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35 lines
1.3 KiB
C
35 lines
1.3 KiB
C
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#include "pspmath.h"
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#define PI 3.14159265358979323846f
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const float piover180 = PI/180.0f;
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void vfpu_quaternion_from_euler(ScePspQuatMatrix *res, float x, float y, float z) {
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__asm__ volatile (
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"mtv %1, S000\n\t" // S000 = x
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"mtv %2, S001\n\t" // S001 = y
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"mtv %3, S002\n\t" // S002 = z
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"lv.s S010, 0(%4)\n"
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"vscl.t C000, C000, S010\n\t" // x *= pi/180, y *= pi/180, z *= pi/180
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"vfim.s S010, 0.5\n\t" // S010 = 0.5
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"vscl.t C000, C000, S010\n\t" // x *= 0.5, y *= 0.5, z *= 0.5
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"vcst.s S010, VFPU_2_PI\n\t" // load 2/PI into S010, S011 and S012
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"vscl.t C000, C000, S010\n\t" // x *= 2/PI, y *= 2/pi, z *= pi/2
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"vrot.p C010, S000, [s, c]\n\t" // S010 = sr, S011 = cr
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"vrot.p C020, S001, [s, c]\n\t" // S020 = sp, S021 = cp
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"vrot.p C030, S002, [s, c]\n\t" // S030 = sy, S031 = cy
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// fear the madness of prefixes
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"vmul.q R100, C010[x,y,y,x], C020[y,x,x,y]\n"
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"vmul.q R100, R100, C030[y,x,y,x]\n"
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"vmul.q R101, C010[y,x,y,x], C020[y,x,y,x]\n"
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"vmul.q R101, R101, C030[x,y,y,x]\n"
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"vadd.q C000, R100[x,z,0,0], R100[-y,w,0,0]\n"
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"vadd.q C000, C000, R101[0,0,x,z]\n"
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"vadd.q C000, C000, R101[0,0,-y,w]\n"
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"usv.q C000, %0\n\t"
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:"=m"(*res) : "r"(x), "r"(y), "r"(z), "r"(&piover180));
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vfpu_quaternion_normalize(res);
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}
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