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https://git.code.sf.net/p/quake/quakeforge
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ef6e4722d5
Having to refigure out what values are going into the vectors got old very fast. The comments don't help with verifying the values, but at least I can tell at a glance where 2(xy - wz) goes and thus determine the "orientation" of the matrix.
200 lines
4.9 KiB
C
200 lines
4.9 KiB
C
/*
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QF/simd/mat4f.h
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Matrix functions for mat4f_t (ie, float precision)
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Copyright (C) 2021 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_mat4f_h
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#define __QF_simd_mat4f_h
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#include <immintrin.h>
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#include "QF/simd/types.h"
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GNU89INLINE inline void maddf (mat4f_t c, const mat4f_t a, const mat4f_t b);
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GNU89INLINE inline void msubf (mat4f_t c, const mat4f_t a, const mat4f_t b);
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GNU89INLINE inline void mmulf (mat4f_t c, const mat4f_t a, const mat4f_t b);
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GNU89INLINE inline vec4f_t mvmulf (const mat4f_t m, vec4f_t v) __attribute__((const));
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GNU89INLINE inline vec4f_t m3vmulf (const mat4f_t m, vec4f_t v) __attribute__((const));
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GNU89INLINE inline void mat4fidentity (mat4f_t m);
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GNU89INLINE inline void mat4ftranspose (mat4f_t t, const mat4f_t m);
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GNU89INLINE inline void mat4fquat (mat4f_t m, vec4f_t q);
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#ifndef IMPLEMENT_MAT4F_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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maddf (mat4f_t c, const mat4f_t a, const mat4f_t b)
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{
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c[0] = a[0] + b[0];
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c[1] = a[1] + b[1];
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c[2] = a[2] + b[2];
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c[3] = a[3] + b[3];
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}
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#ifndef IMPLEMENT_MAT4F_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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msubf (mat4f_t c, const mat4f_t a, const mat4f_t b)
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{
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c[0] = a[0] - b[0];
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c[1] = a[1] - b[1];
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c[2] = a[2] - b[2];
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c[3] = a[3] - b[3];
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}
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#ifndef IMPLEMENT_MAT4F_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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mmulf (mat4f_t c, const mat4f_t a, const mat4f_t b)
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{
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mat4f_t t;
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t[0] = a[0] * b[0][0] + a[1] * b[0][1] + a[2] * b[0][2] + a[3] * b[0][3];
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t[1] = a[0] * b[1][0] + a[1] * b[1][1] + a[2] * b[1][2] + a[3] * b[1][3];
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t[2] = a[0] * b[2][0] + a[1] * b[2][1] + a[2] * b[2][2] + a[3] * b[2][3];
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t[3] = a[0] * b[3][0] + a[1] * b[3][1] + a[2] * b[3][2] + a[3] * b[3][3];
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c[0] = t[0];
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c[1] = t[1];
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c[2] = t[2];
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c[3] = t[3];
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}
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#ifndef IMPLEMENT_MAT4F_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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vec4f_t
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mvmulf (const mat4f_t m, vec4f_t v)
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{
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return m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3] * v[3];
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}
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#ifndef IMPLEMENT_MAT4F_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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vec4f_t
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m3vmulf (const mat4f_t m, vec4f_t v)
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{
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vec4f_t w;
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w = m[0] * v[0] + m[1] * v[1] + m[2] * v[2];
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w[3] = v[3];
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return w;
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}
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#ifndef IMPLEMENT_MAT4F_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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mat4fidentity (mat4f_t m)
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{
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m[0] = (vec4f_t) { 1, 0, 0, 0 };
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m[1] = (vec4f_t) { 0, 1, 0, 0 };
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m[2] = (vec4f_t) { 0, 0, 1, 0 };
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m[3] = (vec4f_t) { 0, 0, 0, 1 };
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}
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#ifndef IMPLEMENT_MAT4F_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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mat4ftranspose (mat4f_t t, const mat4f_t m)
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{
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vec4f_t a = m[0];
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vec4f_t b = m[1];
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vec4f_t c = m[2];
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vec4f_t d = m[3];
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t[0] = (vec4f_t) { a[0], b[0], c[0], d[0] };
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t[1] = (vec4f_t) { a[1], b[1], c[1], d[1] };
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t[2] = (vec4f_t) { a[2], b[2], c[2], d[2] };
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t[3] = (vec4f_t) { a[3], b[3], c[3], d[3] };
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}
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#ifndef IMPLEMENT_MAT4F_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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mat4fquat (mat4f_t m, vec4f_t q)
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{
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vec4f_t xq = q[0] * q;
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vec4f_t yq = q[1] * q;
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vec4f_t zq = q[2] * q;
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vec4f_t wq = q[3] * q;
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#define shuff103(v) (vec4f_t) {v[1], v[0], v[3], v[2]}
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#define shuff230(v) (vec4f_t) {v[2], v[3], v[0], v[1]}
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#define shuff321(v) (vec4f_t) {v[3], v[2], v[1], v[0]}
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#define p (0)
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#define m (1u << 31)
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static const vec4i_t mpm = { m, p, m, 0 };
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static const vec4i_t pmm = { p, m, m, 0 };
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static const vec4i_t mmp = { m, m, p, 0 };
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static const vec4i_t mask = { ~0u, ~0u, ~0u, 0 };
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#undef p
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#undef m
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{
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vec4f_t a = xq;
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vec4f_t b = _mm_xor_ps (shuff103 (yq), (__m128) mpm);
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vec4f_t c = _mm_xor_ps (shuff230 (zq), (__m128) pmm);
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vec4f_t d = _mm_xor_ps (shuff321 (wq), (__m128) mmp);
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// column: ww + xx - yy - zz // 2xy + 2wz // 2zx - 2wy // 0
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m[0] = _mm_and_ps (a + b - c - d, (__m128) mask);
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}
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{
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vec4f_t a = _mm_xor_ps (shuff103 (xq), (__m128) mpm);
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vec4f_t b = yq;
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vec4f_t c = _mm_xor_ps (shuff321 (zq), (__m128) mmp);
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vec4f_t d = _mm_xor_ps (shuff230 (wq), (__m128) pmm);
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// column: 2xy - 2wz // ww - xx + yy - zz // 2yz + 2wx // 0
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m[1] = _mm_and_ps (b + c - a - d, (__m128) mask);
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}
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{
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vec4f_t a = _mm_xor_ps (shuff230 (xq), (__m128) pmm);
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vec4f_t b = _mm_xor_ps (shuff321 (yq), (__m128) mmp);
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vec4f_t c = zq;
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vec4f_t d = _mm_xor_ps (shuff103 (wq), (__m128) mpm);
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// column: 2xz + 2wy // 2yz - 2wx // ww - xx - yy + zz // 0
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m[2] = _mm_and_ps (a - b + c - d, (__m128) mask);
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}
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m[3] = (vec4f_t) { 0, 0, 0, 1 };
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}
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#endif//__QF_simd_mat4f_h
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