mirror of
https://git.code.sf.net/p/quake/quakeforge
synced 2024-11-14 08:50:58 +00:00
80c5e2c3f6
It seems gcc-11 does a pretty good job of emulating the instructions (it no longer requires avx2 for 256-bit wide vectors).
334 lines
8.1 KiB
C
334 lines
8.1 KiB
C
/*
|
|
QF/simd/vec4d.h
|
|
|
|
Vector functions for vec4d_t (ie, double precision)
|
|
|
|
Copyright (C) 2020 Bill Currie <bill@taniwha.org>
|
|
|
|
This program is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU General Public License
|
|
as published by the Free Software Foundation; either version 2
|
|
of the License, or (at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
|
|
See the GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program; if not, write to:
|
|
|
|
Free Software Foundation, Inc.
|
|
59 Temple Place - Suite 330
|
|
Boston, MA 02111-1307, USA
|
|
|
|
*/
|
|
|
|
#ifndef __QF_simd_vec4d_h
|
|
#define __QF_simd_vec4d_h
|
|
|
|
#include <immintrin.h>
|
|
|
|
#include "QF/simd/types.h"
|
|
|
|
GNU89INLINE inline vec4d_t vsqrt4d (vec4d_t v) __attribute__((const));
|
|
GNU89INLINE inline vec4d_t vceil4d (vec4d_t v) __attribute__((const));
|
|
GNU89INLINE inline vec4d_t vfloor4d (vec4d_t v) __attribute__((const));
|
|
GNU89INLINE inline vec4d_t vtrunc4d (vec4d_t v) __attribute__((const));
|
|
/** 3D vector cross product.
|
|
*
|
|
* The w (4th) component can be any value on input, and is guaranteed to be 0
|
|
* in the result. The result is not affected in any way by either vector's w
|
|
* componemnt
|
|
*/
|
|
GNU89INLINE inline vec4d_t crossd (vec4d_t a, vec4d_t b) __attribute__((const));
|
|
/** 4D vector dot product.
|
|
*
|
|
* The w component *IS* significant, but if it is 0 in either vector, then
|
|
* the result will be as for a 3D dot product.
|
|
*
|
|
* Note that the dot product is in all 4 of the return value's elements. This
|
|
* helps optimize vector math as the scalar is already pre-spread. If just the
|
|
* scalar is required, use result[0].
|
|
*/
|
|
GNU89INLINE inline vec4d_t dotd (vec4d_t a, vec4d_t b) __attribute__((const));
|
|
/** Quaternion product.
|
|
*
|
|
* The vector is interpreted as a quaternion instead of a regular 4D vector.
|
|
* The quaternion may be of any magnitude, so this is more generally useful.
|
|
* than if the quaternion was required to be unit length.
|
|
*/
|
|
GNU89INLINE inline vec4d_t qmuld (vec4d_t a, vec4d_t b) __attribute__((const));
|
|
/** Optimized quaterion-vector multiplication for vector rotation.
|
|
*
|
|
* \note This is the inverse of vqmulf
|
|
*
|
|
* If the vector's w component is not zero, then the result's w component
|
|
* is the cosine of the full rotation angle scaled by the vector's w component.
|
|
* The quaternion is assumed to be unit. If the quaternion is not unit, the
|
|
* vector will be scaled by the square of the quaternion's magnitude.
|
|
*/
|
|
GNU89INLINE inline vec4d_t qvmuld (vec4d_t q, vec4d_t v) __attribute__((const));
|
|
/** Optimized vector-quaterion multiplication for vector rotation.
|
|
*
|
|
* \note This is the inverse of qvmulf
|
|
*
|
|
* If the vector's w component is not zero, then the result's w component
|
|
* is the cosine of the full rotation angle scaled by the vector's w component.
|
|
* The quaternion is assumed to be unit. If the quaternion is not unit, the
|
|
* vector will be scaled by the square of the quaternion's magnitude.
|
|
*/
|
|
GNU89INLINE inline vec4d_t vqmuld (vec4d_t v, vec4d_t q) __attribute__((const));
|
|
/** Create the quaternion representing the shortest rotation from a to b.
|
|
*
|
|
* Both a and b are assumed to be 3D vectors (w components 0), but a resonable
|
|
* (but incorrect) result will still be produced if either a or b is a 4D
|
|
* vector. The rotation axis will be the same as if both vectors were 3D, but
|
|
* the magnitude of the rotation will be different.
|
|
*/
|
|
GNU89INLINE inline vec4d_t qrotd (vec4d_t a, vec4d_t b) __attribute__((const));
|
|
/** Return the conjugate of the quaternion.
|
|
*
|
|
* That is, [-x, -y, -z, w].
|
|
*/
|
|
GNU89INLINE inline vec4d_t qconjd (vec4d_t q) __attribute__((const));
|
|
GNU89INLINE inline vec4d_t loadvec3d (const double v3[]) __attribute__((pure));
|
|
GNU89INLINE inline void storevec3d (double v3[3], vec4d_t v4);
|
|
GNU89INLINE inline vec4l_t loadvec3l (const int64_t *v3) __attribute__((pure));
|
|
GNU89INLINE inline vec4l_t loadvec3l1 (const int64_t *v3) __attribute__((pure));
|
|
GNU89INLINE inline void storevec3l (int64_t *v3, vec4l_t v4);
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
vsqrt4d (vec4d_t v)
|
|
{
|
|
return _mm256_sqrt_pd (v);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
vceil4d (vec4d_t v)
|
|
{
|
|
return _mm256_ceil_pd (v);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
vfloor4d (vec4d_t v)
|
|
{
|
|
return _mm256_floor_pd (v);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
vtrunc4d (vec4d_t v)
|
|
{
|
|
return _mm256_round_pd (v, _MM_FROUND_TRUNC);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
crossd (vec4d_t a, vec4d_t b)
|
|
{
|
|
static const vec4l_t A = {1, 2, 0, 3};
|
|
vec4d_t c = a * __builtin_shuffle (b, A);
|
|
vec4d_t d = __builtin_shuffle (a, A) * b;
|
|
c = c - d;
|
|
return __builtin_shuffle(c, A);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
dotd (vec4d_t a, vec4d_t b)
|
|
{
|
|
vec4d_t c = a * b;
|
|
c = _mm256_hadd_pd (c, c);
|
|
static const vec4l_t A = {2, 3, 0, 1};
|
|
c += __builtin_shuffle(c, A);
|
|
return c;
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
qmuld (vec4d_t a, vec4d_t b)
|
|
{
|
|
// results in [2*as*bs, as*b + bs*a + a x b] ([scalar, vector] notation)
|
|
// doesn't seem to adversly affect precision
|
|
vec4d_t c = crossd (a, b) + a * b[3] + a[3] * b;
|
|
vec4d_t d = dotd (a, b);
|
|
// zero out the vector component of dot product so only the scalar remains
|
|
d = (vec4d_t) { 0, 0, 0, d[3] };
|
|
return c - d;
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
qvmuld (vec4d_t q, vec4d_t v)
|
|
// ^^^ ^^^
|
|
{
|
|
double s = q[3];
|
|
// zero the scalar of the quaternion. Results in an extra operation, but
|
|
// avoids adding precision issues.
|
|
vec4d_t z = {};
|
|
q = _mm256_blend_pd (q, z, 0x08);
|
|
vec4d_t c = crossd (q, v);
|
|
vec4d_t qv = dotd (q, v); // q.w is 0 so v.w is irrelevant
|
|
vec4d_t qq = dotd (q, q);
|
|
|
|
// vvv
|
|
return (s * s - qq) * v + 2 * (qv * q + s * c);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
vqmuld (vec4d_t v, vec4d_t q)
|
|
// ^^^ ^^^
|
|
{
|
|
double s = q[3];
|
|
// zero the scalar of the quaternion. Results in an extra operation, but
|
|
// avoids adding precision issues.
|
|
vec4d_t z = {};
|
|
q = _mm256_blend_pd (q, z, 0x08);
|
|
vec4d_t c = crossd (q, v);
|
|
vec4d_t qv = dotd (q, v); // q.w is 0 so v.w is irrelevant
|
|
vec4d_t qq = dotd (q, q);
|
|
|
|
// vvv
|
|
return (s * s - qq) * v + 2 * (qv * q - s * c);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
qrotd (vec4d_t a, vec4d_t b)
|
|
{
|
|
vec4d_t ma = vsqrt4d (dotd (a, a));
|
|
vec4d_t mb = vsqrt4d (dotd (b, b));
|
|
vec4d_t den = 2 * ma * mb;
|
|
vec4d_t t = mb * a + ma * b;
|
|
vec4d_t mba_mab = vsqrt4d (dotd (t, t));
|
|
vec4d_t q = crossd (a, b) / mba_mab;
|
|
q[3] = (mba_mab / den)[0];
|
|
return q;
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
qconjd (vec4d_t q)
|
|
{
|
|
const uint64_t sign = UINT64_C(1) << 63;
|
|
const vec4l_t neg = { sign, sign, sign, 0 };
|
|
return _mm256_xor_pd (q, (__m256d) neg);
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4d_t
|
|
loadvec3d (const double v3[])
|
|
{
|
|
vec4d_t v4 = {};
|
|
|
|
v4[0] = v3[0];
|
|
v4[1] = v3[1];
|
|
v4[2] = v3[2];
|
|
return v4;
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4D_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
void
|
|
storevec3d (double v3[3], vec4d_t v4)
|
|
{
|
|
v3[0] = v4[0];
|
|
v3[1] = v4[1];
|
|
v3[2] = v4[2];
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4F_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4l_t
|
|
loadvec3l (const int64_t *v3)
|
|
{
|
|
vec4l_t v4 = { v3[0], v3[1], v3[2], 0 };
|
|
return v4;
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4F_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
vec4l_t
|
|
loadvec3l1 (const int64_t *v3)
|
|
{
|
|
vec4l_t v4 = { v3[0], v3[1], v3[2], 1 };
|
|
return v4;
|
|
}
|
|
|
|
#ifndef IMPLEMENT_VEC4F_Funcs
|
|
GNU89INLINE inline
|
|
#else
|
|
VISIBLE
|
|
#endif
|
|
void
|
|
storevec3l (int64_t *v3, vec4l_t v4)
|
|
{
|
|
v3[0] = v4[0];
|
|
v3[1] = v4[1];
|
|
v3[2] = v4[2];
|
|
}
|
|
|
|
#endif//__QF_simd_vec4d_h
|