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27 lines
905 B
C
27 lines
905 B
C
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#include "pspmath.h"
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void vfpu_quaternion_ln(ScePspQuatMatrix *qout, ScePspQuatMatrix *qin) {
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//float r = sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);
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//float t = r>0.00001f? atan2(r,a[3])/r: 0.f;
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//return quat(t*a[0],t*a[1],t*a[2],0.5*log(norm(a)));
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float r;
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__asm__ volatile (
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"lv.q C010, 0 + %1\n"
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"vdot.t S020, C010, C010\n" // r = x^2 + y^2 + z^2
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"vsqrt.s S020, S020\n" // r = sqrt(x^2 + y^2 + z^2)
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"mfv %0, S020\n"
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:"=r"(r): "m"(*qin));
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r = vfpu_atan2f(r, qin->w)/r;
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__asm__ volatile (
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"mtv %1, S021\n" // t = atan2(r, w) / r
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"vdot.q S022, C010, C010\n" // norm = x^2 + y^2 + z^2 + w^2
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"vcst.s S023, VFPU_LOG2E\n"
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"vrcp.s S023, S023\n"
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"vlog2.s S013, S022\n"
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"vmul.s S013, S013, S023\n"
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"vmul.s S013, S013, S013[1/2]\n"
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"vscl.t C010, C010, S021\n"
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"sv.q C010, 0 + %0\n"
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: "=m"(*qout) : "r"(r));
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}
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