( qdata, 3 );
    qv = vec_mul( wwww, vdata );
    qv = vec_madd( tmp0, tmp1, qv );
    qv = vec_nmsub( tmp2, tmp3, qv );
    product = vec_mul( qdata, vdata );
    qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product );
    qw = vec_add( vec_sld( product, product, 8 ), qw );
    tmp1 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,1,0,2) );
    tmp3 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,0,2,1) );
    res = vec_mul( vec_splat( qw, 0 ), qdata );
    res = vec_madd( wwww, qv, res );
    res = vec_madd( tmp0, tmp1, res );
    res = vec_nmsub( tmp2, tmp3, res );
    return Vector3( res );
}

VECTORMATH_FORCE_INLINE const Quat conj( const Quat &quat )
{
        VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0x80000000,0x80000000,0x80000000,0};
    return Quat( vec_xor( quat.get128(), _mm_load_ps((float *)sw) ) );
}

VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, bool select1 )
{
    return select( quat0, quat1, boolInVec(select1) );
}

//VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 )
//{
//    return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) );
//}

VECTORMATH_FORCE_INLINE void loadXYZW(Quat& quat, const float* fptr)
{
#ifdef USE_SSE3_LDDQU
        quat = Quat(    SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128                );
#else
        SSEFloat fl;
        fl.f[0] = fptr[0];
        fl.f[1] = fptr[1];
        fl.f[2] = fptr[2];
        fl.f[3] = fptr[3];
    quat = Quat(        fl.m128);
#endif
    

}

VECTORMATH_FORCE_INLINE void storeXYZW(const Quat& quat, float* fptr)
{
        fptr[0] = quat.getX();
        fptr[1] = quat.getY();
        fptr[2] = quat.getZ();
        fptr[3] = quat.getW();
//    _mm_storeu_ps((float*)quat.get128(),fptr);
}



#ifdef _VECTORMATH_DEBUG

VECTORMATH_FORCE_INLINE void print( const Quat &quat )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = quat.get128();
    printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
}

VECTORMATH_FORCE_INLINE void print( const Quat &quat, const char * name )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = quat.get128();
    printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
}

#endif

} // namespace Aos
} // namespace Vectormath

#endif