converted files to UNIX EOL
This commit is contained in:
ejcoumans
@@ -1,246 +1,246 @@
|
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/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _BOOLINVEC_H
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#define _BOOLINVEC_H
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#include <spu_intrinsics.h>
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namespace Vectormath {
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class floatInVec;
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//--------------------------------------------------------------------------------------------------
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// boolInVec class
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//
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class boolInVec
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{
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private:
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vec_uint4 mData;
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inline boolInVec(vec_uint4 vec);
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public:
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inline boolInVec() {}
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// matches standard type conversions
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||||
//
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inline boolInVec(floatInVec vec);
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// explicit cast from bool
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//
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explicit inline boolInVec(bool scalar);
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#ifdef _VECTORMATH_NO_SCALAR_CAST
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// explicit cast to bool
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//
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inline bool getAsBool() const;
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#else
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||||
// implicit cast to bool
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||||
//
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inline operator bool() const;
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#endif
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// get vector data
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// bool value is in the 0 word slot of vector as 0 (false) or -1 (true)
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//
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inline vec_uint4 get128() const;
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// operators
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//
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inline const boolInVec operator ! () const;
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inline boolInVec& operator = (boolInVec vec);
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inline boolInVec& operator &= (boolInVec vec);
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inline boolInVec& operator ^= (boolInVec vec);
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inline boolInVec& operator |= (boolInVec vec);
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// friend functions
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//
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friend inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
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friend inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
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friend inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
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friend inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
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friend inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
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friend inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
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friend inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
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friend inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
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friend inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
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friend inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
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friend inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
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friend inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
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};
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//--------------------------------------------------------------------------------------------------
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// boolInVec functions
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//
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// operators
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//
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inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
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inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
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inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
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inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
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inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
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// select between vec0 and vec1 using boolInVec.
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// false selects vec0, true selects vec1
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//
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inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
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} // namespace Vectormath
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//--------------------------------------------------------------------------------------------------
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// boolInVec implementation
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//
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#include "floatInVec.h"
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namespace Vectormath {
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inline
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boolInVec::boolInVec(vec_uint4 vec)
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{
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mData = vec;
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}
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inline
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boolInVec::boolInVec(floatInVec vec)
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{
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*this = (vec != floatInVec(0.0f));
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}
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inline
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boolInVec::boolInVec(bool scalar)
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{
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mData = spu_promote((unsigned int)-scalar, 0);
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}
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#ifdef _VECTORMATH_NO_SCALAR_CAST
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inline
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bool
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boolInVec::getAsBool() const
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#else
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inline
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boolInVec::operator bool() const
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#endif
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{
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return (bool)spu_extract(mData, 0);
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}
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inline
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vec_uint4
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boolInVec::get128() const
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{
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return mData;
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}
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inline
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const boolInVec
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boolInVec::operator ! () const
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{
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return boolInVec(spu_nor(mData, mData));
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}
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inline
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boolInVec&
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boolInVec::operator = (boolInVec vec)
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{
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mData = vec.mData;
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return *this;
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}
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inline
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boolInVec&
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boolInVec::operator &= (boolInVec vec)
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{
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*this = *this & vec;
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||||
return *this;
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||||
}
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inline
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boolInVec&
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boolInVec::operator ^= (boolInVec vec)
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||||
{
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*this = *this ^ vec;
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return *this;
|
||||
}
|
||||
|
||||
inline
|
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boolInVec&
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boolInVec::operator |= (boolInVec vec)
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||||
{
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*this = *this | vec;
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return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
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operator == (boolInVec vec0, boolInVec vec1)
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{
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return boolInVec(spu_cmpeq(vec0.get128(), vec1.get128()));
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}
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inline
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const boolInVec
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operator != (boolInVec vec0, boolInVec vec1)
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{
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return !(vec0 == vec1);
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||||
}
|
||||
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inline
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const boolInVec
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operator & (boolInVec vec0, boolInVec vec1)
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||||
{
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return boolInVec(spu_and(vec0.get128(), vec1.get128()));
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}
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|
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inline
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const boolInVec
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operator | (boolInVec vec0, boolInVec vec1)
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||||
{
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return boolInVec(spu_or(vec0.get128(), vec1.get128()));
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}
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inline
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const boolInVec
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operator ^ (boolInVec vec0, boolInVec vec1)
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||||
{
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return boolInVec(spu_xor(vec0.get128(), vec1.get128()));
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}
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||||
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||||
inline
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const boolInVec
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select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
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{
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return boolInVec(spu_sel(vec0.get128(), vec1.get128(), select_vec1.get128()));
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}
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||||
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} // namespace Vectormath
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|
||||
#endif // boolInVec_h
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _BOOLINVEC_H
|
||||
#define _BOOLINVEC_H
|
||||
|
||||
#include <spu_intrinsics.h>
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
class floatInVec;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// boolInVec class
|
||||
//
|
||||
|
||||
class boolInVec
|
||||
{
|
||||
private:
|
||||
vec_uint4 mData;
|
||||
|
||||
inline boolInVec(vec_uint4 vec);
|
||||
public:
|
||||
inline boolInVec() {}
|
||||
|
||||
// matches standard type conversions
|
||||
//
|
||||
inline boolInVec(floatInVec vec);
|
||||
|
||||
// explicit cast from bool
|
||||
//
|
||||
explicit inline boolInVec(bool scalar);
|
||||
|
||||
#ifdef _VECTORMATH_NO_SCALAR_CAST
|
||||
// explicit cast to bool
|
||||
//
|
||||
inline bool getAsBool() const;
|
||||
#else
|
||||
// implicit cast to bool
|
||||
//
|
||||
inline operator bool() const;
|
||||
#endif
|
||||
|
||||
// get vector data
|
||||
// bool value is in the 0 word slot of vector as 0 (false) or -1 (true)
|
||||
//
|
||||
inline vec_uint4 get128() const;
|
||||
|
||||
// operators
|
||||
//
|
||||
inline const boolInVec operator ! () const;
|
||||
inline boolInVec& operator = (boolInVec vec);
|
||||
inline boolInVec& operator &= (boolInVec vec);
|
||||
inline boolInVec& operator ^= (boolInVec vec);
|
||||
inline boolInVec& operator |= (boolInVec vec);
|
||||
|
||||
// friend functions
|
||||
//
|
||||
friend inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
|
||||
friend inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
|
||||
friend inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
|
||||
friend inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
|
||||
friend inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
|
||||
friend inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
|
||||
};
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// boolInVec functions
|
||||
//
|
||||
|
||||
// operators
|
||||
//
|
||||
inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
|
||||
inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
|
||||
inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
|
||||
inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
|
||||
inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// select between vec0 and vec1 using boolInVec.
|
||||
// false selects vec0, true selects vec1
|
||||
//
|
||||
inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// boolInVec implementation
|
||||
//
|
||||
|
||||
#include "floatInVec.h"
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
inline
|
||||
boolInVec::boolInVec(vec_uint4 vec)
|
||||
{
|
||||
mData = vec;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec::boolInVec(floatInVec vec)
|
||||
{
|
||||
*this = (vec != floatInVec(0.0f));
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec::boolInVec(bool scalar)
|
||||
{
|
||||
mData = spu_promote((unsigned int)-scalar, 0);
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_NO_SCALAR_CAST
|
||||
inline
|
||||
bool
|
||||
boolInVec::getAsBool() const
|
||||
#else
|
||||
inline
|
||||
boolInVec::operator bool() const
|
||||
#endif
|
||||
{
|
||||
return (bool)spu_extract(mData, 0);
|
||||
}
|
||||
|
||||
inline
|
||||
vec_uint4
|
||||
boolInVec::get128() const
|
||||
{
|
||||
return mData;
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
boolInVec::operator ! () const
|
||||
{
|
||||
return boolInVec(spu_nor(mData, mData));
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator = (boolInVec vec)
|
||||
{
|
||||
mData = vec.mData;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator &= (boolInVec vec)
|
||||
{
|
||||
*this = *this & vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator ^= (boolInVec vec)
|
||||
{
|
||||
*this = *this ^ vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator |= (boolInVec vec)
|
||||
{
|
||||
*this = *this | vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator == (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_cmpeq(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator != (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return !(vec0 == vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator & (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_and(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator | (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_or(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator ^ (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_xor(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
|
||||
{
|
||||
return boolInVec(spu_sel(vec0.get128(), vec1.get128(), select_vec1.get128()));
|
||||
}
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif // boolInVec_h
|
||||
|
||||
@@ -1,339 +1,339 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _FLOATINVEC_H
|
||||
#define _FLOATINVEC_H
|
||||
|
||||
#include <math.h>
|
||||
#include <spu_intrinsics.h>
|
||||
#include <simdmath.h>
|
||||
#undef bool
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
class boolInVec;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec class
|
||||
//
|
||||
|
||||
class floatInVec
|
||||
{
|
||||
private:
|
||||
vec_float4 mData;
|
||||
|
||||
inline floatInVec(vec_float4 vec);
|
||||
public:
|
||||
inline floatInVec() {}
|
||||
|
||||
// matches standard type conversions
|
||||
//
|
||||
inline floatInVec(boolInVec vec);
|
||||
|
||||
// construct from a slot of vec_float4
|
||||
//
|
||||
inline floatInVec(vec_float4 vec, int slot);
|
||||
|
||||
// explicit cast from float
|
||||
//
|
||||
explicit inline floatInVec(float scalar);
|
||||
|
||||
#ifdef _VECTORMATH_NO_SCALAR_CAST
|
||||
// explicit cast to float
|
||||
//
|
||||
inline float getAsFloat() const;
|
||||
#else
|
||||
// implicit cast to float
|
||||
//
|
||||
inline operator float() const;
|
||||
#endif
|
||||
|
||||
// get vector data
|
||||
// float value is in 0 word slot of vector
|
||||
//
|
||||
inline vec_float4 get128() const;
|
||||
|
||||
// operators
|
||||
//
|
||||
inline const floatInVec operator ++ (int);
|
||||
inline const floatInVec operator -- (int);
|
||||
inline floatInVec& operator ++ ();
|
||||
inline floatInVec& operator -- ();
|
||||
inline const floatInVec operator - () const;
|
||||
inline floatInVec& operator = (floatInVec vec);
|
||||
inline floatInVec& operator *= (floatInVec vec);
|
||||
inline floatInVec& operator /= (floatInVec vec);
|
||||
inline floatInVec& operator += (floatInVec vec);
|
||||
inline floatInVec& operator -= (floatInVec vec);
|
||||
|
||||
// friend functions
|
||||
//
|
||||
friend inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
|
||||
};
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec functions
|
||||
//
|
||||
|
||||
// operators
|
||||
//
|
||||
inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
|
||||
inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
|
||||
inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
|
||||
inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// select between vec0 and vec1 using boolInVec.
|
||||
// false selects vec0, true selects vec1
|
||||
//
|
||||
inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec implementation
|
||||
//
|
||||
|
||||
#include "boolInVec.h"
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(vec_float4 vec)
|
||||
{
|
||||
mData = vec;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(boolInVec vec)
|
||||
{
|
||||
mData = spu_sel(spu_splats(0.0f), spu_splats(1.0f), vec.get128());
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(vec_float4 vec, int slot)
|
||||
{
|
||||
mData = spu_promote(spu_extract(vec, slot), 0);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(float scalar)
|
||||
{
|
||||
mData = spu_promote(scalar, 0);
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_NO_SCALAR_CAST
|
||||
inline
|
||||
float
|
||||
floatInVec::getAsFloat() const
|
||||
#else
|
||||
inline
|
||||
floatInVec::operator float() const
|
||||
#endif
|
||||
{
|
||||
return spu_extract(mData,0);
|
||||
}
|
||||
|
||||
inline
|
||||
vec_float4
|
||||
floatInVec::get128() const
|
||||
{
|
||||
return mData;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator ++ (int)
|
||||
{
|
||||
vec_float4 olddata = mData;
|
||||
operator ++();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator -- (int)
|
||||
{
|
||||
vec_float4 olddata = mData;
|
||||
operator --();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator ++ ()
|
||||
{
|
||||
*this += floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -- ()
|
||||
{
|
||||
*this -= floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator - () const
|
||||
{
|
||||
return floatInVec((vec_float4)spu_xor((vec_uint4)mData, spu_splats(0x80000000)));
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator = (floatInVec vec)
|
||||
{
|
||||
mData = vec.mData;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator *= (floatInVec vec)
|
||||
{
|
||||
*this = *this * vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator /= (floatInVec vec)
|
||||
{
|
||||
*this = *this / vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator += (floatInVec vec)
|
||||
{
|
||||
*this = *this + vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -= (floatInVec vec)
|
||||
{
|
||||
*this = *this - vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator * (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(spu_mul(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator / (floatInVec num, floatInVec den)
|
||||
{
|
||||
return floatInVec(divf4(num.get128(), den.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator + (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(spu_add(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator - (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(spu_sub(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator < (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_cmpgt(vec1.get128(), vec0.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator <= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 > vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator > (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_cmpgt(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator >= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 < vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator == (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_cmpeq(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator != (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 == vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
|
||||
{
|
||||
return floatInVec(spu_sel(vec0.get128(), vec1.get128(), select_vec1.get128()));
|
||||
}
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif // floatInVec_h
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _FLOATINVEC_H
|
||||
#define _FLOATINVEC_H
|
||||
|
||||
#include <math.h>
|
||||
#include <spu_intrinsics.h>
|
||||
#include <simdmath.h>
|
||||
#undef bool
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
class boolInVec;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec class
|
||||
//
|
||||
|
||||
class floatInVec
|
||||
{
|
||||
private:
|
||||
vec_float4 mData;
|
||||
|
||||
inline floatInVec(vec_float4 vec);
|
||||
public:
|
||||
inline floatInVec() {}
|
||||
|
||||
// matches standard type conversions
|
||||
//
|
||||
inline floatInVec(boolInVec vec);
|
||||
|
||||
// construct from a slot of vec_float4
|
||||
//
|
||||
inline floatInVec(vec_float4 vec, int slot);
|
||||
|
||||
// explicit cast from float
|
||||
//
|
||||
explicit inline floatInVec(float scalar);
|
||||
|
||||
#ifdef _VECTORMATH_NO_SCALAR_CAST
|
||||
// explicit cast to float
|
||||
//
|
||||
inline float getAsFloat() const;
|
||||
#else
|
||||
// implicit cast to float
|
||||
//
|
||||
inline operator float() const;
|
||||
#endif
|
||||
|
||||
// get vector data
|
||||
// float value is in 0 word slot of vector
|
||||
//
|
||||
inline vec_float4 get128() const;
|
||||
|
||||
// operators
|
||||
//
|
||||
inline const floatInVec operator ++ (int);
|
||||
inline const floatInVec operator -- (int);
|
||||
inline floatInVec& operator ++ ();
|
||||
inline floatInVec& operator -- ();
|
||||
inline const floatInVec operator - () const;
|
||||
inline floatInVec& operator = (floatInVec vec);
|
||||
inline floatInVec& operator *= (floatInVec vec);
|
||||
inline floatInVec& operator /= (floatInVec vec);
|
||||
inline floatInVec& operator += (floatInVec vec);
|
||||
inline floatInVec& operator -= (floatInVec vec);
|
||||
|
||||
// friend functions
|
||||
//
|
||||
friend inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
|
||||
friend inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
|
||||
};
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec functions
|
||||
//
|
||||
|
||||
// operators
|
||||
//
|
||||
inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
|
||||
inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
|
||||
inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
|
||||
inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
|
||||
inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// select between vec0 and vec1 using boolInVec.
|
||||
// false selects vec0, true selects vec1
|
||||
//
|
||||
inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec implementation
|
||||
//
|
||||
|
||||
#include "boolInVec.h"
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(vec_float4 vec)
|
||||
{
|
||||
mData = vec;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(boolInVec vec)
|
||||
{
|
||||
mData = spu_sel(spu_splats(0.0f), spu_splats(1.0f), vec.get128());
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(vec_float4 vec, int slot)
|
||||
{
|
||||
mData = spu_promote(spu_extract(vec, slot), 0);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(float scalar)
|
||||
{
|
||||
mData = spu_promote(scalar, 0);
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_NO_SCALAR_CAST
|
||||
inline
|
||||
float
|
||||
floatInVec::getAsFloat() const
|
||||
#else
|
||||
inline
|
||||
floatInVec::operator float() const
|
||||
#endif
|
||||
{
|
||||
return spu_extract(mData,0);
|
||||
}
|
||||
|
||||
inline
|
||||
vec_float4
|
||||
floatInVec::get128() const
|
||||
{
|
||||
return mData;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator ++ (int)
|
||||
{
|
||||
vec_float4 olddata = mData;
|
||||
operator ++();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator -- (int)
|
||||
{
|
||||
vec_float4 olddata = mData;
|
||||
operator --();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator ++ ()
|
||||
{
|
||||
*this += floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -- ()
|
||||
{
|
||||
*this -= floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator - () const
|
||||
{
|
||||
return floatInVec((vec_float4)spu_xor((vec_uint4)mData, spu_splats(0x80000000)));
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator = (floatInVec vec)
|
||||
{
|
||||
mData = vec.mData;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator *= (floatInVec vec)
|
||||
{
|
||||
*this = *this * vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator /= (floatInVec vec)
|
||||
{
|
||||
*this = *this / vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator += (floatInVec vec)
|
||||
{
|
||||
*this = *this + vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -= (floatInVec vec)
|
||||
{
|
||||
*this = *this - vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator * (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(spu_mul(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator / (floatInVec num, floatInVec den)
|
||||
{
|
||||
return floatInVec(divf4(num.get128(), den.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator + (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(spu_add(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator - (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(spu_sub(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator < (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_cmpgt(vec1.get128(), vec0.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator <= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 > vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator > (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_cmpgt(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator >= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 < vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator == (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(spu_cmpeq(vec0.get128(), vec1.get128()));
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator != (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 == vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
|
||||
{
|
||||
return floatInVec(spu_sel(vec0.get128(), vec1.get128(), select_vec1.get128()));
|
||||
}
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif // floatInVec_h
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,417 +1,417 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_QUAT_AOS_CPP_H
|
||||
#define _VECTORMATH_QUAT_AOS_CPP_H
|
||||
//-----------------------------------------------------------------------------
|
||||
// Definitions
|
||||
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Aos {
|
||||
|
||||
inline Quat::Quat( float _x, float _y, float _z, float _w )
|
||||
{
|
||||
mVec128 = (vec_float4){ _x, _y, _z, _w };
|
||||
}
|
||||
|
||||
inline Quat::Quat( Vector3 xyz, float _w )
|
||||
{
|
||||
mVec128 = spu_shuffle( xyz.get128(), spu_promote( _w, 0 ), _VECTORMATH_SHUF_XYZA );
|
||||
}
|
||||
|
||||
inline Quat::Quat( Vector4 vec )
|
||||
{
|
||||
mVec128 = vec.get128();
|
||||
}
|
||||
|
||||
inline Quat::Quat( float scalar )
|
||||
{
|
||||
mVec128 = spu_splats( scalar );
|
||||
}
|
||||
|
||||
inline Quat::Quat( vec_float4 vf4 )
|
||||
{
|
||||
mVec128 = vf4;
|
||||
}
|
||||
|
||||
inline const Quat Quat::identity( )
|
||||
{
|
||||
return Quat( _VECTORMATH_UNIT_0001 );
|
||||
}
|
||||
|
||||
inline const Quat lerp( float t, Quat quat0, Quat quat1 )
|
||||
{
|
||||
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
|
||||
}
|
||||
|
||||
inline const Quat slerp( float t, Quat unitQuat0, Quat unitQuat1 )
|
||||
{
|
||||
Quat start;
|
||||
vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
|
||||
vec_uint4 selectMask;
|
||||
vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203);
|
||||
vec_uchar16 shuffle_yyyy = (vec_uchar16)spu_splats((int)0x04050607);
|
||||
vec_uchar16 shuffle_zzzz = (vec_uchar16)spu_splats((int)0x08090a0b);
|
||||
cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() );
|
||||
cosAngle = spu_shuffle( cosAngle, cosAngle, shuffle_xxxx );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(0.0f), cosAngle );
|
||||
cosAngle = spu_sel( cosAngle, negatef4( cosAngle ), selectMask );
|
||||
start = Quat( spu_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(_VECTORMATH_SLERP_TOL), cosAngle );
|
||||
angle = acosf4( cosAngle );
|
||||
tttt = spu_splats(t);
|
||||
oneMinusT = spu_sub( spu_splats(1.0f), tttt );
|
||||
angles = spu_sel( spu_splats(1.0f), oneMinusT, (vec_uint4)spu_maskb(0x0f00) );
|
||||
angles = spu_sel( angles, tttt, (vec_uint4)spu_maskb(0x00f0) );
|
||||
angles = spu_mul( angles, angle );
|
||||
sines = sinf4( angles );
|
||||
scales = divf4( sines, spu_shuffle( sines, sines, shuffle_xxxx ) );
|
||||
scale0 = spu_sel( oneMinusT, spu_shuffle( scales, scales, shuffle_yyyy ), selectMask );
|
||||
scale1 = spu_sel( tttt, spu_shuffle( scales, scales, shuffle_zzzz ), selectMask );
|
||||
return Quat( spu_madd( start.get128(), scale0, spu_mul( unitQuat1.get128(), scale1 ) ) );
|
||||
}
|
||||
|
||||
inline const Quat squad( float t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 )
|
||||
{
|
||||
Quat tmp0, tmp1;
|
||||
tmp0 = slerp( t, unitQuat0, unitQuat3 );
|
||||
tmp1 = slerp( t, unitQuat1, unitQuat2 );
|
||||
return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::get128( ) const
|
||||
{
|
||||
return mVec128;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator =( Quat quat )
|
||||
{
|
||||
mVec128 = quat.mVec128;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setXYZ( Vector3 vec )
|
||||
{
|
||||
mVec128 = spu_sel( vec.get128(), mVec128, (vec_uint4)spu_maskb(0x000f) );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 Quat::getXYZ( ) const
|
||||
{
|
||||
return Vector3( mVec128 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setX( float _x )
|
||||
{
|
||||
mVec128 = spu_insert( _x, mVec128, 0 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getX( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 0 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setY( float _y )
|
||||
{
|
||||
mVec128 = spu_insert( _y, mVec128, 1 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getY( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 1 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setZ( float _z )
|
||||
{
|
||||
mVec128 = spu_insert( _z, mVec128, 2 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getZ( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 2 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setW( float _w )
|
||||
{
|
||||
mVec128 = spu_insert( _w, mVec128, 3 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getW( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 3 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setElem( int idx, float value )
|
||||
{
|
||||
mVec128 = spu_insert( value, mVec128, idx );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getElem( int idx ) const
|
||||
{
|
||||
return spu_extract( mVec128, idx );
|
||||
}
|
||||
|
||||
inline VecIdx Quat::operator []( int idx )
|
||||
{
|
||||
return VecIdx( mVec128, idx );
|
||||
}
|
||||
|
||||
inline float Quat::operator []( int idx ) const
|
||||
{
|
||||
return spu_extract( mVec128, idx );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator +( Quat quat ) const
|
||||
{
|
||||
return Quat( spu_add( mVec128, quat.mVec128 ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( Quat quat ) const
|
||||
{
|
||||
return Quat( spu_sub( mVec128, quat.mVec128 ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( float scalar ) const
|
||||
{
|
||||
return Quat( spu_mul( mVec128, spu_splats(scalar) ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator +=( Quat quat )
|
||||
{
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator -=( Quat quat )
|
||||
{
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( float scalar )
|
||||
{
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator /( float scalar ) const
|
||||
{
|
||||
return Quat( divf4( mVec128, spu_splats(scalar) ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator /=( float scalar )
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( ) const
|
||||
{
|
||||
return Quat( negatef4( mVec128 ) );
|
||||
}
|
||||
|
||||
inline const Quat operator *( float scalar, Quat quat )
|
||||
{
|
||||
return quat * scalar;
|
||||
}
|
||||
|
||||
inline float dot( Quat quat0, Quat quat1 )
|
||||
{
|
||||
return spu_extract( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 );
|
||||
}
|
||||
|
||||
inline float norm( Quat quat )
|
||||
{
|
||||
return spu_extract( _vmathVfDot4( quat.get128(), quat.get128() ), 0 );
|
||||
}
|
||||
|
||||
inline float length( Quat quat )
|
||||
{
|
||||
return sqrtf( norm( quat ) );
|
||||
}
|
||||
|
||||
inline const Quat normalize( Quat quat )
|
||||
{
|
||||
vec_float4 dot = _vmathVfDot4( quat.get128(), quat.get128() );
|
||||
return Quat( spu_mul( quat.get128(), rsqrtf4( dot ) ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( Vector3 unitVec0, Vector3 unitVec1 )
|
||||
{
|
||||
Vector3 crossVec;
|
||||
vec_float4 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res;
|
||||
cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() );
|
||||
cosAngle = spu_shuffle( cosAngle, cosAngle, (vec_uchar16)spu_splats(0x00010203) );
|
||||
cosAngleX2Plus2 = spu_madd( cosAngle, spu_splats(2.0f), spu_splats(2.0f) );
|
||||
recipCosHalfAngleX2 = rsqrtf4( cosAngleX2Plus2 );
|
||||
cosHalfAngleX2 = spu_mul( recipCosHalfAngleX2, cosAngleX2Plus2 );
|
||||
crossVec = cross( unitVec0, unitVec1 );
|
||||
res = spu_mul( crossVec.get128(), recipCosHalfAngleX2 );
|
||||
res = spu_sel( res, spu_mul( cosHalfAngleX2, spu_splats(0.5f) ), (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( float radians, Vector3 unitVec )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_mul( unitVec.get128(), s ), c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationX( float radians )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_splats(0.0f), s, (vec_uint4)spu_maskb(0xf000) );
|
||||
res = spu_sel( res, c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationY( float radians )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_splats(0.0f), s, (vec_uint4)spu_maskb(0x0f00) );
|
||||
res = spu_sel( res, c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationZ( float radians )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_splats(0.0f), s, (vec_uint4)spu_maskb(0x00f0) );
|
||||
res = spu_sel( res, c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( Quat quat ) const
|
||||
{
|
||||
vec_float4 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3;
|
||||
vec_float4 product, l_wxyz, r_wxyz, xy, qw;
|
||||
ldata = mVec128;
|
||||
rdata = quat.mVec128;
|
||||
vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f);
|
||||
tmp0 = spu_shuffle( ldata, ldata, _VECTORMATH_SHUF_YZXW );
|
||||
tmp1 = spu_shuffle( rdata, rdata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp2 = spu_shuffle( ldata, ldata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp3 = spu_shuffle( rdata, rdata, _VECTORMATH_SHUF_YZXW );
|
||||
qv = spu_mul( spu_shuffle( ldata, ldata, shuffle_wwww ), rdata );
|
||||
qv = spu_madd( spu_shuffle( rdata, rdata, shuffle_wwww ), ldata, qv );
|
||||
qv = spu_madd( tmp0, tmp1, qv );
|
||||
qv = spu_nmsub( tmp2, tmp3, qv );
|
||||
product = spu_mul( ldata, rdata );
|
||||
l_wxyz = spu_rlqwbyte( ldata, 12 );
|
||||
r_wxyz = spu_rlqwbyte( rdata, 12 );
|
||||
qw = spu_nmsub( l_wxyz, r_wxyz, product );
|
||||
xy = spu_madd( l_wxyz, r_wxyz, product );
|
||||
qw = spu_sub( qw, spu_rlqwbyte( xy, 8 ) );
|
||||
return Quat( spu_sel( qv, qw, (vec_uint4)spu_maskb( 0x000f ) ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( Quat quat )
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 rotate( Quat quat, Vector3 vec )
|
||||
{
|
||||
vec_float4 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res;
|
||||
qdata = quat.get128();
|
||||
vdata = vec.get128();
|
||||
vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203);
|
||||
vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f);
|
||||
tmp0 = spu_shuffle( qdata, qdata, _VECTORMATH_SHUF_YZXW );
|
||||
tmp1 = spu_shuffle( vdata, vdata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp2 = spu_shuffle( qdata, qdata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp3 = spu_shuffle( vdata, vdata, _VECTORMATH_SHUF_YZXW );
|
||||
wwww = spu_shuffle( qdata, qdata, shuffle_wwww );
|
||||
qv = spu_mul( wwww, vdata );
|
||||
qv = spu_madd( tmp0, tmp1, qv );
|
||||
qv = spu_nmsub( tmp2, tmp3, qv );
|
||||
product = spu_mul( qdata, vdata );
|
||||
qw = spu_madd( spu_rlqwbyte( qdata, 4 ), spu_rlqwbyte( vdata, 4 ), product );
|
||||
qw = spu_add( spu_rlqwbyte( product, 8 ), qw );
|
||||
tmp1 = spu_shuffle( qv, qv, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp3 = spu_shuffle( qv, qv, _VECTORMATH_SHUF_YZXW );
|
||||
res = spu_mul( spu_shuffle( qw, qw, shuffle_xxxx ), qdata );
|
||||
res = spu_madd( wwww, qv, res );
|
||||
res = spu_madd( tmp0, tmp1, res );
|
||||
res = spu_nmsub( tmp2, tmp3, res );
|
||||
return Vector3( res );
|
||||
}
|
||||
|
||||
inline const Quat conj( Quat quat )
|
||||
{
|
||||
return Quat( spu_xor( quat.get128(), ((vec_float4)(vec_int4){0x80000000,0x80000000,0x80000000,0}) ) );
|
||||
}
|
||||
|
||||
inline const Quat select( Quat quat0, Quat quat1, bool select1 )
|
||||
{
|
||||
return Quat( spu_sel( quat0.get128(), quat1.get128(), spu_splats( (unsigned int)-(select1 > 0) ) ) );
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
inline void print( Quat quat )
|
||||
{
|
||||
union { vec_float4 v; float s[4]; } tmp;
|
||||
tmp.v = quat.get128();
|
||||
printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
|
||||
}
|
||||
|
||||
inline void print( Quat quat, const char * name )
|
||||
{
|
||||
union { vec_float4 v; float s[4]; } tmp;
|
||||
tmp.v = quat.get128();
|
||||
printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_QUAT_AOS_CPP_H
|
||||
#define _VECTORMATH_QUAT_AOS_CPP_H
|
||||
//-----------------------------------------------------------------------------
|
||||
// Definitions
|
||||
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Aos {
|
||||
|
||||
inline Quat::Quat( float _x, float _y, float _z, float _w )
|
||||
{
|
||||
mVec128 = (vec_float4){ _x, _y, _z, _w };
|
||||
}
|
||||
|
||||
inline Quat::Quat( Vector3 xyz, float _w )
|
||||
{
|
||||
mVec128 = spu_shuffle( xyz.get128(), spu_promote( _w, 0 ), _VECTORMATH_SHUF_XYZA );
|
||||
}
|
||||
|
||||
inline Quat::Quat( Vector4 vec )
|
||||
{
|
||||
mVec128 = vec.get128();
|
||||
}
|
||||
|
||||
inline Quat::Quat( float scalar )
|
||||
{
|
||||
mVec128 = spu_splats( scalar );
|
||||
}
|
||||
|
||||
inline Quat::Quat( vec_float4 vf4 )
|
||||
{
|
||||
mVec128 = vf4;
|
||||
}
|
||||
|
||||
inline const Quat Quat::identity( )
|
||||
{
|
||||
return Quat( _VECTORMATH_UNIT_0001 );
|
||||
}
|
||||
|
||||
inline const Quat lerp( float t, Quat quat0, Quat quat1 )
|
||||
{
|
||||
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
|
||||
}
|
||||
|
||||
inline const Quat slerp( float t, Quat unitQuat0, Quat unitQuat1 )
|
||||
{
|
||||
Quat start;
|
||||
vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
|
||||
vec_uint4 selectMask;
|
||||
vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203);
|
||||
vec_uchar16 shuffle_yyyy = (vec_uchar16)spu_splats((int)0x04050607);
|
||||
vec_uchar16 shuffle_zzzz = (vec_uchar16)spu_splats((int)0x08090a0b);
|
||||
cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() );
|
||||
cosAngle = spu_shuffle( cosAngle, cosAngle, shuffle_xxxx );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(0.0f), cosAngle );
|
||||
cosAngle = spu_sel( cosAngle, negatef4( cosAngle ), selectMask );
|
||||
start = Quat( spu_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(_VECTORMATH_SLERP_TOL), cosAngle );
|
||||
angle = acosf4( cosAngle );
|
||||
tttt = spu_splats(t);
|
||||
oneMinusT = spu_sub( spu_splats(1.0f), tttt );
|
||||
angles = spu_sel( spu_splats(1.0f), oneMinusT, (vec_uint4)spu_maskb(0x0f00) );
|
||||
angles = spu_sel( angles, tttt, (vec_uint4)spu_maskb(0x00f0) );
|
||||
angles = spu_mul( angles, angle );
|
||||
sines = sinf4( angles );
|
||||
scales = divf4( sines, spu_shuffle( sines, sines, shuffle_xxxx ) );
|
||||
scale0 = spu_sel( oneMinusT, spu_shuffle( scales, scales, shuffle_yyyy ), selectMask );
|
||||
scale1 = spu_sel( tttt, spu_shuffle( scales, scales, shuffle_zzzz ), selectMask );
|
||||
return Quat( spu_madd( start.get128(), scale0, spu_mul( unitQuat1.get128(), scale1 ) ) );
|
||||
}
|
||||
|
||||
inline const Quat squad( float t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 )
|
||||
{
|
||||
Quat tmp0, tmp1;
|
||||
tmp0 = slerp( t, unitQuat0, unitQuat3 );
|
||||
tmp1 = slerp( t, unitQuat1, unitQuat2 );
|
||||
return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::get128( ) const
|
||||
{
|
||||
return mVec128;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator =( Quat quat )
|
||||
{
|
||||
mVec128 = quat.mVec128;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setXYZ( Vector3 vec )
|
||||
{
|
||||
mVec128 = spu_sel( vec.get128(), mVec128, (vec_uint4)spu_maskb(0x000f) );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 Quat::getXYZ( ) const
|
||||
{
|
||||
return Vector3( mVec128 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setX( float _x )
|
||||
{
|
||||
mVec128 = spu_insert( _x, mVec128, 0 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getX( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 0 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setY( float _y )
|
||||
{
|
||||
mVec128 = spu_insert( _y, mVec128, 1 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getY( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 1 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setZ( float _z )
|
||||
{
|
||||
mVec128 = spu_insert( _z, mVec128, 2 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getZ( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 2 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setW( float _w )
|
||||
{
|
||||
mVec128 = spu_insert( _w, mVec128, 3 );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getW( ) const
|
||||
{
|
||||
return spu_extract( mVec128, 3 );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setElem( int idx, float value )
|
||||
{
|
||||
mVec128 = spu_insert( value, mVec128, idx );
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getElem( int idx ) const
|
||||
{
|
||||
return spu_extract( mVec128, idx );
|
||||
}
|
||||
|
||||
inline VecIdx Quat::operator []( int idx )
|
||||
{
|
||||
return VecIdx( mVec128, idx );
|
||||
}
|
||||
|
||||
inline float Quat::operator []( int idx ) const
|
||||
{
|
||||
return spu_extract( mVec128, idx );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator +( Quat quat ) const
|
||||
{
|
||||
return Quat( spu_add( mVec128, quat.mVec128 ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( Quat quat ) const
|
||||
{
|
||||
return Quat( spu_sub( mVec128, quat.mVec128 ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( float scalar ) const
|
||||
{
|
||||
return Quat( spu_mul( mVec128, spu_splats(scalar) ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator +=( Quat quat )
|
||||
{
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator -=( Quat quat )
|
||||
{
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( float scalar )
|
||||
{
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator /( float scalar ) const
|
||||
{
|
||||
return Quat( divf4( mVec128, spu_splats(scalar) ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator /=( float scalar )
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( ) const
|
||||
{
|
||||
return Quat( negatef4( mVec128 ) );
|
||||
}
|
||||
|
||||
inline const Quat operator *( float scalar, Quat quat )
|
||||
{
|
||||
return quat * scalar;
|
||||
}
|
||||
|
||||
inline float dot( Quat quat0, Quat quat1 )
|
||||
{
|
||||
return spu_extract( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 );
|
||||
}
|
||||
|
||||
inline float norm( Quat quat )
|
||||
{
|
||||
return spu_extract( _vmathVfDot4( quat.get128(), quat.get128() ), 0 );
|
||||
}
|
||||
|
||||
inline float length( Quat quat )
|
||||
{
|
||||
return sqrtf( norm( quat ) );
|
||||
}
|
||||
|
||||
inline const Quat normalize( Quat quat )
|
||||
{
|
||||
vec_float4 dot = _vmathVfDot4( quat.get128(), quat.get128() );
|
||||
return Quat( spu_mul( quat.get128(), rsqrtf4( dot ) ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( Vector3 unitVec0, Vector3 unitVec1 )
|
||||
{
|
||||
Vector3 crossVec;
|
||||
vec_float4 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res;
|
||||
cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() );
|
||||
cosAngle = spu_shuffle( cosAngle, cosAngle, (vec_uchar16)spu_splats(0x00010203) );
|
||||
cosAngleX2Plus2 = spu_madd( cosAngle, spu_splats(2.0f), spu_splats(2.0f) );
|
||||
recipCosHalfAngleX2 = rsqrtf4( cosAngleX2Plus2 );
|
||||
cosHalfAngleX2 = spu_mul( recipCosHalfAngleX2, cosAngleX2Plus2 );
|
||||
crossVec = cross( unitVec0, unitVec1 );
|
||||
res = spu_mul( crossVec.get128(), recipCosHalfAngleX2 );
|
||||
res = spu_sel( res, spu_mul( cosHalfAngleX2, spu_splats(0.5f) ), (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( float radians, Vector3 unitVec )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_mul( unitVec.get128(), s ), c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationX( float radians )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_splats(0.0f), s, (vec_uint4)spu_maskb(0xf000) );
|
||||
res = spu_sel( res, c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationY( float radians )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_splats(0.0f), s, (vec_uint4)spu_maskb(0x0f00) );
|
||||
res = spu_sel( res, c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationZ( float radians )
|
||||
{
|
||||
vec_float4 s, c, angle, res;
|
||||
angle = spu_mul( spu_splats(radians), spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
res = spu_sel( spu_splats(0.0f), s, (vec_uint4)spu_maskb(0x00f0) );
|
||||
res = spu_sel( res, c, (vec_uint4)spu_maskb(0x000f) );
|
||||
return Quat( res );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( Quat quat ) const
|
||||
{
|
||||
vec_float4 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3;
|
||||
vec_float4 product, l_wxyz, r_wxyz, xy, qw;
|
||||
ldata = mVec128;
|
||||
rdata = quat.mVec128;
|
||||
vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f);
|
||||
tmp0 = spu_shuffle( ldata, ldata, _VECTORMATH_SHUF_YZXW );
|
||||
tmp1 = spu_shuffle( rdata, rdata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp2 = spu_shuffle( ldata, ldata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp3 = spu_shuffle( rdata, rdata, _VECTORMATH_SHUF_YZXW );
|
||||
qv = spu_mul( spu_shuffle( ldata, ldata, shuffle_wwww ), rdata );
|
||||
qv = spu_madd( spu_shuffle( rdata, rdata, shuffle_wwww ), ldata, qv );
|
||||
qv = spu_madd( tmp0, tmp1, qv );
|
||||
qv = spu_nmsub( tmp2, tmp3, qv );
|
||||
product = spu_mul( ldata, rdata );
|
||||
l_wxyz = spu_rlqwbyte( ldata, 12 );
|
||||
r_wxyz = spu_rlqwbyte( rdata, 12 );
|
||||
qw = spu_nmsub( l_wxyz, r_wxyz, product );
|
||||
xy = spu_madd( l_wxyz, r_wxyz, product );
|
||||
qw = spu_sub( qw, spu_rlqwbyte( xy, 8 ) );
|
||||
return Quat( spu_sel( qv, qw, (vec_uint4)spu_maskb( 0x000f ) ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( Quat quat )
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 rotate( Quat quat, Vector3 vec )
|
||||
{
|
||||
vec_float4 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res;
|
||||
qdata = quat.get128();
|
||||
vdata = vec.get128();
|
||||
vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203);
|
||||
vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f);
|
||||
tmp0 = spu_shuffle( qdata, qdata, _VECTORMATH_SHUF_YZXW );
|
||||
tmp1 = spu_shuffle( vdata, vdata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp2 = spu_shuffle( qdata, qdata, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp3 = spu_shuffle( vdata, vdata, _VECTORMATH_SHUF_YZXW );
|
||||
wwww = spu_shuffle( qdata, qdata, shuffle_wwww );
|
||||
qv = spu_mul( wwww, vdata );
|
||||
qv = spu_madd( tmp0, tmp1, qv );
|
||||
qv = spu_nmsub( tmp2, tmp3, qv );
|
||||
product = spu_mul( qdata, vdata );
|
||||
qw = spu_madd( spu_rlqwbyte( qdata, 4 ), spu_rlqwbyte( vdata, 4 ), product );
|
||||
qw = spu_add( spu_rlqwbyte( product, 8 ), qw );
|
||||
tmp1 = spu_shuffle( qv, qv, _VECTORMATH_SHUF_ZXYW );
|
||||
tmp3 = spu_shuffle( qv, qv, _VECTORMATH_SHUF_YZXW );
|
||||
res = spu_mul( spu_shuffle( qw, qw, shuffle_xxxx ), qdata );
|
||||
res = spu_madd( wwww, qv, res );
|
||||
res = spu_madd( tmp0, tmp1, res );
|
||||
res = spu_nmsub( tmp2, tmp3, res );
|
||||
return Vector3( res );
|
||||
}
|
||||
|
||||
inline const Quat conj( Quat quat )
|
||||
{
|
||||
return Quat( spu_xor( quat.get128(), ((vec_float4)(vec_int4){0x80000000,0x80000000,0x80000000,0}) ) );
|
||||
}
|
||||
|
||||
inline const Quat select( Quat quat0, Quat quat1, bool select1 )
|
||||
{
|
||||
return Quat( spu_sel( quat0.get128(), quat1.get128(), spu_splats( (unsigned int)-(select1 > 0) ) ) );
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
inline void print( Quat quat )
|
||||
{
|
||||
union { vec_float4 v; float s[4]; } tmp;
|
||||
tmp.v = quat.get128();
|
||||
printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
|
||||
}
|
||||
|
||||
inline void print( Quat quat, const char * name )
|
||||
{
|
||||
union { vec_float4 v; float s[4]; } tmp;
|
||||
tmp.v = quat.get128();
|
||||
printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,483 +1,483 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_QUAT_SOA_CPP_H
|
||||
#define _VECTORMATH_QUAT_SOA_CPP_H
|
||||
//-----------------------------------------------------------------------------
|
||||
// Definitions
|
||||
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Soa {
|
||||
|
||||
inline Quat::Quat( const Quat & quat )
|
||||
{
|
||||
mX = quat.mX;
|
||||
mY = quat.mY;
|
||||
mZ = quat.mZ;
|
||||
mW = quat.mW;
|
||||
}
|
||||
|
||||
inline Quat::Quat( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w )
|
||||
{
|
||||
mX = _x;
|
||||
mY = _y;
|
||||
mZ = _z;
|
||||
mW = _w;
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector3 & xyz, vec_float4 _w )
|
||||
{
|
||||
this->setXYZ( xyz );
|
||||
this->setW( _w );
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector4 & vec )
|
||||
{
|
||||
mX = vec.getX();
|
||||
mY = vec.getY();
|
||||
mZ = vec.getZ();
|
||||
mW = vec.getW();
|
||||
}
|
||||
|
||||
inline Quat::Quat( vec_float4 scalar )
|
||||
{
|
||||
mX = scalar;
|
||||
mY = scalar;
|
||||
mZ = scalar;
|
||||
mW = scalar;
|
||||
}
|
||||
|
||||
inline Quat::Quat( Aos::Quat quat )
|
||||
{
|
||||
vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203);
|
||||
vec_uchar16 shuffle_yyyy = (vec_uchar16)spu_splats((int)0x04050607);
|
||||
vec_uchar16 shuffle_zzzz = (vec_uchar16)spu_splats((int)0x08090a0b);
|
||||
vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f);
|
||||
vec_float4 vec128 = quat.get128();
|
||||
mX = spu_shuffle( vec128, vec128, shuffle_xxxx );
|
||||
mY = spu_shuffle( vec128, vec128, shuffle_yyyy );
|
||||
mZ = spu_shuffle( vec128, vec128, shuffle_zzzz );
|
||||
mW = spu_shuffle( vec128, vec128, shuffle_wwww );
|
||||
}
|
||||
|
||||
inline Quat::Quat( Aos::Quat quat0, Aos::Quat quat1, Aos::Quat quat2, Aos::Quat quat3 )
|
||||
{
|
||||
vec_float4 tmp0, tmp1, tmp2, tmp3;
|
||||
tmp0 = spu_shuffle( quat0.get128(), quat2.get128(), _VECTORMATH_SHUF_XAYB );
|
||||
tmp1 = spu_shuffle( quat1.get128(), quat3.get128(), _VECTORMATH_SHUF_XAYB );
|
||||
tmp2 = spu_shuffle( quat0.get128(), quat2.get128(), _VECTORMATH_SHUF_ZCWD );
|
||||
tmp3 = spu_shuffle( quat1.get128(), quat3.get128(), _VECTORMATH_SHUF_ZCWD );
|
||||
mX = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB );
|
||||
mY = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD );
|
||||
mZ = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB );
|
||||
mW = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD );
|
||||
}
|
||||
|
||||
inline const Quat Quat::identity( )
|
||||
{
|
||||
return Quat( spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f) );
|
||||
}
|
||||
|
||||
inline const Quat lerp( vec_float4 t, const Quat & quat0, const Quat & quat1 )
|
||||
{
|
||||
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
|
||||
}
|
||||
|
||||
inline const Quat slerp( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1 )
|
||||
{
|
||||
Quat start;
|
||||
vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle;
|
||||
vec_uint4 selectMask;
|
||||
cosAngle = dot( unitQuat0, unitQuat1 );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(0.0f), cosAngle );
|
||||
cosAngle = spu_sel( cosAngle, negatef4( cosAngle ), selectMask );
|
||||
start.setX( spu_sel( unitQuat0.getX(), negatef4( unitQuat0.getX() ), selectMask ) );
|
||||
start.setY( spu_sel( unitQuat0.getY(), negatef4( unitQuat0.getY() ), selectMask ) );
|
||||
start.setZ( spu_sel( unitQuat0.getZ(), negatef4( unitQuat0.getZ() ), selectMask ) );
|
||||
start.setW( spu_sel( unitQuat0.getW(), negatef4( unitQuat0.getW() ), selectMask ) );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(_VECTORMATH_SLERP_TOL), cosAngle );
|
||||
angle = acosf4( cosAngle );
|
||||
recipSinAngle = recipf4( sinf4( angle ) );
|
||||
scale0 = spu_sel( spu_sub( spu_splats(1.0f), t ), spu_mul( sinf4( spu_mul( spu_sub( spu_splats(1.0f), t ), angle ) ), recipSinAngle ), selectMask );
|
||||
scale1 = spu_sel( t, spu_mul( sinf4( spu_mul( t, angle ) ), recipSinAngle ), selectMask );
|
||||
return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
|
||||
}
|
||||
|
||||
inline const Quat squad( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
|
||||
{
|
||||
Quat tmp0, tmp1;
|
||||
tmp0 = slerp( t, unitQuat0, unitQuat3 );
|
||||
tmp1 = slerp( t, unitQuat1, unitQuat2 );
|
||||
return slerp( spu_mul( spu_mul( spu_splats(2.0f), t ), spu_sub( spu_splats(1.0f), t ) ), tmp0, tmp1 );
|
||||
}
|
||||
|
||||
inline void Quat::get4Aos( Aos::Quat & result0, Aos::Quat & result1, Aos::Quat & result2, Aos::Quat & result3 ) const
|
||||
{
|
||||
vec_float4 tmp0, tmp1, tmp2, tmp3;
|
||||
tmp0 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_XAYB );
|
||||
tmp1 = spu_shuffle( mY, mW, _VECTORMATH_SHUF_XAYB );
|
||||
tmp2 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_ZCWD );
|
||||
tmp3 = spu_shuffle( mY, mW, _VECTORMATH_SHUF_ZCWD );
|
||||
result0 = Aos::Quat( spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ) );
|
||||
result1 = Aos::Quat( spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ) );
|
||||
result2 = Aos::Quat( spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ) );
|
||||
result3 = Aos::Quat( spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator =( const Quat & quat )
|
||||
{
|
||||
mX = quat.mX;
|
||||
mY = quat.mY;
|
||||
mZ = quat.mZ;
|
||||
mW = quat.mW;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setXYZ( const Vector3 & vec )
|
||||
{
|
||||
mX = vec.getX();
|
||||
mY = vec.getY();
|
||||
mZ = vec.getZ();
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 Quat::getXYZ( ) const
|
||||
{
|
||||
return Vector3( mX, mY, mZ );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setX( vec_float4 _x )
|
||||
{
|
||||
mX = _x;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getX( ) const
|
||||
{
|
||||
return mX;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setY( vec_float4 _y )
|
||||
{
|
||||
mY = _y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getY( ) const
|
||||
{
|
||||
return mY;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setZ( vec_float4 _z )
|
||||
{
|
||||
mZ = _z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getZ( ) const
|
||||
{
|
||||
return mZ;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setW( vec_float4 _w )
|
||||
{
|
||||
mW = _w;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getW( ) const
|
||||
{
|
||||
return mW;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setElem( int idx, vec_float4 value )
|
||||
{
|
||||
*(&mX + idx) = value;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getElem( int idx ) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline Quat::vec_float4_t & Quat::operator []( int idx )
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::operator []( int idx ) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator +( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_add( mX, quat.mX ),
|
||||
spu_add( mY, quat.mY ),
|
||||
spu_add( mZ, quat.mZ ),
|
||||
spu_add( mW, quat.mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_sub( mX, quat.mX ),
|
||||
spu_sub( mY, quat.mY ),
|
||||
spu_sub( mZ, quat.mZ ),
|
||||
spu_sub( mW, quat.mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( vec_float4 scalar ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_mul( mX, scalar ),
|
||||
spu_mul( mY, scalar ),
|
||||
spu_mul( mZ, scalar ),
|
||||
spu_mul( mW, scalar )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator +=( const Quat & quat )
|
||||
{
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator -=( const Quat & quat )
|
||||
{
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( vec_float4 scalar )
|
||||
{
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator /( vec_float4 scalar ) const
|
||||
{
|
||||
return Quat(
|
||||
divf4( mX, scalar ),
|
||||
divf4( mY, scalar ),
|
||||
divf4( mZ, scalar ),
|
||||
divf4( mW, scalar )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator /=( vec_float4 scalar )
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( ) const
|
||||
{
|
||||
return Quat(
|
||||
negatef4( mX ),
|
||||
negatef4( mY ),
|
||||
negatef4( mZ ),
|
||||
negatef4( mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat operator *( vec_float4 scalar, const Quat & quat )
|
||||
{
|
||||
return quat * scalar;
|
||||
}
|
||||
|
||||
inline vec_float4 dot( const Quat & quat0, const Quat & quat1 )
|
||||
{
|
||||
vec_float4 result;
|
||||
result = spu_mul( quat0.getX(), quat1.getX() );
|
||||
result = spu_add( result, spu_mul( quat0.getY(), quat1.getY() ) );
|
||||
result = spu_add( result, spu_mul( quat0.getZ(), quat1.getZ() ) );
|
||||
result = spu_add( result, spu_mul( quat0.getW(), quat1.getW() ) );
|
||||
return result;
|
||||
}
|
||||
|
||||
inline vec_float4 norm( const Quat & quat )
|
||||
{
|
||||
vec_float4 result;
|
||||
result = spu_mul( quat.getX(), quat.getX() );
|
||||
result = spu_add( result, spu_mul( quat.getY(), quat.getY() ) );
|
||||
result = spu_add( result, spu_mul( quat.getZ(), quat.getZ() ) );
|
||||
result = spu_add( result, spu_mul( quat.getW(), quat.getW() ) );
|
||||
return result;
|
||||
}
|
||||
|
||||
inline vec_float4 length( const Quat & quat )
|
||||
{
|
||||
return sqrtf4( norm( quat ) );
|
||||
}
|
||||
|
||||
inline const Quat normalize( const Quat & quat )
|
||||
{
|
||||
vec_float4 lenSqr, lenInv;
|
||||
lenSqr = norm( quat );
|
||||
lenInv = rsqrtf4( lenSqr );
|
||||
return Quat(
|
||||
spu_mul( quat.getX(), lenInv ),
|
||||
spu_mul( quat.getY(), lenInv ),
|
||||
spu_mul( quat.getZ(), lenInv ),
|
||||
spu_mul( quat.getW(), lenInv )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
|
||||
{
|
||||
vec_float4 cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf4( spu_mul( spu_splats(2.0f), spu_add( spu_splats(1.0f), dot( unitVec0, unitVec1 ) ) ) );
|
||||
recipCosHalfAngleX2 = recipf4( cosHalfAngleX2 );
|
||||
return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), spu_mul( cosHalfAngleX2, spu_splats(0.5f) ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( vec_float4 radians, const Vector3 & unitVec )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( ( unitVec * s ), c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationX( vec_float4 radians )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( s, spu_splats(0.0f), spu_splats(0.0f), c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationY( vec_float4 radians )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( spu_splats(0.0f), s, spu_splats(0.0f), c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationZ( vec_float4 radians )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( spu_splats(0.0f), spu_splats(0.0f), s, c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_sub( spu_add( spu_add( spu_mul( mW, quat.mX ), spu_mul( mX, quat.mW ) ), spu_mul( mY, quat.mZ ) ), spu_mul( mZ, quat.mY ) ),
|
||||
spu_sub( spu_add( spu_add( spu_mul( mW, quat.mY ), spu_mul( mY, quat.mW ) ), spu_mul( mZ, quat.mX ) ), spu_mul( mX, quat.mZ ) ),
|
||||
spu_sub( spu_add( spu_add( spu_mul( mW, quat.mZ ), spu_mul( mZ, quat.mW ) ), spu_mul( mX, quat.mY ) ), spu_mul( mY, quat.mX ) ),
|
||||
spu_sub( spu_sub( spu_sub( spu_mul( mW, quat.mW ), spu_mul( mX, quat.mX ) ), spu_mul( mY, quat.mY ) ), spu_mul( mZ, quat.mZ ) )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( const Quat & quat )
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
|
||||
{
|
||||
vec_float4 tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = spu_sub( spu_add( spu_mul( quat.getW(), vec.getX() ), spu_mul( quat.getY(), vec.getZ() ) ), spu_mul( quat.getZ(), vec.getY() ) );
|
||||
tmpY = spu_sub( spu_add( spu_mul( quat.getW(), vec.getY() ), spu_mul( quat.getZ(), vec.getX() ) ), spu_mul( quat.getX(), vec.getZ() ) );
|
||||
tmpZ = spu_sub( spu_add( spu_mul( quat.getW(), vec.getZ() ), spu_mul( quat.getX(), vec.getY() ) ), spu_mul( quat.getY(), vec.getX() ) );
|
||||
tmpW = spu_add( spu_add( spu_mul( quat.getX(), vec.getX() ), spu_mul( quat.getY(), vec.getY() ) ), spu_mul( quat.getZ(), vec.getZ() ) );
|
||||
return Vector3(
|
||||
spu_add( spu_sub( spu_add( spu_mul( tmpW, quat.getX() ), spu_mul( tmpX, quat.getW() ) ), spu_mul( tmpY, quat.getZ() ) ), spu_mul( tmpZ, quat.getY() ) ),
|
||||
spu_add( spu_sub( spu_add( spu_mul( tmpW, quat.getY() ), spu_mul( tmpY, quat.getW() ) ), spu_mul( tmpZ, quat.getX() ) ), spu_mul( tmpX, quat.getZ() ) ),
|
||||
spu_add( spu_sub( spu_add( spu_mul( tmpW, quat.getZ() ), spu_mul( tmpZ, quat.getW() ) ), spu_mul( tmpX, quat.getY() ) ), spu_mul( tmpY, quat.getX() ) )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat conj( const Quat & quat )
|
||||
{
|
||||
return Quat( negatef4( quat.getX() ), negatef4( quat.getY() ), negatef4( quat.getZ() ), quat.getW() );
|
||||
}
|
||||
|
||||
inline const Quat select( const Quat & quat0, const Quat & quat1, vec_uint4 select1 )
|
||||
{
|
||||
return Quat(
|
||||
spu_sel( quat0.getX(), quat1.getX(), select1 ),
|
||||
spu_sel( quat0.getY(), quat1.getY(), select1 ),
|
||||
spu_sel( quat0.getZ(), quat1.getZ(), select1 ),
|
||||
spu_sel( quat0.getW(), quat1.getW(), select1 )
|
||||
);
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
inline void print( const Quat & quat )
|
||||
{
|
||||
Aos::Quat vec0, vec1, vec2, vec3;
|
||||
quat.get4Aos( vec0, vec1, vec2, vec3 );
|
||||
printf("slot 0:\n");
|
||||
print( vec0 );
|
||||
printf("slot 1:\n");
|
||||
print( vec1 );
|
||||
printf("slot 2:\n");
|
||||
print( vec2 );
|
||||
printf("slot 3:\n");
|
||||
print( vec3 );
|
||||
}
|
||||
|
||||
inline void print( const Quat & quat, const char * name )
|
||||
{
|
||||
Aos::Quat vec0, vec1, vec2, vec3;
|
||||
printf( "%s:\n", name );
|
||||
quat.get4Aos( vec0, vec1, vec2, vec3 );
|
||||
printf("slot 0:\n");
|
||||
print( vec0 );
|
||||
printf("slot 1:\n");
|
||||
print( vec1 );
|
||||
printf("slot 2:\n");
|
||||
print( vec2 );
|
||||
printf("slot 3:\n");
|
||||
print( vec3 );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Soa
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_QUAT_SOA_CPP_H
|
||||
#define _VECTORMATH_QUAT_SOA_CPP_H
|
||||
//-----------------------------------------------------------------------------
|
||||
// Definitions
|
||||
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Soa {
|
||||
|
||||
inline Quat::Quat( const Quat & quat )
|
||||
{
|
||||
mX = quat.mX;
|
||||
mY = quat.mY;
|
||||
mZ = quat.mZ;
|
||||
mW = quat.mW;
|
||||
}
|
||||
|
||||
inline Quat::Quat( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w )
|
||||
{
|
||||
mX = _x;
|
||||
mY = _y;
|
||||
mZ = _z;
|
||||
mW = _w;
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector3 & xyz, vec_float4 _w )
|
||||
{
|
||||
this->setXYZ( xyz );
|
||||
this->setW( _w );
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector4 & vec )
|
||||
{
|
||||
mX = vec.getX();
|
||||
mY = vec.getY();
|
||||
mZ = vec.getZ();
|
||||
mW = vec.getW();
|
||||
}
|
||||
|
||||
inline Quat::Quat( vec_float4 scalar )
|
||||
{
|
||||
mX = scalar;
|
||||
mY = scalar;
|
||||
mZ = scalar;
|
||||
mW = scalar;
|
||||
}
|
||||
|
||||
inline Quat::Quat( Aos::Quat quat )
|
||||
{
|
||||
vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203);
|
||||
vec_uchar16 shuffle_yyyy = (vec_uchar16)spu_splats((int)0x04050607);
|
||||
vec_uchar16 shuffle_zzzz = (vec_uchar16)spu_splats((int)0x08090a0b);
|
||||
vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f);
|
||||
vec_float4 vec128 = quat.get128();
|
||||
mX = spu_shuffle( vec128, vec128, shuffle_xxxx );
|
||||
mY = spu_shuffle( vec128, vec128, shuffle_yyyy );
|
||||
mZ = spu_shuffle( vec128, vec128, shuffle_zzzz );
|
||||
mW = spu_shuffle( vec128, vec128, shuffle_wwww );
|
||||
}
|
||||
|
||||
inline Quat::Quat( Aos::Quat quat0, Aos::Quat quat1, Aos::Quat quat2, Aos::Quat quat3 )
|
||||
{
|
||||
vec_float4 tmp0, tmp1, tmp2, tmp3;
|
||||
tmp0 = spu_shuffle( quat0.get128(), quat2.get128(), _VECTORMATH_SHUF_XAYB );
|
||||
tmp1 = spu_shuffle( quat1.get128(), quat3.get128(), _VECTORMATH_SHUF_XAYB );
|
||||
tmp2 = spu_shuffle( quat0.get128(), quat2.get128(), _VECTORMATH_SHUF_ZCWD );
|
||||
tmp3 = spu_shuffle( quat1.get128(), quat3.get128(), _VECTORMATH_SHUF_ZCWD );
|
||||
mX = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB );
|
||||
mY = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD );
|
||||
mZ = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB );
|
||||
mW = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD );
|
||||
}
|
||||
|
||||
inline const Quat Quat::identity( )
|
||||
{
|
||||
return Quat( spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f) );
|
||||
}
|
||||
|
||||
inline const Quat lerp( vec_float4 t, const Quat & quat0, const Quat & quat1 )
|
||||
{
|
||||
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
|
||||
}
|
||||
|
||||
inline const Quat slerp( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1 )
|
||||
{
|
||||
Quat start;
|
||||
vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle;
|
||||
vec_uint4 selectMask;
|
||||
cosAngle = dot( unitQuat0, unitQuat1 );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(0.0f), cosAngle );
|
||||
cosAngle = spu_sel( cosAngle, negatef4( cosAngle ), selectMask );
|
||||
start.setX( spu_sel( unitQuat0.getX(), negatef4( unitQuat0.getX() ), selectMask ) );
|
||||
start.setY( spu_sel( unitQuat0.getY(), negatef4( unitQuat0.getY() ), selectMask ) );
|
||||
start.setZ( spu_sel( unitQuat0.getZ(), negatef4( unitQuat0.getZ() ), selectMask ) );
|
||||
start.setW( spu_sel( unitQuat0.getW(), negatef4( unitQuat0.getW() ), selectMask ) );
|
||||
selectMask = (vec_uint4)spu_cmpgt( spu_splats(_VECTORMATH_SLERP_TOL), cosAngle );
|
||||
angle = acosf4( cosAngle );
|
||||
recipSinAngle = recipf4( sinf4( angle ) );
|
||||
scale0 = spu_sel( spu_sub( spu_splats(1.0f), t ), spu_mul( sinf4( spu_mul( spu_sub( spu_splats(1.0f), t ), angle ) ), recipSinAngle ), selectMask );
|
||||
scale1 = spu_sel( t, spu_mul( sinf4( spu_mul( t, angle ) ), recipSinAngle ), selectMask );
|
||||
return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
|
||||
}
|
||||
|
||||
inline const Quat squad( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
|
||||
{
|
||||
Quat tmp0, tmp1;
|
||||
tmp0 = slerp( t, unitQuat0, unitQuat3 );
|
||||
tmp1 = slerp( t, unitQuat1, unitQuat2 );
|
||||
return slerp( spu_mul( spu_mul( spu_splats(2.0f), t ), spu_sub( spu_splats(1.0f), t ) ), tmp0, tmp1 );
|
||||
}
|
||||
|
||||
inline void Quat::get4Aos( Aos::Quat & result0, Aos::Quat & result1, Aos::Quat & result2, Aos::Quat & result3 ) const
|
||||
{
|
||||
vec_float4 tmp0, tmp1, tmp2, tmp3;
|
||||
tmp0 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_XAYB );
|
||||
tmp1 = spu_shuffle( mY, mW, _VECTORMATH_SHUF_XAYB );
|
||||
tmp2 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_ZCWD );
|
||||
tmp3 = spu_shuffle( mY, mW, _VECTORMATH_SHUF_ZCWD );
|
||||
result0 = Aos::Quat( spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ) );
|
||||
result1 = Aos::Quat( spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ) );
|
||||
result2 = Aos::Quat( spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ) );
|
||||
result3 = Aos::Quat( spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator =( const Quat & quat )
|
||||
{
|
||||
mX = quat.mX;
|
||||
mY = quat.mY;
|
||||
mZ = quat.mZ;
|
||||
mW = quat.mW;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setXYZ( const Vector3 & vec )
|
||||
{
|
||||
mX = vec.getX();
|
||||
mY = vec.getY();
|
||||
mZ = vec.getZ();
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 Quat::getXYZ( ) const
|
||||
{
|
||||
return Vector3( mX, mY, mZ );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setX( vec_float4 _x )
|
||||
{
|
||||
mX = _x;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getX( ) const
|
||||
{
|
||||
return mX;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setY( vec_float4 _y )
|
||||
{
|
||||
mY = _y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getY( ) const
|
||||
{
|
||||
return mY;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setZ( vec_float4 _z )
|
||||
{
|
||||
mZ = _z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getZ( ) const
|
||||
{
|
||||
return mZ;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setW( vec_float4 _w )
|
||||
{
|
||||
mW = _w;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getW( ) const
|
||||
{
|
||||
return mW;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setElem( int idx, vec_float4 value )
|
||||
{
|
||||
*(&mX + idx) = value;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::getElem( int idx ) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline Quat::vec_float4_t & Quat::operator []( int idx )
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline vec_float4 Quat::operator []( int idx ) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator +( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_add( mX, quat.mX ),
|
||||
spu_add( mY, quat.mY ),
|
||||
spu_add( mZ, quat.mZ ),
|
||||
spu_add( mW, quat.mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_sub( mX, quat.mX ),
|
||||
spu_sub( mY, quat.mY ),
|
||||
spu_sub( mZ, quat.mZ ),
|
||||
spu_sub( mW, quat.mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( vec_float4 scalar ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_mul( mX, scalar ),
|
||||
spu_mul( mY, scalar ),
|
||||
spu_mul( mZ, scalar ),
|
||||
spu_mul( mW, scalar )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator +=( const Quat & quat )
|
||||
{
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator -=( const Quat & quat )
|
||||
{
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( vec_float4 scalar )
|
||||
{
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator /( vec_float4 scalar ) const
|
||||
{
|
||||
return Quat(
|
||||
divf4( mX, scalar ),
|
||||
divf4( mY, scalar ),
|
||||
divf4( mZ, scalar ),
|
||||
divf4( mW, scalar )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator /=( vec_float4 scalar )
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( ) const
|
||||
{
|
||||
return Quat(
|
||||
negatef4( mX ),
|
||||
negatef4( mY ),
|
||||
negatef4( mZ ),
|
||||
negatef4( mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat operator *( vec_float4 scalar, const Quat & quat )
|
||||
{
|
||||
return quat * scalar;
|
||||
}
|
||||
|
||||
inline vec_float4 dot( const Quat & quat0, const Quat & quat1 )
|
||||
{
|
||||
vec_float4 result;
|
||||
result = spu_mul( quat0.getX(), quat1.getX() );
|
||||
result = spu_add( result, spu_mul( quat0.getY(), quat1.getY() ) );
|
||||
result = spu_add( result, spu_mul( quat0.getZ(), quat1.getZ() ) );
|
||||
result = spu_add( result, spu_mul( quat0.getW(), quat1.getW() ) );
|
||||
return result;
|
||||
}
|
||||
|
||||
inline vec_float4 norm( const Quat & quat )
|
||||
{
|
||||
vec_float4 result;
|
||||
result = spu_mul( quat.getX(), quat.getX() );
|
||||
result = spu_add( result, spu_mul( quat.getY(), quat.getY() ) );
|
||||
result = spu_add( result, spu_mul( quat.getZ(), quat.getZ() ) );
|
||||
result = spu_add( result, spu_mul( quat.getW(), quat.getW() ) );
|
||||
return result;
|
||||
}
|
||||
|
||||
inline vec_float4 length( const Quat & quat )
|
||||
{
|
||||
return sqrtf4( norm( quat ) );
|
||||
}
|
||||
|
||||
inline const Quat normalize( const Quat & quat )
|
||||
{
|
||||
vec_float4 lenSqr, lenInv;
|
||||
lenSqr = norm( quat );
|
||||
lenInv = rsqrtf4( lenSqr );
|
||||
return Quat(
|
||||
spu_mul( quat.getX(), lenInv ),
|
||||
spu_mul( quat.getY(), lenInv ),
|
||||
spu_mul( quat.getZ(), lenInv ),
|
||||
spu_mul( quat.getW(), lenInv )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
|
||||
{
|
||||
vec_float4 cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf4( spu_mul( spu_splats(2.0f), spu_add( spu_splats(1.0f), dot( unitVec0, unitVec1 ) ) ) );
|
||||
recipCosHalfAngleX2 = recipf4( cosHalfAngleX2 );
|
||||
return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), spu_mul( cosHalfAngleX2, spu_splats(0.5f) ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( vec_float4 radians, const Vector3 & unitVec )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( ( unitVec * s ), c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationX( vec_float4 radians )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( s, spu_splats(0.0f), spu_splats(0.0f), c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationY( vec_float4 radians )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( spu_splats(0.0f), s, spu_splats(0.0f), c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationZ( vec_float4 radians )
|
||||
{
|
||||
vec_float4 s, c, angle;
|
||||
angle = spu_mul( radians, spu_splats(0.5f) );
|
||||
sincosf4( angle, &s, &c );
|
||||
return Quat( spu_splats(0.0f), spu_splats(0.0f), s, c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
spu_sub( spu_add( spu_add( spu_mul( mW, quat.mX ), spu_mul( mX, quat.mW ) ), spu_mul( mY, quat.mZ ) ), spu_mul( mZ, quat.mY ) ),
|
||||
spu_sub( spu_add( spu_add( spu_mul( mW, quat.mY ), spu_mul( mY, quat.mW ) ), spu_mul( mZ, quat.mX ) ), spu_mul( mX, quat.mZ ) ),
|
||||
spu_sub( spu_add( spu_add( spu_mul( mW, quat.mZ ), spu_mul( mZ, quat.mW ) ), spu_mul( mX, quat.mY ) ), spu_mul( mY, quat.mX ) ),
|
||||
spu_sub( spu_sub( spu_sub( spu_mul( mW, quat.mW ), spu_mul( mX, quat.mX ) ), spu_mul( mY, quat.mY ) ), spu_mul( mZ, quat.mZ ) )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( const Quat & quat )
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
|
||||
{
|
||||
vec_float4 tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = spu_sub( spu_add( spu_mul( quat.getW(), vec.getX() ), spu_mul( quat.getY(), vec.getZ() ) ), spu_mul( quat.getZ(), vec.getY() ) );
|
||||
tmpY = spu_sub( spu_add( spu_mul( quat.getW(), vec.getY() ), spu_mul( quat.getZ(), vec.getX() ) ), spu_mul( quat.getX(), vec.getZ() ) );
|
||||
tmpZ = spu_sub( spu_add( spu_mul( quat.getW(), vec.getZ() ), spu_mul( quat.getX(), vec.getY() ) ), spu_mul( quat.getY(), vec.getX() ) );
|
||||
tmpW = spu_add( spu_add( spu_mul( quat.getX(), vec.getX() ), spu_mul( quat.getY(), vec.getY() ) ), spu_mul( quat.getZ(), vec.getZ() ) );
|
||||
return Vector3(
|
||||
spu_add( spu_sub( spu_add( spu_mul( tmpW, quat.getX() ), spu_mul( tmpX, quat.getW() ) ), spu_mul( tmpY, quat.getZ() ) ), spu_mul( tmpZ, quat.getY() ) ),
|
||||
spu_add( spu_sub( spu_add( spu_mul( tmpW, quat.getY() ), spu_mul( tmpY, quat.getW() ) ), spu_mul( tmpZ, quat.getX() ) ), spu_mul( tmpX, quat.getZ() ) ),
|
||||
spu_add( spu_sub( spu_add( spu_mul( tmpW, quat.getZ() ), spu_mul( tmpZ, quat.getW() ) ), spu_mul( tmpX, quat.getY() ) ), spu_mul( tmpY, quat.getX() ) )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat conj( const Quat & quat )
|
||||
{
|
||||
return Quat( negatef4( quat.getX() ), negatef4( quat.getY() ), negatef4( quat.getZ() ), quat.getW() );
|
||||
}
|
||||
|
||||
inline const Quat select( const Quat & quat0, const Quat & quat1, vec_uint4 select1 )
|
||||
{
|
||||
return Quat(
|
||||
spu_sel( quat0.getX(), quat1.getX(), select1 ),
|
||||
spu_sel( quat0.getY(), quat1.getY(), select1 ),
|
||||
spu_sel( quat0.getZ(), quat1.getZ(), select1 ),
|
||||
spu_sel( quat0.getW(), quat1.getW(), select1 )
|
||||
);
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
inline void print( const Quat & quat )
|
||||
{
|
||||
Aos::Quat vec0, vec1, vec2, vec3;
|
||||
quat.get4Aos( vec0, vec1, vec2, vec3 );
|
||||
printf("slot 0:\n");
|
||||
print( vec0 );
|
||||
printf("slot 1:\n");
|
||||
print( vec1 );
|
||||
printf("slot 2:\n");
|
||||
print( vec2 );
|
||||
printf("slot 3:\n");
|
||||
print( vec3 );
|
||||
}
|
||||
|
||||
inline void print( const Quat & quat, const char * name )
|
||||
{
|
||||
Aos::Quat vec0, vec1, vec2, vec3;
|
||||
printf( "%s:\n", name );
|
||||
quat.get4Aos( vec0, vec1, vec2, vec3 );
|
||||
printf("slot 0:\n");
|
||||
print( vec0 );
|
||||
printf("slot 1:\n");
|
||||
print( vec1 );
|
||||
printf("slot 2:\n");
|
||||
print( vec2 );
|
||||
printf("slot 3:\n");
|
||||
print( vec3 );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Soa
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,64 +1,64 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_VECIDX_AOS_H
|
||||
#define _VECTORMATH_VECIDX_AOS_H
|
||||
|
||||
#include <spu_intrinsics.h>
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Aos {
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
// VecIdx
|
||||
// Used in setting elements of Vector3, Vector4, Point3, or Quat with the
|
||||
// subscripting operator.
|
||||
//
|
||||
|
||||
class VecIdx
|
||||
{
|
||||
private:
|
||||
typedef vec_float4 vec_float4_t;
|
||||
vec_float4_t &ref __attribute__ ((aligned(16)));
|
||||
int i __attribute__ ((aligned(16)));
|
||||
public:
|
||||
inline VecIdx( vec_float4& vec, int idx ): ref(vec) { i = idx; }
|
||||
inline operator float() const;
|
||||
inline float operator =( float scalar );
|
||||
inline float operator =( const VecIdx& scalar );
|
||||
inline float operator *=( float scalar );
|
||||
inline float operator /=( float scalar );
|
||||
inline float operator +=( float scalar );
|
||||
inline float operator -=( float scalar );
|
||||
};
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_VECIDX_AOS_H
|
||||
#define _VECTORMATH_VECIDX_AOS_H
|
||||
|
||||
#include <spu_intrinsics.h>
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Aos {
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
// VecIdx
|
||||
// Used in setting elements of Vector3, Vector4, Point3, or Quat with the
|
||||
// subscripting operator.
|
||||
//
|
||||
|
||||
class VecIdx
|
||||
{
|
||||
private:
|
||||
typedef vec_float4 vec_float4_t;
|
||||
vec_float4_t &ref __attribute__ ((aligned(16)));
|
||||
int i __attribute__ ((aligned(16)));
|
||||
public:
|
||||
inline VecIdx( vec_float4& vec, int idx ): ref(vec) { i = idx; }
|
||||
inline operator float() const;
|
||||
inline float operator =( float scalar );
|
||||
inline float operator =( const VecIdx& scalar );
|
||||
inline float operator *=( float scalar );
|
||||
inline float operator /=( float scalar );
|
||||
inline float operator +=( float scalar );
|
||||
inline float operator -=( float scalar );
|
||||
};
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user