299 lines
7.4 KiB
C
299 lines
7.4 KiB
C
/*
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QF/simd/vec4d.h
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Vector functions for vec4d_t (ie, double precision)
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Copyright (C) 2020 Bill Currie <bill@taniwha.org>
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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as published by the Free Software Foundation; either version 2
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of the License, or (at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to:
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Free Software Foundation, Inc.
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59 Temple Place - Suite 330
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Boston, MA 02111-1307, USA
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*/
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#ifndef __QF_simd_vec4d_h
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#define __QF_simd_vec4d_h
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#ifdef __AVX__
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#include <immintrin.h>
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#include "QF/simd/types.h"
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GNU89INLINE inline vec4d_t vsqrtd (vec4d_t v) __attribute__((const));
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GNU89INLINE inline vec4d_t vceild (vec4d_t v) __attribute__((const));
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GNU89INLINE inline vec4d_t vfloord (vec4d_t v) __attribute__((const));
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GNU89INLINE inline vec4d_t vtruncd (vec4d_t v) __attribute__((const));
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/** 3D vector cross product.
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*
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* The w (4th) component can be any value on input, and is guaranteed to be 0
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* in the result. The result is not affected in any way by either vector's w
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* componemnt
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*/
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GNU89INLINE inline vec4d_t crossd (vec4d_t a, vec4d_t b) __attribute__((const));
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/** 4D vector dot product.
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*
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* The w component *IS* significant, but if it is 0 in either vector, then
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* the result will be as for a 3D dot product.
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*
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* Note that the dot product is in all 4 of the return value's elements. This
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* helps optimize vector math as the scalar is already pre-spread. If just the
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* scalar is required, use result[0].
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*/
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GNU89INLINE inline vec4d_t dotd (vec4d_t a, vec4d_t b) __attribute__((const));
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/** Quaternion product.
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*
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* The vector is interpreted as a quaternion instead of a regular 4D vector.
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* The quaternion may be of any magnitude, so this is more generally useful.
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* than if the quaternion was required to be unit length.
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*/
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GNU89INLINE inline vec4d_t qmuld (vec4d_t a, vec4d_t b) __attribute__((const));
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/** Optimized quaterion-vector multiplication for vector rotation.
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*
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* \note This is the inverse of vqmulf
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*
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* If the vector's w component is not zero, then the result's w component
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* is the cosine of the full rotation angle scaled by the vector's w component.
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* The quaternion is assumed to be unit. If the quaternion is not unit, the
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* vector will be scaled by the square of the quaternion's magnitude.
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*/
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GNU89INLINE inline vec4d_t qvmuld (vec4d_t q, vec4d_t v) __attribute__((const));
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/** Optimized vector-quaterion multiplication for vector rotation.
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*
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* \note This is the inverse of qvmulf
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*
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* If the vector's w component is not zero, then the result's w component
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* is the cosine of the full rotation angle scaled by the vector's w component.
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* The quaternion is assumed to be unit. If the quaternion is not unit, the
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* vector will be scaled by the square of the quaternion's magnitude.
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*/
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GNU89INLINE inline vec4d_t vqmuld (vec4d_t v, vec4d_t q) __attribute__((const));
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/** Create the quaternion representing the shortest rotation from a to b.
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*
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* Both a and b are assumed to be 3D vectors (w components 0), but a resonable
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* (but incorrect) result will still be produced if either a or b is a 4D
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* vector. The rotation axis will be the same as if both vectors were 3D, but
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* the magnitude of the rotation will be different.
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*/
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GNU89INLINE inline vec4d_t qrotd (vec4d_t a, vec4d_t b) __attribute__((const));
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/** Return the conjugate of the quaternion.
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*
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* That is, [-x, -y, -z, w].
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*/
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GNU89INLINE inline vec4d_t qconjd (vec4d_t q) __attribute__((const));
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GNU89INLINE inline vec4d_t loadvec3d (const double v3[]) __attribute__((pure));
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GNU89INLINE inline void storevec3d (double v3[3], vec4d_t v4);
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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vsqrtd (vec4d_t v)
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{
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return _mm256_sqrt_pd (v);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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vceild (vec4d_t v)
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{
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return _mm256_ceil_pd (v);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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vfloord (vec4d_t v)
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{
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return _mm256_floor_pd (v);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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vtruncd (vec4d_t v)
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{
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return _mm256_round_pd (v, _MM_FROUND_TRUNC);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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crossd (vec4d_t a, vec4d_t b)
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{
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static const vec4l_t A = {1, 2, 0, 3};
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vec4d_t c = a * __builtin_shuffle (b, A);
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vec4d_t d = __builtin_shuffle (a, A) * b;
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c = c - d;
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return __builtin_shuffle(c, A);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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dotd (vec4d_t a, vec4d_t b)
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{
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vec4d_t c = a * b;
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c = _mm256_hadd_pd (c, c);
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static const vec4l_t A = {2, 3, 0, 1};
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c += __builtin_shuffle(c, A);
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return c;
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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qmuld (vec4d_t a, vec4d_t b)
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{
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// results in [2*as*bs, as*b + bs*a + a x b] ([scalar, vector] notation)
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// doesn't seem to adversly affect precision
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vec4d_t c = crossd (a, b) + a * b[3] + a[3] * b;
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vec4d_t d = dotd (a, b);
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// zero out the vector component of dot product so only the scalar remains
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d = _mm256_permute2f128_pd (d, d, 0x18);
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d = _mm256_permute4x64_pd (d, 0xc0);
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return c - d;
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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qvmuld (vec4d_t q, vec4d_t v)
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// ^^^ ^^^
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{
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double s = q[3];
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// zero the scalar of the quaternion. Results in an extra operation, but
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// avoids adding precision issues.
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vec4d_t z = {};
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q = _mm256_blend_pd (q, z, 0x08);
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vec4d_t c = crossd (q, v);
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vec4d_t qv = dotd (q, v); // q.w is 0 so v.w is irrelevant
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vec4d_t qq = dotd (q, q);
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// vvv
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return (s * s - qq) * v + 2 * (qv * q + s * c);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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vqmuld (vec4d_t v, vec4d_t q)
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// ^^^ ^^^
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{
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double s = q[3];
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// zero the scalar of the quaternion. Results in an extra operation, but
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// avoids adding precision issues.
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vec4d_t z = {};
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q = _mm256_blend_pd (q, z, 0x08);
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vec4d_t c = crossd (q, v);
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vec4d_t qv = dotd (q, v); // q.w is 0 so v.w is irrelevant
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vec4d_t qq = dotd (q, q);
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// vvv
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return (s * s - qq) * v + 2 * (qv * q - s * c);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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qrotd (vec4d_t a, vec4d_t b)
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{
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vec4d_t ma = vsqrtd (dotd (a, a));
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vec4d_t mb = vsqrtd (dotd (b, b));
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vec4d_t den = 2 * ma * mb;
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vec4d_t t = mb * a + ma * b;
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vec4d_t mba_mab = vsqrtd (dotd (t, t));
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vec4d_t q = crossd (a, b) / mba_mab;
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q[3] = (mba_mab / den)[0];
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return q;
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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qconjd (vec4d_t q)
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{
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const uint64_t sign = UINT64_C(1) << 63;
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const vec4l_t neg = { sign, sign, sign, 0 };
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return _mm256_xor_pd (q, (__m256d) neg);
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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vec4d_t
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loadvec3d (const double v3[])
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{
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vec4d_t v4 = {};
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v4[0] = v3[0];
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v4[1] = v3[1];
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v4[2] = v3[2];
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return v4;
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}
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#ifndef IMPLEMENT_VEC4D_Funcs
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GNU89INLINE inline
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#else
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VISIBLE
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#endif
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void
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storevec3d (double v3[3], vec4d_t v4)
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{
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v3[0] = v4[0];
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v3[1] = v4[1];
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v3[2] = v4[2];
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}
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#endif
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#endif//__QF_simd_vec4d_h
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